convex.py 文件源码

def planar_hull(points, normal, origin=None, input_convex=False):
    '''
    Find the convex outline of a set of points projected to a plane.

    Arguments
    -----------
    points: (n,3) float, input points
    normal: (3) float vector, normal vector of plane
    origin: (3) float, location of plane origin
    input_convex: bool, if True we assume the input points are already from
                  a convex hull which provides a speedup. 

    Returns
    -----------
    hull_lines: (n,2,2) set of unordered line segments
    T:          (4,4) float, transformation matrix 
    '''
    if origin is None:
        origin = np.zeros(3)
    if not input_convex:
        pass
    planar, T = project_to_plane(points,
                                 plane_normal     = normal,
                                 plane_origin     = origin,
                                 return_planar    = False,
                                 return_transform = True)
    hull_edges = ConvexHull(planar[:,0:2]).simplices
    hull_lines = planar[hull_edges]
    planar_z = planar[:,2]
    height = np.array([planar_z.min(),
                       planar_z.max()])
    return hull_lines, T, height