62 lines
No EOL
2.3 KiB
Python
62 lines
No EOL
2.3 KiB
Python
import numpy as np
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import zlib
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import struct
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from typing import Any, Callable
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def crc32_array(a: np.ndarray) -> int:
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if not a.size: return 0
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ac = np.ascontiguousarray(a)
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mv = memoryview(ac.data).cast("B")
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return zlib.adler32(mv)
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def crc32_list(l: list[np.ndarray]) -> int:
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if not l: return 0
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h = 0
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for a in l:
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h = zlib.adler32(struct.pack(">I", crc32_array(a)), h)
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return h
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def euler_rotation_matrix(rx: float, ry: float, rz: float) -> np.ndarray:
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"""Computes a 3x3 rotation matrix (Rz @ Ry @ Rx) from Euler angles in radians."""
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cx, sx = np.cos(rx), np.sin(rx)
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cy, sy = np.cos(ry), np.sin(ry)
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cz, sz = np.cos(rz), np.sin(rz)
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Rx = np.array([[1.0, 0.0, 0.0], [0.0, cx, -sx], [0.0, sx, cx]], dtype=np.float64)
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Ry = np.array([[cy, 0.0, sy], [0.0, 1.0, 0.0], [-sy, 0.0, cy]], dtype=np.float64)
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Rz = np.array([[cz, -sz, 0.0], [sz, cz, 0.0], [0.0, 0.0, 1.0]], dtype=np.float64)
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return Rz @ (Ry @ Rx)
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from collections import OrderedDict
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def ndarray_lru_cache(maxsize: int = 128) -> Callable[[Callable[..., Any]], Callable[..., Any]]:
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def decorator(func: Callable[..., Any]) -> Callable[..., Any]:
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cache: OrderedDict[tuple[Any, ...], Any] = OrderedDict()
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def wrapper(*args, **kwargs):
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key_parts = []
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for arg in args:
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if isinstance(arg, np.ndarray):
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key_parts.append(crc32_array(arg))
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elif isinstance(arg, list) and arg and isinstance(arg[0], np.ndarray):
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key_parts.append(crc32_list(arg))
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else:
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key_parts.append(arg)
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for k, v in sorted(kwargs.items()):
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if isinstance(v, np.ndarray):
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key_parts.append((k, crc32_array(v)))
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elif isinstance(v, list) and v and isinstance(v[0], np.ndarray):
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key_parts.append((k, crc32_list(v)))
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else:
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key_parts.append((k, v))
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key = tuple(key_parts)
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if key in cache:
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cache.move_to_end(key)
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return cache[key]
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result = func(*args, **kwargs)
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cache[key] = result
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if len(cache) > maxsize:
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cache.popitem(last=False)
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return result
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return wrapper
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return decorator |