Get a CSR of the Graph

In this example we generate a graph on a plane and print out the graph as a CSR matrix consisting of the node ides and the edge cost (which is distance in this case).

from dhart.geometry import LoadOBJ, CommonRotations
from dhart.raytracer import EmbreeBVH
from dhart.graphgenerator import GenerateGraph
import dhart

obj_path = dhart.get_sample_model("plane.obj")

obj = LoadOBJ(obj_path, rotation=CommonRotations.Yup_to_Zup)
bvh = EmbreeBVH(obj)

start_point = (-1, -6, 1623.976928)

spacing = (0.5, 0.5, 0.5)
max_nodes = 5

graph = GenerateGraph(bvh, start_point, spacing, max_nodes, cores=1)

csr_graph = graph.CompressToCSR()
print(csr_graph)

(0, 1)    0.70710677
(0, 2)    0.5
(0, 3)    0.70710677
(0, 4)    0.5
(0, 5)    0.5
(0, 6)    0.70710677
(0, 7)    0.5
(0, 8)    0.70710677
(1, 0)    0.70710677
(1, 2)    0.5
(1, 4)    0.5
(1, 9)    0.70710677
(1, 10)   0.5
(1, 11)   0.70710677
(1, 12)   0.5
(1, 13)   0.70710677
(2, 0)    0.5
(2, 1)    0.5
(2, 3)    0.5
(2, 4)    0.70710677
(2, 5)    0.70710677
(2, 10)   0.70710677
(2, 11)   0.5
(2, 14)   0.70710677
(3, 0)    0.70710677
(3, 2)    0.5
(3, 5)    0.5
(3, 11)   0.70710677
(3, 14)   0.5
(3, 15)   0.70710677
(3, 16)   0.5
(3, 17)   0.70710677
(4, 0)    0.5
(4, 1)    0.5
(4, 2)    0.70710677
(4, 6)    0.5
(4, 7)    0.70710677
(4, 12)   0.70710677
(4, 13)   0.5
(4, 18)   0.70710677