A TriangleMesh contains vertices and triangles. More...

#include <TriangleMesh.h>

Inheritance diagram for open3d::t::geometry::TriangleMesh:

Public Member Functions
	TriangleMesh (core::Dtype vertex_dtype=core::Dtype::Float32, core::Dtype triangle_dtype=core::Dtype::Int64, const core::Device &device=core::Device("CPU:0"))
	Construct an empty trianglemesh. More...

	TriangleMesh (const core::TensorList &vertices, const core::TensorList &triangles)

virtual	~TriangleMesh () override

core::TensorList &	GetVertexAttr (const std::string &key)

core::TensorList &	GetVertices ()

core::TensorList &	GetVertexColors ()

core::TensorList &	GetVertexNormals ()

core::TensorList &	GetTriangleAttr (const std::string &key)

core::TensorList &	GetTriangles ()

core::TensorList &	GetTriangleNormals ()

core::TensorList &	GetTriangleColors ()

const core::TensorList &	GetVertexAttr (const std::string &key) const

const core::TensorList &	GetVertices () const

const core::TensorList &	GetVertexColors () const

const core::TensorList &	GetVertexNormals () const

const core::TensorList &	GetTriangleAttr (const std::string &key) const

const core::TensorList &	GetTriangles () const

const core::TensorList &	GetTriangleNormals () const

const core::TensorList &	GetTriangleColors () const

void	SetVertexAttr (const std::string &key, const core::TensorList &value)

void	SetVertices (const core::TensorList &value)

void	SetVertexColors (const core::TensorList &value)

void	SetVertexNormals (const core::TensorList &value)

void	SetTriangleAttr (const std::string &key, const core::TensorList &value)

void	SetTriangles (const core::TensorList &value)
	Set the vlaue of the "triangles" attribute in triangle_attr_. More...

void	SetTriangleNormals (const core::TensorList &value)

void	SetTriangleColors (const core::TensorList &value)

bool	HasVertexAttr (const std::string &key) const

bool	HasVertices () const

bool	HasVertexColors () const

bool	HasVertexNormals () const

bool	HasTriangleAttr (const std::string &key) const

bool	HasTriangles () const

bool	HasTriangleNormals () const

bool	HasTriangleColors () const

void	VertexSynchronizedPushBack (const std::unordered_map< std::string, core::Tensor > &map_keys_to_tensors)

void	TriangleSynchronizedPushBack (const std::unordered_map< std::string, core::Tensor > &map_keys_to_tensors)

TriangleMesh &	Clear () override
	Clear all data in the trianglemesh. More...

bool	IsEmpty () const override
	Returns !HasVertices(), triangles are ignored. More...

core::Tensor	GetMinBound () const

core::Tensor	GetMaxBound () const

core::Tensor	GetCenter () const

TriangleMesh &	Transform (const core::Tensor &transformation)

TriangleMesh &	Translate (const core::Tensor &translation, bool relative=true)

TriangleMesh &	Scale (double scale, const core::Tensor &center)

TriangleMesh &	Rotate (const core::Tensor &R, const core::Tensor &center)

core::Device	GetDevice () const

geometry::TriangleMesh	ToLegacyTriangleMesh () const
	Convert to a legacy Open3D TriangleMesh. More...

Public Member Functions inherited from open3d::t::geometry::Geometry
virtual	~Geometry ()

GeometryType	GetGeometryType () const
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

Static Public Member Functions
static geometry::TriangleMesh	FromLegacyTrangleMesh (const geometry::TriangleMesh &mesh_legacy, core::Dtype dtype=core::Dtype::Float32, const core::Device &device=core::Device("CPU:0"))
	Create a TriangleMesh from a legacy Open3D TriangleMesh. More...

Protected Attributes
core::Device	device_ = core::Device("CPU:0")

TensorListMap	vertex_attr_

TensorListMap	triangle_attr_

Additional Inherited Members
Public Types inherited from open3d::t::geometry::Geometry
enum	GeometryType { GeometryType::Unspecified = 0, GeometryType::PointCloud = 1, GeometryType::VoxelGrid = 2, GeometryType::Octree = 3, GeometryType::LineSet = 4, GeometryType::MeshBase = 5, GeometryType::TriangleMesh = 6, GeometryType::HalfEdgeTriangleMesh = 7, GeometryType::Image = 8, GeometryType::RGBDImage = 9, GeometryType::TetraMesh = 10, GeometryType::OrientedBoundingBox = 11, GeometryType::AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Protected Member Functions inherited from open3d::t::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

A TriangleMesh contains vertices and triangles.

The TriangleMesh class stores the attribute data in key-value pairs for flexibility, where the key is a string representing the attribute name and value is a TensorList containing the attribute data.

By default, there are two sets of dictionaries, i.e. vertex_attr_ and triangle_attr_. In most cases, the length of an attribute should be equal to the length of the the data corresponding to the master key. For instance vertex_attr_["normals"] should have the same length as vertex_attr_["vertices"].

Although the attributes are all stored in a key-value pair dictionary, the attributes have different levels:

Level 0: Default attribute {"vertices", "triangles"}.
- Created by default, required for all trianglemeshes.
- The tensorlist must be of shape N x {3,}.
- Convenience functions:
  - TriangleMesh::GetVertices()
  - TriangleMesh::SetVertices(vertices_tensorlist)
  - TriangleMesh::HasVertices()
  - TriangleMesh::GetTriangles()
  - TriangleMesh::SetTriangles(triangles_tensorlist)
  - TriangleMesh::HasTriangles()
- The device of "vertices" and "triangles" must be consistent and they determine the device of the trianglemesh.
Level 1: Commonly-used attributes: {"normals", "colors"} for vertices and {"normals"} for triangles.
- Not created by default.
- The tensorlist must be of shape N x {3,}.
- Convenience functions:
  - Vertex normals (stored at vertex_attr_["normals"])
    - TriangleMesh::GetVertexNormals()
    - TriangleMesh::SetVertexNormals(vertex_normals_tensorlist)
    - TriangleMesh::HasVertexNormals()
  - Vertex colors (stored at vertex_attr_["colors"])
    - TriangleMesh::GetVertexColors()
    - TriangleMesh::SetVertexColors(vertex_colors_tensorlist)
    - TriangleMesh::HasVertexColors()
  - Triangle normals (stored at triangle_attr_["normals"])
    - TriangleMesh::GetTriangleNormals()
    - TriangleMesh::SetTriangleNormals(triangle_normals_tensorlist)
    - TriangleMesh::HasTriangleNormals()
  - Triangle colors (stored at triangle_attr_["colors"])
    - TriangleMesh::GetTriangleColors()
    - TriangleMesh::SetTriangleColors(triangle_colors_tensorlist)
    - TriangleMesh::HasTriangleColors()
- For all attributes, the device must be consistent with the device of the trianglemesh. Dtype can be different.
Level 2: Custom attributes, e.g. {"labels"}.
- Not created by default. Created by users.
- No convenience functions.
- Use generalized helper functions. Examples:
  - TriangleMesh::GetVertexAttr("labels")
  - TriangleMesh::SetVertexAttr("labels", vertex_labels_tensorlist)
  - TriangleMesh::HasVertexAttr("labels")
  - TriangleMesh::GetTriangleAttr("labels")
  - TriangleMesh::SetTriangleAttr("labels", triangle_labels_tensorlist)
  - TriangleMesh::HasTriangleAttr("labels")
- For all attributes, the device must be consistent with the device of the trianglemesh. Dtype can be different.

Note that the level 0 and level 1 convenience functions can also be achieved via the generalized helper functions.

Constructor & Destructor Documentation

◆ TriangleMesh() [1/2]

open3d::t::geometry::TriangleMesh::TriangleMesh	(	core::Dtype	vertex_dtype = `core::Dtype::Float32`,
		core::Dtype	triangle_dtype = `core::Dtype::Int64`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

Construct an empty trianglemesh.

◆ TriangleMesh() [2/2]

open3d::t::geometry::TriangleMesh::TriangleMesh	(	const core::TensorList &	vertices,
		const core::TensorList &	triangles
	)

Construct a trianglemesh from vertices and triangles.

The input tensorlists will be directly used as the underlying storage of the trianglemsh (no memory copy). If the tensorlist is created in-place from a pre-allocated buffer, the tensorlist has a fixed size and thus the resulting trianglemesh will have a fixed size and calling to functions like SynchronizedPushBack will raise an exception.

The resulting trianglemesh will have the same dtype and device as the tensorlist. The device for vertices must be consistent with triangles.

Parameters

vertices	A tensorlist with element shape (3,).
triangles	A tensorlist with element shape (3,).

◆ ~TriangleMesh()

virtual open3d::t::geometry::TriangleMesh::~TriangleMesh ( )

inlineoverridevirtual

Member Function Documentation

◆ Clear()

TriangleMesh& open3d::t::geometry::TriangleMesh::Clear ( )

inlineoverridevirtual

Clear all data in the trianglemesh.

Implements open3d::t::geometry::Geometry.

◆ FromLegacyTrangleMesh()

static geometry::TriangleMesh open3d::t::geometry::TriangleMesh::FromLegacyTrangleMesh	(	const geometry::TriangleMesh &	mesh_legacy,
		core::Dtype	dtype = `core::Dtype::Float32`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

inlinestatic

Create a TriangleMesh from a legacy Open3D TriangleMesh.

◆ GetCenter()

core::Tensor open3d::t::geometry::TriangleMesh::GetCenter ( ) const

inline

◆ GetDevice()

core::Device open3d::t::geometry::TriangleMesh::GetDevice ( ) const

inline

◆ GetMaxBound()

core::Tensor open3d::t::geometry::TriangleMesh::GetMaxBound ( ) const

inline

◆ GetMinBound()

core::Tensor open3d::t::geometry::TriangleMesh::GetMinBound ( ) const

inline

◆ GetTriangleAttr() [1/2]

core::TensorList& open3d::t::geometry::TriangleMesh::GetTriangleAttr ( const std::string & key )

inline

Get triangle attributes in triangle_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetTriangleAttr() [2/2]

const core::TensorList& open3d::t::geometry::TriangleMesh::GetTriangleAttr ( const std::string & key ) const

inline

Get triangle attributes in triangle_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetTriangleColors() [1/2]

core::TensorList& open3d::t::geometry::TriangleMesh::GetTriangleColors ( )

inline

Get the value of the "colors" attribute in triangle_attr_. Convenience function.

◆ GetTriangleColors() [2/2]

const core::TensorList& open3d::t::geometry::TriangleMesh::GetTriangleColors ( ) const

inline

Get the value of the "colors" attribute in triangle_attr_. Convenience function.

◆ GetTriangleNormals() [1/2]

core::TensorList& open3d::t::geometry::TriangleMesh::GetTriangleNormals ( )

inline

Get the value of the "normals" attribute in triangle_attr_. Convenience function.

◆ GetTriangleNormals() [2/2]

const core::TensorList& open3d::t::geometry::TriangleMesh::GetTriangleNormals ( ) const

inline

Get the value of the "normals" attribute in triangle_attr_. Convenience function.

◆ GetTriangles() [1/2]

core::TensorList& open3d::t::geometry::TriangleMesh::GetTriangles ( )

inline

Get the value of the "triangles" attribute in triangle_attr_. Convenience function.

◆ GetTriangles() [2/2]

const core::TensorList& open3d::t::geometry::TriangleMesh::GetTriangles ( ) const

inline

Get the value of the "triangles" attribute in triangle_attr_. Convenience function.

◆ GetVertexAttr() [1/2]

core::TensorList& open3d::t::geometry::TriangleMesh::GetVertexAttr ( const std::string & key )

inline

Get vertex attributes in vertex_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetVertexAttr() [2/2]

const core::TensorList& open3d::t::geometry::TriangleMesh::GetVertexAttr ( const std::string & key ) const

inline

Get vertex attributes. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetVertexColors() [1/2]

core::TensorList& open3d::t::geometry::TriangleMesh::GetVertexColors ( )

inline

Get the value of the "colors" attribute in vertex_attr_. Convenience function.

◆ GetVertexColors() [2/2]

const core::TensorList& open3d::t::geometry::TriangleMesh::GetVertexColors ( ) const

inline

Get the value of the "colors" attribute in vertex_attr_. Convenience function.

◆ GetVertexNormals() [1/2]

core::TensorList& open3d::t::geometry::TriangleMesh::GetVertexNormals ( )

inline

Get the value of the "normals" attribute in vertex_attr_. Convenience function.

◆ GetVertexNormals() [2/2]

const core::TensorList& open3d::t::geometry::TriangleMesh::GetVertexNormals ( ) const

inline

Get the value of the "normals" attribute in vertex_attr_. Convenience function.

◆ GetVertices() [1/2]

core::TensorList& open3d::t::geometry::TriangleMesh::GetVertices ( )

inline

Get the value of the "vertices" attribute in vertex_attr_. Convenience function.

◆ GetVertices() [2/2]

const core::TensorList& open3d::t::geometry::TriangleMesh::GetVertices ( ) const

inline

Get the value of the "vertices" attribute in vertex_attr_. Convenience function.

◆ HasTriangleAttr()

bool open3d::t::geometry::TriangleMesh::HasTriangleAttr ( const std::string & key ) const

inline

Returns true if all of the followings are true in triangle_attr_: 1) attribute key exist 2) attribute's length as triangles' length 3) attribute's length > 0

◆ HasTriangleColors()

bool open3d::t::geometry::TriangleMesh::HasTriangleColors ( ) const

inline

Returns true if all of the followings are true in triangle_attr_: 1) attribute "colors" exist 2) attribute "colors"'s length as vertices' length 3) attribute "colors"'s length > 0 Convenience function.

◆ HasTriangleNormals()

bool open3d::t::geometry::TriangleMesh::HasTriangleNormals ( ) const

inline

Returns true if all of the followings are true in triangle_attr_: 1) attribute "normals" exist 2) attribute "normals"'s length as vertices' length 3) attribute "normals"'s length > 0 Convenience function.

◆ HasTriangles()

bool open3d::t::geometry::TriangleMesh::HasTriangles ( ) const

inline

Check if the "triangles" attribute's value in triangle_attr_ has length

0.

Convenience function.

◆ HasVertexAttr()

bool open3d::t::geometry::TriangleMesh::HasVertexAttr ( const std::string & key ) const

inline

Returns true if all of the followings are true in vertex_attr_: 1) attribute key exist 2) attribute's length as vertices' length 3) attribute's length > 0

◆ HasVertexColors()

bool open3d::t::geometry::TriangleMesh::HasVertexColors ( ) const

inline

Returns true if all of the followings are true in vertex_attr_: 1) attribute "colors" exist 2) attribute "colors"'s length as vertices' length 3) attribute "colors"'s length > 0 Convenience function.

◆ HasVertexNormals()

bool open3d::t::geometry::TriangleMesh::HasVertexNormals ( ) const

inline

Returns true if all of the followings are true in vertex_attr_: 1) attribute "normals" exist 2) attribute "normals"'s length as vertices' length 3) attribute "normals"'s length > 0 Convenience function.

◆ HasVertices()

bool open3d::t::geometry::TriangleMesh::HasVertices ( ) const

inline

Check if the "vertices" attribute's value in vertex_attr_ has length > 0. Convenience function.

◆ IsEmpty()

bool open3d::t::geometry::TriangleMesh::IsEmpty ( ) const

inlineoverridevirtual

Returns !HasVertices(), triangles are ignored.

Implements open3d::t::geometry::Geometry.

◆ Rotate()

TriangleMesh& open3d::t::geometry::TriangleMesh::Rotate	(	const core::Tensor &	R,
		const core::Tensor &	center
	)

inline

◆ Scale()

TriangleMesh& open3d::t::geometry::TriangleMesh::Scale	(	double	scale,
		const core::Tensor &	center
	)

inline

◆ SetTriangleAttr()

void open3d::t::geometry::TriangleMesh::SetTriangleAttr	(	const std::string &	key,
		const core::TensorList &	value
	)

inline

Set triangle attributes. If the attribute key already exists, its value will be overwritten, otherwise, the new key will be created.

Parameters

key	Attribute name.
value	A tensorlist.

◆ SetTriangleColors()

void open3d::t::geometry::TriangleMesh::SetTriangleColors ( const core::TensorList & value )

inline

Set the value of the "colors" attribute in triangle_attr_. This is a convenience function.

◆ SetTriangleNormals()

void open3d::t::geometry::TriangleMesh::SetTriangleNormals ( const core::TensorList & value )

inline

Set the value of the "normals" attribute in triangle_attr_. This is a convenience function.

◆ SetTriangles()

void open3d::t::geometry::TriangleMesh::SetTriangles ( const core::TensorList & value )

inline

Set the vlaue of the "triangles" attribute in triangle_attr_.

◆ SetVertexAttr()

void open3d::t::geometry::TriangleMesh::SetVertexAttr	(	const std::string &	key,
		const core::TensorList &	value
	)

inline

Set vertex attributes. If the attribute key already exists, its value will be overwritten, otherwise, the new key will be created.

Parameters

key	Attribute name.
value	A tensorlist.

◆ SetVertexColors()

void open3d::t::geometry::TriangleMesh::SetVertexColors ( const core::TensorList & value )

inline

Set the value of the "colors" attribute in vertex_attr_. Convenience function.

◆ SetVertexNormals()

void open3d::t::geometry::TriangleMesh::SetVertexNormals ( const core::TensorList & value )

inline

Set the value of the "normals" attribute in vertex_attr_. This is a convenience function.

◆ SetVertices()

void open3d::t::geometry::TriangleMesh::SetVertices ( const core::TensorList & value )

inline

Set the value of the "vertices" attribute in vertex_attr_. Convenience function.

◆ ToLegacyTriangleMesh()

geometry::TriangleMesh open3d::t::geometry::TriangleMesh::ToLegacyTriangleMesh ( ) const

inline

Convert to a legacy Open3D TriangleMesh.

◆ Transform()

TriangleMesh& open3d::t::geometry::TriangleMesh::Transform ( const core::Tensor & transformation )

inline

◆ Translate()

TriangleMesh& open3d::t::geometry::TriangleMesh::Translate	(	const core::Tensor &	translation,
		bool	relative = `true`
	)

inline

◆ TriangleSynchronizedPushBack()

void open3d::t::geometry::TriangleMesh::TriangleSynchronizedPushBack ( const std::unordered_map< std::string, core::Tensor > & map_keys_to_tensors )

inline

Synchronized push back to the triangle_attr_, data will be copied. Before push back, all existing tensorlists must have the same length.

Parameters

map_keys_to_tensors The keys and values to be pushed back. It must contain the same keys and each corresponding tensor must have the same dtype and device.

◆ VertexSynchronizedPushBack()

void open3d::t::geometry::TriangleMesh::VertexSynchronizedPushBack ( const std::unordered_map< std::string, core::Tensor > & map_keys_to_tensors )

inline

Synchronized push back to the vertex_attr_, data will be copied. Before push back, all existing tensorlists must have the same length.

Parameters

map_keys_to_tensors The keys and values to be pushed back. It must contain the same keys and each corresponding tensor must have the same dtype and device.

Field Documentation

◆ device_

core::Device open3d::t::geometry::TriangleMesh::device_ = core::Device("CPU:0")

protected

◆ triangle_attr_

TensorListMap open3d::t::geometry::TriangleMesh::triangle_attr_

protected

◆ vertex_attr_

TensorListMap open3d::t::geometry::TriangleMesh::vertex_attr_

protected

The documentation for this class was generated from the following files:

/home/ssheorey/Documents/Open3D/Code/Open3D/cpp/open3d/t/geometry/TriangleMesh.h (c438ebe3 (Fri Oct 9 21:30:14 2020 -0700))
/home/ssheorey/Documents/Open3D/Code/Open3D/cpp/open3d/t/geometry/TriangleMesh.cpp (eaef3bd9 (Thu Oct 1 04:10:12 2020 -0700))

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TriangleMesh() [1/2]

◆ TriangleMesh() [2/2]

◆ ~TriangleMesh()

Member Function Documentation

◆ Clear()

◆ FromLegacyTrangleMesh()

◆ GetCenter()

◆ GetDevice()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetTriangleAttr() [1/2]

◆ GetTriangleAttr() [2/2]

◆ GetTriangleColors() [1/2]

◆ GetTriangleColors() [2/2]

◆ GetTriangleNormals() [1/2]

◆ GetTriangleNormals() [2/2]

◆ GetTriangles() [1/2]

◆ GetTriangles() [2/2]

◆ GetVertexAttr() [1/2]

◆ GetVertexAttr() [2/2]

◆ GetVertexColors() [1/2]

◆ GetVertexColors() [2/2]

◆ GetVertexNormals() [1/2]

◆ GetVertexNormals() [2/2]

◆ GetVertices() [1/2]

◆ GetVertices() [2/2]

◆ HasTriangleAttr()

◆ HasTriangleColors()

◆ HasTriangleNormals()

◆ HasTriangles()

◆ HasVertexAttr()

◆ HasVertexColors()

◆ HasVertexNormals()

◆ HasVertices()

◆ IsEmpty()

◆ Rotate()

◆ Scale()

◆ SetTriangleAttr()

◆ SetTriangleColors()

◆ SetTriangleNormals()

◆ SetTriangles()

◆ SetVertexAttr()

◆ SetVertexColors()

◆ SetVertexNormals()

◆ SetVertices()

◆ ToLegacyTriangleMesh()

◆ Transform()

◆ Translate()

◆ TriangleSynchronizedPushBack()

◆ VertexSynchronizedPushBack()

Field Documentation

◆ device_

◆ triangle_attr_

◆ vertex_attr_