Triangle mesh contains vertices and triangles represented by the indices to the vertices. More...

#include <TriangleMesh.h>

Inheritance diagram for open3d::geometry::TriangleMesh:

Data Structures
struct	Material

Public Member Functions
	TriangleMesh ()
	Default Constructor. More...

	TriangleMesh (const std::vector< Eigen::Vector3d > &vertices, const std::vector< Eigen::Vector3i > &triangles)
	Parameterized Constructor. More...

	~TriangleMesh () override

virtual TriangleMesh &	Clear () override
	Clear all elements in the geometry. More...

virtual TriangleMesh &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual TriangleMesh &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

TriangleMesh &	operator+= (const TriangleMesh &mesh)

TriangleMesh	operator+ (const TriangleMesh &mesh) const

bool	HasTriangles () const
	Returns `true` if the mesh contains triangles. More...

bool	HasTriangleNormals () const
	Returns `true` if the mesh contains triangle normals. More...

bool	HasAdjacencyList () const
	Returns `true` if the mesh contains adjacency normals. More...

bool	HasTriangleUvs () const

bool	HasTextures () const
	Returns `true` if the mesh has texture. More...

bool	HasMaterials () const

bool	HasTriangleMaterialIds () const

TriangleMesh &	NormalizeNormals ()
	Normalize both triangle normals and vertex normals to length 1. More...

TriangleMesh &	ComputeTriangleNormals (bool normalized=true)
	Function to compute triangle normals, usually called before rendering. More...

TriangleMesh &	ComputeVertexNormals (bool normalized=true)
	Function to compute vertex normals, usually called before rendering. More...

TriangleMesh &	ComputeAdjacencyList ()
	Function to compute adjacency list, call before adjacency list is needed. More...

TriangleMesh &	RemoveDuplicatedVertices ()
	Function that removes duplicated verties, i.e., vertices that have identical coordinates. More...

TriangleMesh &	RemoveDuplicatedTriangles ()
	Function that removes duplicated triangles, i.e., removes triangles that reference the same three vertices, independent of their order. More...

TriangleMesh &	RemoveUnreferencedVertices ()
	This function removes vertices from the triangle mesh that are not referenced in any triangle of the mesh. More...

TriangleMesh &	RemoveDegenerateTriangles ()
	Function that removes degenerate triangles, i.e., triangles that reference a single vertex multiple times in a single triangle. More...

TriangleMesh &	RemoveNonManifoldEdges ()
	Function that removes all non-manifold edges, by successively deleting triangles with the smallest surface area adjacent to the non-manifold edge until the number of adjacent triangles to the edge is `<= 2`. More...

TriangleMesh &	MergeCloseVertices (double eps)
	Function that will merge close by vertices to a single one. The vertex position, normal and color will be the average of the vertices. More...

std::shared_ptr< TriangleMesh >	FilterSharpen (int number_of_iterations, double strength, FilterScope scope=FilterScope::All) const
	Function to sharpen triangle mesh. More...

std::shared_ptr< TriangleMesh >	FilterSmoothSimple (int number_of_iterations, FilterScope scope=FilterScope::All) const
	Function to smooth triangle mesh with simple neighbour average. More...

std::shared_ptr< TriangleMesh >	FilterSmoothLaplacian (int number_of_iterations, double lambda, FilterScope scope=FilterScope::All) const
	Function to smooth triangle mesh using Laplacian. More...

std::shared_ptr< TriangleMesh >	FilterSmoothTaubin (int number_of_iterations, double lambda=0.5, double mu=-0.53, FilterScope scope=FilterScope::All) const
	Function to smooth triangle mesh using method of Taubin, "Curve and Surface Smoothing Without Shrinkage", 1995. Applies in each iteration two times FilterSmoothLaplacian, first with lambda and second with mu as smoothing parameter. This method avoids shrinkage of the triangle mesh. More...

int	EulerPoincareCharacteristic () const

std::vector< Eigen::Vector2i >	GetNonManifoldEdges (bool allow_boundary_edges=true) const

bool	IsEdgeManifold (bool allow_boundary_edges=true) const

std::vector< int >	GetNonManifoldVertices () const

bool	IsVertexManifold () const

std::vector< Eigen::Vector2i >	GetSelfIntersectingTriangles () const

bool	IsSelfIntersecting () const

bool	IsBoundingBoxIntersecting (const TriangleMesh &other) const

bool	IsIntersecting (const TriangleMesh &other) const

bool	IsOrientable () const

bool	IsWatertight () const

bool	OrientTriangles ()

std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > >	GetEdgeToTrianglesMap () const

std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > >	GetEdgeToVerticesMap () const

double	GetTriangleArea (size_t triangle_idx) const

double	GetSurfaceArea () const

double	GetSurfaceArea (std::vector< double > &triangle_areas) const

double	GetVolume () const

Eigen::Vector4d	GetTrianglePlane (size_t triangle_idx) const

std::shared_ptr< PointCloud >	SamplePointsUniformlyImpl (size_t number_of_points, std::vector< double > &triangle_areas, double surface_area, bool use_triangle_normal, int seed)

std::shared_ptr< PointCloud >	SamplePointsUniformly (size_t number_of_points, bool use_triangle_normal=false, int seed=-1)

std::shared_ptr< PointCloud >	SamplePointsPoissonDisk (size_t number_of_points, double init_factor=5, const std::shared_ptr< PointCloud > pcl_init=nullptr, bool use_triangle_normal=false, int seed=-1)

std::shared_ptr< TriangleMesh >	SubdivideMidpoint (int number_of_iterations) const

std::shared_ptr< TriangleMesh >	SubdivideLoop (int number_of_iterations) const

std::shared_ptr< TriangleMesh >	SimplifyVertexClustering (double voxel_size, SimplificationContraction contraction=SimplificationContraction::Average) const

std::shared_ptr< TriangleMesh >	SimplifyQuadricDecimation (int target_number_of_triangles, double maximum_error, double boundary_weight) const

std::shared_ptr< TriangleMesh >	SelectByIndex (const std::vector< size_t > &indices, bool cleanup=true) const

std::shared_ptr< TriangleMesh >	Crop (const AxisAlignedBoundingBox &bbox) const

std::shared_ptr< TriangleMesh >	Crop (const OrientedBoundingBox &bbox) const

std::tuple< std::vector< int >, std::vector< size_t >, std::vector< double > >	ClusterConnectedTriangles () const
	Function that clusters connected triangles, i.e., triangles that are connected via edges are assigned the same cluster index. More...

void	RemoveTrianglesByIndex (const std::vector< size_t > &triangle_indices)
	This function removes the triangles with index in `triangle_indices`. Call RemoveUnreferencedVertices to clean up vertices afterwards. More...

void	RemoveTrianglesByMask (const std::vector< bool > &triangle_mask)
	This function removes the triangles that are masked in `triangle_mask`. Call RemoveUnreferencedVertices to clean up vertices afterwards. More...

void	RemoveVerticesByIndex (const std::vector< size_t > &vertex_indices)
	This function removes the vertices with index in `vertex_indices`. Note that also all triangles associated with the vertices are removeds. More...

void	RemoveVerticesByMask (const std::vector< bool > &vertex_mask)
	This function removes the vertices that are masked in `vertex_mask`. Note that also all triangles associated with the vertices are removed. More...

std::shared_ptr< TriangleMesh >	DeformAsRigidAsPossible (const std::vector< int > &constraint_vertex_indices, const std::vector< Eigen::Vector3d > &constraint_vertex_positions, size_t max_iter, DeformAsRigidAsPossibleEnergy energy=DeformAsRigidAsPossibleEnergy::Spokes, double smoothed_alpha=0.01) const
	This function deforms the mesh using the method by Sorkine and Alexa, "As-Rigid-As-Possible Surface Modeling", 2007. More...

Public Member Functions inherited from open3d::geometry::MeshBase
	MeshBase ()
	Default Constructor. More...

	~MeshBase () override

virtual bool	IsEmpty () const override
	Returns `true` iff the geometry is empty. More...

virtual Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

virtual AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override
	Returns an axis-aligned bounding box of the geometry. More...

virtual OrientedBoundingBox	GetOrientedBoundingBox () const override
	Returns an oriented bounding box of the geometry. More...

virtual MeshBase &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

virtual MeshBase &	Scale (const double scale, const Eigen::Vector3d &center) override
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

MeshBase &	operator+= (const MeshBase &mesh)

MeshBase	operator+ (const MeshBase &mesh) const

bool	HasVertices () const
	Returns `True` if the mesh contains vertices. More...

bool	HasVertexNormals () const
	Returns `True` if the mesh contains vertex normals. More...

bool	HasVertexColors () const
	Returns `True` if the mesh contains vertex colors. More...

MeshBase &	NormalizeNormals ()
	Normalize vertex normals to length 1. More...

MeshBase &	PaintUniformColor (const Eigen::Vector3d &color)
	Assigns each vertex in the TriangleMesh the same color. More...

std::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > >	ComputeConvexHull () const
	Function that computes the convex hull of the triangle mesh using qhull. More...

Public Member Functions inherited from open3d::geometry::Geometry3D
	~Geometry3D () override

virtual Geometry3D &	Rotate (const Eigen::Matrix3d &R)

Public Member Functions inherited from open3d::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...

std::string	GetName () const

void	SetName (const std::string &name)

Static Public Member Functions
static double	ComputeTriangleArea (const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
	Function that computes the area of a mesh triangle. More...

static Eigen::Vector3i	GetOrderedTriangle (int vidx0, int vidx1, int vidx2)

static Eigen::Vector4d	ComputeTrianglePlane (const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)

static Eigen::Vector2i	GetOrderedEdge (int vidx0, int vidx1)
	Helper function to get an edge with ordered vertex indices. More...

static std::shared_ptr< TriangleMesh >	CreateFromPointCloudAlphaShape (const PointCloud &pcd, double alpha, std::shared_ptr< TetraMesh > tetra_mesh=nullptr, std::vector< size_t > *pt_map=nullptr)
	Alpha shapes are a generalization of the convex hull. With decreasing alpha value the shape schrinks and creates cavities. See Edelsbrunner and Muecke, "Three-Dimensional Alpha Shapes", 1994. More...

static std::shared_ptr< TriangleMesh >	CreateFromPointCloudBallPivoting (const PointCloud &pcd, const std::vector< double > &radii)

static std::tuple< std::shared_ptr< TriangleMesh >, std::vector< double > >	CreateFromPointCloudPoisson (const PointCloud &pcd, size_t depth=8, size_t width=0, float scale=1.1f, bool linear_fit=false, int n_threads=-1)
	Function that computes a triangle mesh from an oriented PointCloud pcd. This implements the Screened Poisson Reconstruction proposed in Kazhdan and Hoppe, "Screened Poisson Surface Reconstruction", 2013. This function uses the original implementation by Kazhdan. See https://github.com/mkazhdan/PoissonRecon. More...

static std::shared_ptr< TriangleMesh >	CreateTetrahedron (double radius=1.0)

static std::shared_ptr< TriangleMesh >	CreateOctahedron (double radius=1.0)

static std::shared_ptr< TriangleMesh >	CreateIcosahedron (double radius=1.0)

static std::shared_ptr< TriangleMesh >	CreateBox (double width=1.0, double height=1.0, double depth=1.0)

static std::shared_ptr< TriangleMesh >	CreateSphere (double radius=1.0, int resolution=20)

static std::shared_ptr< TriangleMesh >	CreateCylinder (double radius=1.0, double height=2.0, int resolution=20, int split=4)

static std::shared_ptr< TriangleMesh >	CreateCone (double radius=1.0, double height=2.0, int resolution=20, int split=1)

static std::shared_ptr< TriangleMesh >	CreateTorus (double torus_radius=1.0, double tube_radius=0.5, int radial_resolution=30, int tubular_resolution=20)

static std::shared_ptr< TriangleMesh >	CreateArrow (double cylinder_radius=1.0, double cone_radius=1.5, double cylinder_height=5.0, double cone_height=4.0, int resolution=20, int cylinder_split=4, int cone_split=1)

static std::shared_ptr< TriangleMesh >	CreateCoordinateFrame (double size=1.0, const Eigen::Vector3d &origin=Eigen::Vector3d(0.0, 0.0, 0.0))

static std::shared_ptr< TriangleMesh >	CreateMoebius (int length_split=70, int width_split=15, int twists=1, double radius=1, double flatness=1, double width=1, double scale=1)

Static Public Member Functions inherited from open3d::geometry::Geometry3D
static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

Data Fields
std::vector< Eigen::Vector3i >	triangles_
	List of triangles denoted by the index of points forming the triangle. More...

std::vector< Eigen::Vector3d >	triangle_normals_
	Triangle normals. More...

std::vector< std::unordered_set< int > >	adjacency_list_

std::vector< Eigen::Vector2d >	triangle_uvs_
	List of uv coordinates per triangle. More...

std::unordered_map< std::string, Material >	materials_

std::vector< int >	triangle_material_ids_
	List of material ids. More...

std::vector< Image >	textures_
	Textures of the image. More...

Data Fields inherited from open3d::geometry::MeshBase
std::vector< Eigen::Vector3d >	vertices_
	Vertex coordinates. More...

std::vector< Eigen::Vector3d >	vertex_normals_
	Vertex normals. More...

std::vector< Eigen::Vector3d >	vertex_colors_
	RGB colors of vertices. More...

Protected Member Functions
	TriangleMesh (Geometry::GeometryType type)

void	FilterSmoothLaplacianHelper (std::shared_ptr< TriangleMesh > &mesh, const std::vector< Eigen::Vector3d > &prev_vertices, const std::vector< Eigen::Vector3d > &prev_vertex_normals, const std::vector< Eigen::Vector3d > &prev_vertex_colors, const std::vector< std::unordered_set< int >> &adjacency_list, double lambda, bool filter_vertex, bool filter_normal, bool filter_color) const

std::unordered_map< Eigen::Vector2i, double, utility::hash_eigen< Eigen::Vector2i > >	ComputeEdgeWeightsCot (const std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i >> &edges_to_vertices, double min_weight=std::numeric_limits< double >::lowest()) const
	Function that computes for each edge in the triangle mesh and passed as parameter edges_to_vertices the cot weight. More...

Protected Member Functions inherited from open3d::geometry::MeshBase
	MeshBase (Geometry::GeometryType type)

	MeshBase (Geometry::GeometryType type, const std::vector< Eigen::Vector3d > &vertices)

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)
	Parameterized Constructor. More...

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const
	Compute min bound of a list points. More...

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const
	Compute max bound of a list points. More...

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const
	Computer center of a list of points. More...

void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const
	Resizes the colors vector and paints a uniform color. More...

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const
	Transforms all points with the transformation matrix. More...

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const
	Transforms the normals with the transformation matrix. More...

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const
	Apply translation to the geometry coordinates. More...

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Scale the coordinates of all points by the scaling factor `scale`. More...

void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Rotate all points with the rotation matrix `R`. More...

void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals) const
	Rotate all normals with the rotation matrix `R`. More...

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

Additional Inherited Members
Public Types inherited from open3d::geometry::MeshBase
enum	SimplificationContraction { SimplificationContraction::Average, SimplificationContraction::Quadric }
	Indicates the method that is used for mesh simplification if multiple vertices are combined to a single one. More...

enum	FilterScope { FilterScope::All, FilterScope::Color, FilterScope::Normal, FilterScope::Vertex }
	Indicates the scope of filter operations. More...

enum	DeformAsRigidAsPossibleEnergy { DeformAsRigidAsPossibleEnergy::Spokes, DeformAsRigidAsPossibleEnergy::Smoothed }

Public Types inherited from open3d::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...

Detailed Description

Triangle mesh contains vertices and triangles represented by the indices to the vertices.

Optionally, the mesh may also contain triangle normals, vertex normals and vertex colors.

Constructor & Destructor Documentation

◆ TriangleMesh() [1/3]

open3d::geometry::TriangleMesh::TriangleMesh ( )

inline

Default Constructor.

◆ TriangleMesh() [2/3]

open3d::geometry::TriangleMesh::TriangleMesh	(	const std::vector< Eigen::Vector3d > &	vertices,
		const std::vector< Eigen::Vector3i > &	triangles
	)

inline

Parameterized Constructor.

Parameters

vertices	list of vertices.
triangles	list of triangles.

◆ ~TriangleMesh()

open3d::geometry::TriangleMesh::~TriangleMesh ( )

inlineoverride

◆ TriangleMesh() [3/3]

open3d::geometry::TriangleMesh::TriangleMesh ( Geometry::GeometryType type )

inlineprotected

Member Function Documentation

◆ Clear()

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

overridevirtual

Clear all elements in the geometry.

Reimplemented from open3d::geometry::MeshBase.

◆ ClusterConnectedTriangles()

std::tuple< std::vector< int >, std::vector< size_t >, std::vector< double > > open3d::geometry::TriangleMesh::ClusterConnectedTriangles ( ) const

Function that clusters connected triangles, i.e., triangles that are connected via edges are assigned the same cluster index.

Returns: A vector that contains the cluster index per triangle, a second vector contains the number of triangles per cluster, and a third vector contains the surface area per cluster.

◆ ComputeAdjacencyList()

TriangleMesh & open3d::geometry::TriangleMesh::ComputeAdjacencyList ( )

Function to compute adjacency list, call before adjacency list is needed.

◆ ComputeEdgeWeightsCot()

std::unordered_map< Eigen::Vector2i, double, utility::hash_eigen< Eigen::Vector2i > > open3d::geometry::TriangleMesh::ComputeEdgeWeightsCot	(	const std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i >> &	edges_to_vertices,
		double	min_weight = `std::numeric_limits<double>::lowest()`
	)		const

protected

Function that computes for each edge in the triangle mesh and passed as parameter edges_to_vertices the cot weight.

Parameters

edges_to_vertices	map from edge to vector of neighbouring vertices.
min_weight	minimum weight returned. Weights smaller than this get clamped.

Returns: cot weight per edge.

◆ ComputeTriangleArea()

double open3d::geometry::TriangleMesh::ComputeTriangleArea	(	const Eigen::Vector3d &	p0,
		const Eigen::Vector3d &	p1,
		const Eigen::Vector3d &	p2
	)

static

Function that computes the area of a mesh triangle.

◆ ComputeTriangleNormals()

TriangleMesh & open3d::geometry::TriangleMesh::ComputeTriangleNormals ( bool normalized = true )

Function to compute triangle normals, usually called before rendering.

◆ ComputeTrianglePlane()

Eigen::Vector4d open3d::geometry::TriangleMesh::ComputeTrianglePlane	(	const Eigen::Vector3d &	p0,
		const Eigen::Vector3d &	p1,
		const Eigen::Vector3d &	p2
	)

static

Function that computes the plane equation from the three points. If the three points are co-linear, then this function returns the invalid plane (0, 0, 0, 0).

◆ ComputeVertexNormals()

TriangleMesh & open3d::geometry::TriangleMesh::ComputeVertexNormals ( bool normalized = true )

Function to compute vertex normals, usually called before rendering.

◆ CreateArrow()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateArrow	(	double	cylinder_radius = `1.0`,
		double	cone_radius = `1.5`,
		double	cylinder_height = `5.0`,
		double	cone_height = `4.0`,
		int	resolution = `20`,
		int	cylinder_split = `4`,
		int	cone_split = `1`
	)

static

Factory function to create an arrow mesh (TriangleMeshFactory.cpp) The axis of the cone with cone_radius will be along the z-axis. The cylinder with cylinder_radius is from (0, 0, 0) to (0, 0, cylinder_height), and the cone is from (0, 0, cylinder_height) to (0, 0, cylinder_height + cone_height). The cone will be split into resolution segments. The cylinder_height will be split into cylinder_split segments. The cone_height will be split into cone_split segments.

Parameters

cylinder_radius	defines the radius of the cylinder.
cone_radius	defines the radius of the cone.
cylinder_height	defines the height of the cylinder. The cylinder is from (0, 0, 0) to (0, 0, cylinder_height)
cone_height	defines the height of the cone. The axis of the cone will be from (0, 0, cylinder_height) to (0, 0, cylinder_height + cone_height).
resolution	defines the cone will be split into resolution segments.
cylinder_split	defines the cylinder_height will be split into cylinder_split segments.
cone_split	defines the cone_height will be split into cone_split segments.

◆ CreateBox()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateBox	(	double	width = `1.0`,
		double	height = `1.0`,
		double	depth = `1.0`
	)

static

Factory function to create a box mesh (TriangleMeshFactory.cpp) The left bottom corner on the front will be placed at (0, 0, 0).

Parameters

width	is x-directional length.
height	is y-directional length.
depth	is z-directional length.

◆ CreateCone()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateCone	(	double	radius = `1.0`,
		double	height = `2.0`,
		int	resolution = `20`,
		int	split = `1`
	)

static

Factory function to create a cone mesh (TriangleMeshFactory.cpp) The axis of the cone will be from (0, 0, 0) to (0, 0, height). The circle with radius will be split into resolution segments. The height will be split into split segments.

Parameters

radius	defines the radius of the cone.
height	defines the height of the cone.
resolution	defines that the circle will be split into resolution segments
split	defines that the height will be split into split segments.

◆ CreateCoordinateFrame()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateCoordinateFrame	(	double	size = `1.0`,
		const Eigen::Vector3d &	origin = `Eigen::Vector3d(0.0, 0.0, 0.0)`
	)

static

Factory function to create a coordinate frame mesh (TriangleMeshFactory.cpp). arrows respectively.

Parameters

size	is the length of the axes.
size	defines the size of the coordinate frame.
origin	defines the origin of the coordinate frame.

◆ CreateCylinder()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateCylinder	(	double	radius = `1.0`,
		double	height = `2.0`,
		int	resolution = `20`,
		int	split = `4`
	)

static

Factory function to create a cylinder mesh (TriangleMeshFactory.cpp) The axis of the cylinder will be from (0, 0, -height/2) to (0, 0, height/2). The circle with radius will be split into resolution segments. The height will be split into split segments.

Parameters

radius	defines the radius of the cylinder.
height	defines the height of the cylinder.
resolution	defines that the circle will be split into resolution segments
split	defines that the height will be split into split segments.

◆ CreateFromPointCloudAlphaShape()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateFromPointCloudAlphaShape	(	const PointCloud &	pcd,
		double	alpha,
		std::shared_ptr< TetraMesh >	tetra_mesh = `nullptr`,
		std::vector< size_t > *	pt_map = `nullptr`
	)

static

Alpha shapes are a generalization of the convex hull. With decreasing alpha value the shape schrinks and creates cavities. See Edelsbrunner and Muecke, "Three-Dimensional Alpha Shapes", 1994.

Parameters

pcd	PointCloud for what the alpha shape should be computed.
alpha	parameter to control the shape. A very big value will give a shape close to the convex hull.
tetra_mesh	If not a nullptr, then uses this to construct the alpha shape. Otherwise, ComputeDelaunayTetrahedralization is called.
pt_map	Optional map from tetra_mesh vertex indices to pcd points.

Returns: TriangleMesh of the alpha shape.

◆ CreateFromPointCloudBallPivoting()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateFromPointCloudBallPivoting	(	const PointCloud &	pcd,
		const std::vector< double > &	radii
	)

static

Function that computes a triangle mesh from an oriented PointCloud pcd. This implements the Ball Pivoting algorithm proposed in F. Bernardini et al., "The ball-pivoting algorithm for surface reconstruction", 1999. The implementation is also based on the algorithms outlined in Digne, "An Analysis and Implementation of a Parallel Ball Pivoting Algorithm", 2014. The surface reconstruction is done by rolling a ball with a given radius (cf. radii) over the point cloud, whenever the ball touches three points a triangle is created.

Parameters

pcd	defines the PointCloud from which the TriangleMesh surface is reconstructed. Has to contain normals.
radii	defines the radii of the ball that are used for the surface reconstruction.

◆ CreateFromPointCloudPoisson()

std::tuple< std::shared_ptr< TriangleMesh >, std::vector< double > > open3d::geometry::TriangleMesh::CreateFromPointCloudPoisson	(	const PointCloud &	pcd,
		size_t	depth = `8`,
		size_t	width = `0`,
		float	scale = `1.1f`,
		bool	linear_fit = `false`,
		int	n_threads = `-1`
	)

static

Function that computes a triangle mesh from an oriented PointCloud pcd. This implements the Screened Poisson Reconstruction proposed in Kazhdan and Hoppe, "Screened Poisson Surface Reconstruction", 2013. This function uses the original implementation by Kazhdan. See https://github.com/mkazhdan/PoissonRecon.

Parameters

pcd	PointCloud with normals and optionally colors.
depth	Maximum depth of the tree that will be used for surface reconstruction. Running at depth d corresponds to solving on a grid whose resolution is no larger than 2^d x 2^d x 2^d. Note that since the reconstructor adapts the octree to the sampling density, the specified reconstruction depth is only an upper bound.
width	Specifies the target width of the finest level octree cells. This parameter is ignored if depth is specified.
scale	Specifies the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.
linear_fit	If true, the reconstructor use linear interpolation to estimate the positions of iso-vertices.
n_threads	Number of threads used for reconstruction. Set to -1 to automatically determine it.

Returns: The estimated TriangleMesh, and per vertex densitie values that can be used to to trim the mesh.

◆ CreateIcosahedron()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateIcosahedron ( double radius = 1.0 )

static

Factory function to create an icosahedron mesh (trianglemeshfactory.cpp). The mesh centroid will be at (0,0,0) and

Parameters

radius defines the distance from the center to the mesh vertices.

◆ CreateMoebius()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateMoebius	(	int	length_split = `70`,
		int	width_split = `15`,
		int	twists = `1`,
		double	radius = `1`,
		double	flatness = `1`,
		double	width = `1`,
		double	scale = `1`
	)

static

Factory function to create a Moebius strip.

Parameters

length_split	defines the number of segments along the Moebius strip.
width_split	defines the number of segments along the width of the Moebius strip.
twists	defines the number of twists of the strip.
radius	defines the radius of the Moebius strip.
flatness	controls the height of the strip.
width	controls the width of the Moebius strip.
scale	is used to scale the entire Moebius strip.

◆ CreateOctahedron()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateOctahedron ( double radius = 1.0 )

static

Factory function to create an octahedron mesh (trianglemeshfactory.cpp). the mesh centroid will be at (0,0,0) and

Parameters

radius	defines the distance from the center to the mesh vertices.
radius	defines the distance from centroid to mesh vetices.

◆ CreateSphere()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateSphere	(	double	radius = `1.0`,
		int	resolution = `20`
	)

static

Factory function to create a sphere mesh (TriangleMeshFactory.cpp) The sphere with radius will be centered at (0, 0, 0). Its axis is aligned with z-axis.

Parameters

radius	defines radius of the sphere.
resolution	defines the resolution of the sphere. The longitudes will be split into resolution segments (i.e. there are resolution + 1 latitude lines including the north and south pole). The latitudes will be split into `2 * resolution segments (i.e. there are 2 * resolution longitude lines.)

◆ CreateTetrahedron()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateTetrahedron ( double radius = 1.0 )

static

Factory function to create a tetrahedron mesh (trianglemeshfactory.cpp). the mesh centroid will be at (0,0,0) and

Parameters

radius	defines the distance from the center to the mesh vertices.
radius	defines the distance from centroid to mesh vetices.

◆ CreateTorus()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::CreateTorus	(	double	torus_radius = `1.0`,
		double	tube_radius = `0.5`,
		int	radial_resolution = `30`,
		int	tubular_resolution = `20`
	)

static

Factory function to create a torus mesh (TriangleMeshFactory.cpp) The torus will be centered at (0, 0, 0) and a radius of torus_radius. The tube of the torus will have a radius of tube_radius. The number of segments in radial and tubular direction are radial_resolution and tubular_resolution respectively.

Parameters

torus_radius	defines the radius from the center of the torus to the center of the tube.
tube_radius	defines the radius of the torus tube.
radial_resolution	defines the he number of segments along the radial direction.
tubular_resolution	defines the number of segments along the tubular direction.

◆ Crop() [1/2]

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::Crop ( const AxisAlignedBoundingBox & bbox ) const

Function to crop pointcloud into output pointcloud All points with coordinates outside the bounding box

Parameters

bbox	are clipped.
bbox	defines the input Axis Aligned Bounding Box.

◆ Crop() [2/2]

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::Crop ( const OrientedBoundingBox & bbox ) const

Function to crop pointcloud into output pointcloud All points with coordinates outside the bounding box

Parameters

bbox	are clipped.
bbox	defines the input Oriented Bounding Box.

◆ DeformAsRigidAsPossible()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::DeformAsRigidAsPossible	(	const std::vector< int > &	constraint_vertex_indices,
		const std::vector< Eigen::Vector3d > &	constraint_vertex_positions,
		size_t	max_iter,
		DeformAsRigidAsPossibleEnergy	energy = `DeformAsRigidAsPossibleEnergy::Spokes`,
		double	smoothed_alpha = `0.01`
	)		const

This function deforms the mesh using the method by Sorkine and Alexa, "As-Rigid-As-Possible Surface Modeling", 2007.

Parameters

constraint_vertex_indices	Indices of the triangle vertices that should be constrained by the vertex positions in constraint_vertex_positions.
constraint_vertex_positions	Vertex positions used for the constraints.
max_iter	maximum number of iterations to minimize energy functional.
energy	energy model that should be optimized
smoothed_alpha	alpha parameter of the smoothed ARAP model

Returns: The deformed TriangleMesh

◆ EulerPoincareCharacteristic()

int open3d::geometry::TriangleMesh::EulerPoincareCharacteristic ( ) const

Function that computes the Euler-Poincaré characteristic, i.e., V + F - E, where V is the number of vertices, F is the number of triangles, and E is the number of edges.

◆ FilterSharpen()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::FilterSharpen	(	int	number_of_iterations,
		double	strength,
		FilterScope	scope = `FilterScope::All`
	)		const

Function to sharpen triangle mesh.

The output value ( $v_o$ ) is the input value ( $v_i$ ) plus strength times the input value minus the sum of he adjacent values. $v_o = v_i + strength (v_i * |N| - \sum_{n \in N} v_n)$ .

Parameters

number_of_iterations	defines the number of repetitions of this operation.
strength	- The strength of the filter.

◆ FilterSmoothLaplacian()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::FilterSmoothLaplacian	(	int	number_of_iterations,
		double	lambda,
		FilterScope	scope = `FilterScope::All`
	)		const

Function to smooth triangle mesh using Laplacian.

$v_o = v_i \cdot \lambda (\sum_{n \in N} w_n v_n - v_i)$ , with $v_i$ being the input value, $v_o$ the output value, $N$ is the set of adjacent neighbours, $w_n$ is the weighting of the neighbour based on the inverse distance (closer neighbours have higher weight),

Parameters

number_of_iterations	defines the number of repetitions of this operation.
lambda	is the smoothing parameter.

◆ FilterSmoothLaplacianHelper()

void open3d::geometry::TriangleMesh::FilterSmoothLaplacianHelper	(	std::shared_ptr< TriangleMesh > &	mesh,
		const std::vector< Eigen::Vector3d > &	prev_vertices,
		const std::vector< Eigen::Vector3d > &	prev_vertex_normals,
		const std::vector< Eigen::Vector3d > &	prev_vertex_colors,
		const std::vector< std::unordered_set< int >> &	adjacency_list,
		double	lambda,
		bool	filter_vertex,
		bool	filter_normal,
		bool	filter_color
	)		const

protected

◆ FilterSmoothSimple()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::FilterSmoothSimple	(	int	number_of_iterations,
		FilterScope	scope = `FilterScope::All`
	)		const

Function to smooth triangle mesh with simple neighbour average.

$v_o = \frac{v_i + \sum_{n \in N} v_n)}{|N| + 1}$ , with $v_i$ being the input value, $v_o$ the output value, and $N$ is the set of adjacent neighbours.

Parameters

number_of_iterations defines the number of repetitions of this operation.

◆ FilterSmoothTaubin()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::FilterSmoothTaubin	(	int	number_of_iterations,
		double	lambda = `0.5`,
		double	mu = `-0.53`,
		FilterScope	scope = `FilterScope::All`
	)		const

Function to smooth triangle mesh using method of Taubin, "Curve and Surface Smoothing Without Shrinkage", 1995. Applies in each iteration two times FilterSmoothLaplacian, first with lambda and second with mu as smoothing parameter. This method avoids shrinkage of the triangle mesh.

Parameters

number_of_iterations	defines the number of repetitions of this operation.
lambda	is the filter parameter
mu	is the filter parameter

◆ GetEdgeToTrianglesMap()

std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > open3d::geometry::TriangleMesh::GetEdgeToTrianglesMap ( ) const

Function that returns a map from edges (vertex0, vertex1) to the triangle indices the given edge belongs to.

◆ GetEdgeToVerticesMap()

std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > open3d::geometry::TriangleMesh::GetEdgeToVerticesMap ( ) const

Function that returns a map from edges (vertex0, vertex1) to the vertex (vertex2) indices the given edge belongs to.

◆ GetNonManifoldEdges()

std::vector< Eigen::Vector2i > open3d::geometry::TriangleMesh::GetNonManifoldEdges ( bool allow_boundary_edges = true ) const

Function that returns the non-manifold edges of the triangle mesh. If

Parameters

allow_boundary_edges is set to false, then also boundary edges are returned.

◆ GetNonManifoldVertices()

std::vector< int > open3d::geometry::TriangleMesh::GetNonManifoldVertices ( ) const

Function that returns a list of non-manifold vertex indices. A vertex is manifold if its star is edge‐manifold and edge‐connected. (Two or more faces connected only by a vertex and not by an edge.)

◆ GetOrderedEdge()

static Eigen::Vector2i open3d::geometry::TriangleMesh::GetOrderedEdge	(	int	vidx0,
		int	vidx1
	)

inlinestatic

Helper function to get an edge with ordered vertex indices.

◆ GetOrderedTriangle()

static Eigen::Vector3i open3d::geometry::TriangleMesh::GetOrderedTriangle	(	int	vidx0,
		int	vidx1,
		int	vidx2
	)

inlinestatic

◆ GetSelfIntersectingTriangles()

std::vector< Eigen::Vector2i > open3d::geometry::TriangleMesh::GetSelfIntersectingTriangles ( ) const

Function that returns a list of triangles that are intersecting the mesh.

◆ GetSurfaceArea() [1/2]

double open3d::geometry::TriangleMesh::GetSurfaceArea ( ) const

Function that computes the surface area of the mesh, i.e. the sum of the individual triangle surfaces.

◆ GetSurfaceArea() [2/2]

double open3d::geometry::TriangleMesh::GetSurfaceArea ( std::vector< double > & triangle_areas ) const

Function that computes the surface area of the mesh, i.e. the sum of the individual triangle surfaces.

◆ GetTriangleArea()

double open3d::geometry::TriangleMesh::GetTriangleArea ( size_t triangle_idx ) const

Function that computes the area of a mesh triangle identified by the triangle index

◆ GetTrianglePlane()

Eigen::Vector4d open3d::geometry::TriangleMesh::GetTrianglePlane ( size_t triangle_idx ) const

Function that computes the plane equation of a mesh triangle identified by the triangle index.

◆ GetVolume()

double open3d::geometry::TriangleMesh::GetVolume ( ) const

Function that computes the volume of the mesh, under the condition that it is watertight and orientable. See Zhang and Chen, "Efficient feature extraction for 2D/3D objects in mesh representation", 2001.

◆ HasAdjacencyList()

bool open3d::geometry::TriangleMesh::HasAdjacencyList ( ) const

inline

Returns true if the mesh contains adjacency normals.

◆ HasMaterials()

bool open3d::geometry::TriangleMesh::HasMaterials ( ) const

inline

◆ HasTextures()

bool open3d::geometry::TriangleMesh::HasTextures ( ) const

inline

Returns true if the mesh has texture.

◆ HasTriangleMaterialIds()

bool open3d::geometry::TriangleMesh::HasTriangleMaterialIds ( ) const

inline

◆ HasTriangleNormals()

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

inline

Returns true if the mesh contains triangle normals.

◆ HasTriangles()

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

inline

Returns true if the mesh contains triangles.

◆ HasTriangleUvs()

bool open3d::geometry::TriangleMesh::HasTriangleUvs ( ) const

inline

◆ IsBoundingBoxIntersecting()

bool open3d::geometry::TriangleMesh::IsBoundingBoxIntersecting ( const TriangleMesh & other ) const

Function that tests if the bounding boxes of the triangle meshes are intersecting.

◆ IsEdgeManifold()

bool open3d::geometry::TriangleMesh::IsEdgeManifold ( bool allow_boundary_edges = true ) const

Function that checks if the given triangle mesh is edge-manifold. A mesh is edge-manifold if each edge is bounding either one or two triangles. If allow_boundary_edges is set to false, then this function returns false if there exists boundary edges.

◆ IsIntersecting()

bool open3d::geometry::TriangleMesh::IsIntersecting ( const TriangleMesh & other ) const

Function that tests if the triangle mesh intersects another triangle mesh. Tests each triangle against each other triangle.

◆ IsOrientable()

bool open3d::geometry::TriangleMesh::IsOrientable ( ) const

Function that tests if the given triangle mesh is orientable, i.e. the triangles can be oriented in such a way that all normals point towards the outside.

◆ IsSelfIntersecting()

bool open3d::geometry::TriangleMesh::IsSelfIntersecting ( ) const

Function that tests if the triangle mesh is self-intersecting. Tests each triangle pair for intersection.

◆ IsVertexManifold()

bool open3d::geometry::TriangleMesh::IsVertexManifold ( ) const

Function that checks if all vertices in the triangle mesh are manifold. A vertex is manifold if its star is edge‐manifold and edge‐connected. (Two or more faces connected only by a vertex and not by an edge.)

◆ IsWatertight()

bool open3d::geometry::TriangleMesh::IsWatertight ( ) const

Function that tests if the given triangle mesh is watertight by checking if it is vertex manifold and edge-manifold with no boundary edges, but not self-intersecting.

◆ MergeCloseVertices()

TriangleMesh & open3d::geometry::TriangleMesh::MergeCloseVertices ( double eps )

Function that will merge close by vertices to a single one. The vertex position, normal and color will be the average of the vertices.

Parameters

eps	defines the maximum distance of close by vertices. This function might help to close triangle soups.

◆ NormalizeNormals()

TriangleMesh& open3d::geometry::TriangleMesh::NormalizeNormals ( )

inline

Normalize both triangle normals and vertex normals to length 1.

◆ operator+()

TriangleMesh open3d::geometry::TriangleMesh::operator+ ( const TriangleMesh & mesh ) const

◆ operator+=()

TriangleMesh & open3d::geometry::TriangleMesh::operator+= ( const TriangleMesh & mesh )

◆ OrientTriangles()

bool open3d::geometry::TriangleMesh::OrientTriangles ( )

If the mesh is orientable then this function rearranges the triangles such that all normals point towards the outside/inside.

◆ RemoveDegenerateTriangles()

TriangleMesh & open3d::geometry::TriangleMesh::RemoveDegenerateTriangles ( )

Function that removes degenerate triangles, i.e., triangles that reference a single vertex multiple times in a single triangle.

They are usually the product of removing duplicated vertices.

◆ RemoveDuplicatedTriangles()

TriangleMesh & open3d::geometry::TriangleMesh::RemoveDuplicatedTriangles ( )

Function that removes duplicated triangles, i.e., removes triangles that reference the same three vertices, independent of their order.

◆ RemoveDuplicatedVertices()

TriangleMesh & open3d::geometry::TriangleMesh::RemoveDuplicatedVertices ( )

Function that removes duplicated verties, i.e., vertices that have identical coordinates.

◆ RemoveNonManifoldEdges()

TriangleMesh & open3d::geometry::TriangleMesh::RemoveNonManifoldEdges ( )

Function that removes all non-manifold edges, by successively deleting triangles with the smallest surface area adjacent to the non-manifold edge until the number of adjacent triangles to the edge is <= 2.

◆ RemoveTrianglesByIndex()

void open3d::geometry::TriangleMesh::RemoveTrianglesByIndex ( const std::vector< size_t > & triangle_indices )

This function removes the triangles with index in triangle_indices. Call RemoveUnreferencedVertices to clean up vertices afterwards.

Parameters

triangle_indices Indices of the triangles that should be removed.

◆ RemoveTrianglesByMask()

void open3d::geometry::TriangleMesh::RemoveTrianglesByMask ( const std::vector< bool > & triangle_mask )

This function removes the triangles that are masked in triangle_mask. Call RemoveUnreferencedVertices to clean up vertices afterwards.

Parameters

triangle_mask Mask of triangles that should be removed. Should have same size as triangles_.

◆ RemoveUnreferencedVertices()

TriangleMesh & open3d::geometry::TriangleMesh::RemoveUnreferencedVertices ( )

This function removes vertices from the triangle mesh that are not referenced in any triangle of the mesh.

◆ RemoveVerticesByIndex()

void open3d::geometry::TriangleMesh::RemoveVerticesByIndex ( const std::vector< size_t > & vertex_indices )

This function removes the vertices with index in vertex_indices. Note that also all triangles associated with the vertices are removeds.

Parameters

vertex_indices Indices of the vertices that should be removed.

◆ RemoveVerticesByMask()

void open3d::geometry::TriangleMesh::RemoveVerticesByMask ( const std::vector< bool > & vertex_mask )

This function removes the vertices that are masked in vertex_mask. Note that also all triangles associated with the vertices are removed.

Parameters

vertex_mask Mask of vertices that should be removed. Should have same size as vertices_.

◆ Rotate()

TriangleMesh & open3d::geometry::TriangleMesh::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix $R$ , and center $c$ , a given point $p$ is transformed according to $R (p - c) + c$ .

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Reimplemented from open3d::geometry::MeshBase.

◆ SamplePointsPoissonDisk()

std::shared_ptr< PointCloud > open3d::geometry::TriangleMesh::SamplePointsPoissonDisk	(	size_t	number_of_points,
		double	init_factor = `5`,
		const std::shared_ptr< PointCloud >	pcl_init = `nullptr`,
		bool	use_triangle_normal = `false`,
		int	seed = `-1`
	)

Function to sample number_of_points points (blue noise). Based on the method presented in Yuksel, "Sample Elimination for Generating Poisson Disk Sample Sets", EUROGRAPHICS, 2015 The PointCloud pcl_init is used for sample elimination if given, otherwise a PointCloud is first uniformly sampled with init_number_of_points x number_of_points number of points. use_triangle_normal Set to true to assign the triangle normals to the returned points instead of the interpolated vertex normals. The triangle normals will be computed and added to the mesh if necessary. seed Sets the seed value used in the random generator, set to -1 to use a random seed value with each function call.

◆ SamplePointsUniformly()

std::shared_ptr< PointCloud > open3d::geometry::TriangleMesh::SamplePointsUniformly	(	size_t	number_of_points,
		bool	use_triangle_normal = `false`,
		int	seed = `-1`
	)

Function to sample

Parameters

number_of_points	points uniformly from the mesh.
use_triangle_normal	Set to true to assign the triangle normals to the returned points instead of the interpolated vertex normals. The triangle normals will be computed and added to the mesh if necessary.
seed	Sets the seed value used in the random generator, set to -1 to use a random seed value with each function call.

◆ SamplePointsUniformlyImpl()

std::shared_ptr< PointCloud > open3d::geometry::TriangleMesh::SamplePointsUniformlyImpl	(	size_t	number_of_points,
		std::vector< double > &	triangle_areas,
		double	surface_area,
		bool	use_triangle_normal,
		int	seed
	)

Function to sample

Parameters

number_of_points points uniformly from the mesh.

◆ SelectByIndex()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::SelectByIndex	(	const std::vector< size_t > &	indices,
		bool	cleanup = `true`
	)		const

Function to select points from input TriangleMesh into output TriangleMesh Vertices with indices in indices are selected.

Parameters

indices	defines Indices of vertices to be selected.
cleanup	If true it automatically calls TriangleMesh::RemoveDuplicatedVertices, TriangleMesh::RemoveDuplicatedTriangles, TriangleMesh::RemoveUnreferencedVertices, and TriangleMesh::RemoveDegenerateTriangles

◆ SimplifyQuadricDecimation()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::SimplifyQuadricDecimation	(	int	target_number_of_triangles,
		double	maximum_error = `std::numeric_limits<double>::infinity()`,
		double	boundary_weight = `1.0`
	)		const

Function to simplify mesh using Quadric Error Metric Decimation by Garland and Heckbert.

Parameters

target_number_of_triangles	defines the number of triangles that the simplified mesh should have. It is not guaranteed that this number will be reached.
maximum_error	defines the maximum error where a vertex is allowed to be merged
boundary_weight	a weight applied to edge vertices used to preserve boundaries

◆ SimplifyVertexClustering()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::SimplifyVertexClustering	(	double	voxel_size,
		SimplificationContraction	contraction = `SimplificationContraction::Average`
	)		const

Function to simplify mesh using Vertex Clustering. The result can be a non-manifold mesh.

Parameters

voxel_size	- The size of the voxel within vertices are pooled.
contraction	- Method to aggregate vertex information. Average computes a simple average, Quadric minimizes the distance to the adjacent planes.

◆ SubdivideLoop()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::SubdivideLoop ( int number_of_iterations ) const

Function to subdivide triangle mesh using Loop's scheme. Cf. Charles T. Loop, "Smooth subdivision surfaces based on triangles",

Each triangle is subdivided into four triangles per iteration.
Parameters

number_of_iterations defines a single iteration splits each triangle into four triangles that cover the same surface.

◆ SubdivideMidpoint()

std::shared_ptr< TriangleMesh > open3d::geometry::TriangleMesh::SubdivideMidpoint ( int number_of_iterations ) const

Function to subdivide triangle mesh using the simple midpoint algorithm. Each triangle is subdivided into four triangles per iteration and the new vertices lie on the midpoint of the triangle edges.

Parameters

number_of_iterations defines a single iteration splits each triangle into four triangles that cover the same surface.

◆ Transform()

TriangleMesh & open3d::geometry::TriangleMesh::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

Apply transformation (4x4 matrix) to the geometry coordinates.

Reimplemented from open3d::geometry::MeshBase.

Field Documentation

◆ adjacency_list_

std::vector<std::unordered_set<int> > open3d::geometry::TriangleMesh::adjacency_list_

The set adjacency_list[i] contains the indices of adjacent vertices of vertex i.

◆ materials_

std::unordered_map<std::string, Material> open3d::geometry::TriangleMesh::materials_

◆ textures_

std::vector<Image> open3d::geometry::TriangleMesh::textures_

Textures of the image.

◆ triangle_material_ids_

std::vector<int> open3d::geometry::TriangleMesh::triangle_material_ids_

List of material ids.

◆ triangle_normals_

std::vector<Eigen::Vector3d> open3d::geometry::TriangleMesh::triangle_normals_

Triangle normals.

◆ triangle_uvs_

std::vector<Eigen::Vector2d> open3d::geometry::TriangleMesh::triangle_uvs_

List of uv coordinates per triangle.

◆ triangles_

std::vector<Eigen::Vector3i> open3d::geometry::TriangleMesh::triangles_

List of triangles denoted by the index of points forming the triangle.

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

/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/TriangleMesh.h (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/SurfaceReconstructionAlphaShape.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/SurfaceReconstructionBallPivoting.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/SurfaceReconstructionPoisson.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/TriangleMesh.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/TriangleMeshDeformation.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/TriangleMeshFactory.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/TriangleMeshSimplification.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/TriangleMeshSubdivide.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))

Data Structures

Public Member Functions

Static Public Member Functions

Data Fields

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TriangleMesh() [1/3]

◆ TriangleMesh() [2/3]

◆ ~TriangleMesh()

◆ TriangleMesh() [3/3]

Member Function Documentation

◆ Clear()

◆ ClusterConnectedTriangles()

◆ ComputeAdjacencyList()

◆ ComputeEdgeWeightsCot()

◆ ComputeTriangleArea()

◆ ComputeTriangleNormals()

◆ ComputeTrianglePlane()

◆ ComputeVertexNormals()

◆ CreateArrow()

◆ CreateBox()

◆ CreateCone()

◆ CreateCoordinateFrame()

◆ CreateCylinder()

◆ CreateFromPointCloudAlphaShape()

◆ CreateFromPointCloudBallPivoting()

◆ CreateFromPointCloudPoisson()

◆ CreateIcosahedron()

◆ CreateMoebius()

◆ CreateOctahedron()

◆ CreateSphere()

◆ CreateTetrahedron()

◆ CreateTorus()

◆ Crop() [1/2]

◆ Crop() [2/2]

◆ DeformAsRigidAsPossible()

◆ EulerPoincareCharacteristic()

◆ FilterSharpen()

◆ FilterSmoothLaplacian()

◆ FilterSmoothLaplacianHelper()

◆ FilterSmoothSimple()

◆ FilterSmoothTaubin()

◆ GetEdgeToTrianglesMap()

◆ GetEdgeToVerticesMap()

◆ GetNonManifoldEdges()

◆ GetNonManifoldVertices()

◆ GetOrderedEdge()

◆ GetOrderedTriangle()

◆ GetSelfIntersectingTriangles()

◆ GetSurfaceArea() [1/2]

◆ GetSurfaceArea() [2/2]

◆ GetTriangleArea()

◆ GetTrianglePlane()

◆ GetVolume()

◆ HasAdjacencyList()

◆ HasMaterials()

◆ HasTextures()

◆ HasTriangleMaterialIds()

◆ HasTriangleNormals()

◆ HasTriangles()

◆ HasTriangleUvs()

◆ IsBoundingBoxIntersecting()

◆ IsEdgeManifold()

◆ IsIntersecting()

◆ IsOrientable()

◆ IsSelfIntersecting()

◆ IsVertexManifold()

◆ IsWatertight()

◆ MergeCloseVertices()

◆ NormalizeNormals()

◆ operator+()

◆ operator+=()

◆ OrientTriangles()

◆ RemoveDegenerateTriangles()

◆ RemoveDuplicatedTriangles()

◆ RemoveDuplicatedVertices()

◆ RemoveNonManifoldEdges()

◆ RemoveTrianglesByIndex()