Open3D (C++ API)  0.12.0
TriangleMesh.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 #include <numeric>
32 #include <tuple>
33 #include <unordered_map>
34 #include <unordered_set>
35 #include <vector>
36 
37 #include "open3d/geometry/Image.h"
39 #include "open3d/utility/Helper.h"
40 
41 namespace open3d {
42 namespace geometry {
43 
44 class PointCloud;
45 class TetraMesh;
46 
54 class TriangleMesh : public MeshBase {
55 public:
62  TriangleMesh(const std::vector<Eigen::Vector3d> &vertices,
63  const std::vector<Eigen::Vector3i> &triangles)
65  triangles_(triangles) {}
66  ~TriangleMesh() override {}
67 
68 public:
69  virtual TriangleMesh &Clear() override;
70  virtual TriangleMesh &Transform(
71  const Eigen::Matrix4d &transformation) override;
72  virtual TriangleMesh &Rotate(const Eigen::Matrix3d &R,
73  const Eigen::Vector3d &center) override;
74 
75 public:
76  TriangleMesh &operator+=(const TriangleMesh &mesh);
77  TriangleMesh operator+(const TriangleMesh &mesh) const;
78 
80  bool HasTriangles() const {
81  return vertices_.size() > 0 && triangles_.size() > 0;
82  }
83 
85  bool HasTriangleNormals() const {
86  return HasTriangles() && triangles_.size() == triangle_normals_.size();
87  }
88 
90  bool HasAdjacencyList() const {
91  return vertices_.size() > 0 &&
92  adjacency_list_.size() == vertices_.size();
93  }
94 
95  bool HasTriangleUvs() const {
96  return HasTriangles() && triangle_uvs_.size() == 3 * triangles_.size();
97  }
98 
100  bool HasTextures() const {
101  bool is_all_texture_valid = std::accumulate(
102  textures_.begin(), textures_.end(), true,
103  [](bool a, const Image &b) { return a && !b.IsEmpty(); });
104  return !textures_.empty() && is_all_texture_valid;
105  }
106 
107  bool HasMaterials() const { return !materials_.empty(); }
108 
109  bool HasTriangleMaterialIds() const {
110  return HasTriangles() &&
111  triangle_material_ids_.size() == triangles_.size();
112  }
113 
117  for (size_t i = 0; i < triangle_normals_.size(); i++) {
118  triangle_normals_[i].normalize();
119  if (std::isnan(triangle_normals_[i](0))) {
120  triangle_normals_[i] = Eigen::Vector3d(0.0, 0.0, 1.0);
121  }
122  }
123  return *this;
124  }
125 
128  TriangleMesh &ComputeTriangleNormals(bool normalized = true);
129 
132  TriangleMesh &ComputeVertexNormals(bool normalized = true);
133 
137 
141 
146 
150 
156 
162 
169  TriangleMesh &MergeCloseVertices(double eps);
170 
180  std::shared_ptr<TriangleMesh> FilterSharpen(
181  int number_of_iterations,
182  double strength,
183  FilterScope scope = FilterScope::All) const;
184 
193  std::shared_ptr<TriangleMesh> FilterSmoothSimple(
194  int number_of_iterations,
195  FilterScope scope = FilterScope::All) const;
196 
208  std::shared_ptr<TriangleMesh> FilterSmoothLaplacian(
209  int number_of_iterations,
210  double lambda,
211  FilterScope scope = FilterScope::All) const;
212 
223  std::shared_ptr<TriangleMesh> FilterSmoothTaubin(
224  int number_of_iterations,
225  double lambda = 0.5,
226  double mu = -0.53,
227  FilterScope scope = FilterScope::All) const;
228 
232  int EulerPoincareCharacteristic() const;
233 
237  std::vector<Eigen::Vector2i> GetNonManifoldEdges(
238  bool allow_boundary_edges = true) const;
239 
244  bool IsEdgeManifold(bool allow_boundary_edges = true) const;
245 
249  std::vector<int> GetNonManifoldVertices() const;
250 
254  bool IsVertexManifold() const;
255 
258  std::vector<Eigen::Vector2i> GetSelfIntersectingTriangles() const;
259 
262  bool IsSelfIntersecting() const;
263 
266  bool IsBoundingBoxIntersecting(const TriangleMesh &other) const;
267 
270  bool IsIntersecting(const TriangleMesh &other) const;
271 
275  bool IsOrientable() const;
276 
280  bool IsWatertight() const;
281 
285  bool OrientTriangles();
286 
289  std::unordered_map<Eigen::Vector2i,
290  std::vector<int>,
292  GetEdgeToTrianglesMap() const;
293 
296  std::unordered_map<Eigen::Vector2i,
297  std::vector<int>,
299  GetEdgeToVerticesMap() const;
300 
302  static double ComputeTriangleArea(const Eigen::Vector3d &p0,
303  const Eigen::Vector3d &p1,
304  const Eigen::Vector3d &p2);
305 
308  double GetTriangleArea(size_t triangle_idx) const;
309 
310  static inline Eigen::Vector3i GetOrderedTriangle(int vidx0,
311  int vidx1,
312  int vidx2) {
313  if (vidx0 > vidx2) {
314  std::swap(vidx0, vidx2);
315  }
316  if (vidx0 > vidx1) {
317  std::swap(vidx0, vidx1);
318  }
319  if (vidx1 > vidx2) {
320  std::swap(vidx1, vidx2);
321  }
322  return Eigen::Vector3i(vidx0, vidx1, vidx2);
323  }
324 
327  double GetSurfaceArea() const;
328 
331  double GetSurfaceArea(std::vector<double> &triangle_areas) const;
332 
337  double GetVolume() const;
338 
342  static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0,
343  const Eigen::Vector3d &p1,
344  const Eigen::Vector3d &p2);
345 
348  Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const;
349 
351  static inline Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1) {
352  return Eigen::Vector2i(std::min(vidx0, vidx1), std::max(vidx0, vidx1));
353  }
354 
357  std::shared_ptr<PointCloud> SamplePointsUniformlyImpl(
358  size_t number_of_points,
359  std::vector<double> &triangle_areas,
360  double surface_area,
361  bool use_triangle_normal,
362  int seed);
363 
370  std::shared_ptr<PointCloud> SamplePointsUniformly(
371  size_t number_of_points,
372  bool use_triangle_normal = false,
373  int seed = -1);
374 
386  std::shared_ptr<PointCloud> SamplePointsPoissonDisk(
387  size_t number_of_points,
388  double init_factor = 5,
389  const std::shared_ptr<PointCloud> pcl_init = nullptr,
390  bool use_triangle_normal = false,
391  int seed = -1);
392 
398  std::shared_ptr<TriangleMesh> SubdivideMidpoint(
399  int number_of_iterations) const;
400 
406  std::shared_ptr<TriangleMesh> SubdivideLoop(int number_of_iterations) const;
407 
414  std::shared_ptr<TriangleMesh> SimplifyVertexClustering(
415  double voxel_size,
416  SimplificationContraction contraction =
418 
428  std::shared_ptr<TriangleMesh> SimplifyQuadricDecimation(
429  int target_number_of_triangles,
430  double maximum_error,
431  double boundary_weight) const;
432 
442  std::shared_ptr<TriangleMesh> SelectByIndex(
443  const std::vector<size_t> &indices, bool cleanup = true) const;
444 
449  std::shared_ptr<TriangleMesh> Crop(
450  const AxisAlignedBoundingBox &bbox) const;
451 
456  std::shared_ptr<TriangleMesh> Crop(const OrientedBoundingBox &bbox) const;
457 
464  std::tuple<std::vector<int>, std::vector<size_t>, std::vector<double>>
466 
473  void RemoveTrianglesByIndex(const std::vector<size_t> &triangle_indices);
474 
481  void RemoveTrianglesByMask(const std::vector<bool> &triangle_mask);
482 
489  void RemoveVerticesByIndex(const std::vector<size_t> &vertex_indices);
490 
497  void RemoveVerticesByMask(const std::vector<bool> &vertex_mask);
498 
512  std::shared_ptr<TriangleMesh> DeformAsRigidAsPossible(
513  const std::vector<int> &constraint_vertex_indices,
514  const std::vector<Eigen::Vector3d> &constraint_vertex_positions,
515  size_t max_iter,
518  double smoothed_alpha = 0.01) const;
519 
531  static std::shared_ptr<TriangleMesh> CreateFromPointCloudAlphaShape(
532  const PointCloud &pcd,
533  double alpha,
534  std::shared_ptr<TetraMesh> tetra_mesh = nullptr,
535  std::vector<size_t> *pt_map = nullptr);
536 
550  static std::shared_ptr<TriangleMesh> CreateFromPointCloudBallPivoting(
551  const PointCloud &pcd, const std::vector<double> &radii);
552 
576  static std::tuple<std::shared_ptr<TriangleMesh>, std::vector<double>>
578  size_t depth = 8,
579  size_t width = 0,
580  float scale = 1.1f,
581  bool linear_fit = false,
582  int n_threads = -1);
583 
588  static std::shared_ptr<TriangleMesh> CreateTetrahedron(double radius = 1.0);
589 
594  static std::shared_ptr<TriangleMesh> CreateOctahedron(double radius = 1.0);
595 
599  static std::shared_ptr<TriangleMesh> CreateIcosahedron(double radius = 1.0);
600 
606  static std::shared_ptr<TriangleMesh> CreateBox(double width = 1.0,
607  double height = 1.0,
608  double depth = 1.0);
609 
619  static std::shared_ptr<TriangleMesh> CreateSphere(double radius = 1.0,
620  int resolution = 20);
621 
632  static std::shared_ptr<TriangleMesh> CreateCylinder(double radius = 1.0,
633  double height = 2.0,
634  int resolution = 20,
635  int split = 4);
636 
646  static std::shared_ptr<TriangleMesh> CreateCone(double radius = 1.0,
647  double height = 2.0,
648  int resolution = 20,
649  int split = 1);
650 
661  static std::shared_ptr<TriangleMesh> CreateTorus(
662  double torus_radius = 1.0,
663  double tube_radius = 0.5,
664  int radial_resolution = 30,
665  int tubular_resolution = 20);
666 
687  static std::shared_ptr<TriangleMesh> CreateArrow(
688  double cylinder_radius = 1.0,
689  double cone_radius = 1.5,
690  double cylinder_height = 5.0,
691  double cone_height = 4.0,
692  int resolution = 20,
693  int cylinder_split = 4,
694  int cone_split = 1);
695 
701  static std::shared_ptr<TriangleMesh> CreateCoordinateFrame(
702  double size = 1.0,
703  const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0));
704 
714  static std::shared_ptr<TriangleMesh> CreateMoebius(int length_split = 70,
715  int width_split = 15,
716  int twists = 1,
717  double radius = 1,
718  double flatness = 1,
719  double width = 1,
720  double scale = 1);
721 
722 protected:
723  // Forward child class type to avoid indirect nonvirtual base
725 
727  std::shared_ptr<TriangleMesh> &mesh,
728  const std::vector<Eigen::Vector3d> &prev_vertices,
729  const std::vector<Eigen::Vector3d> &prev_vertex_normals,
730  const std::vector<Eigen::Vector3d> &prev_vertex_colors,
731  const std::vector<std::unordered_set<int>> &adjacency_list,
732  double lambda,
733  bool filter_vertex,
734  bool filter_normal,
735  bool filter_color) const;
736 
745  std::unordered_map<Eigen::Vector2i,
746  double,
749  const std::unordered_map<Eigen::Vector2i,
750  std::vector<int>,
752  &edges_to_vertices,
753  double min_weight = std::numeric_limits<double>::lowest()) const;
754 
755 public:
757  std::vector<Eigen::Vector3i> triangles_;
759  std::vector<Eigen::Vector3d> triangle_normals_;
762  std::vector<std::unordered_set<int>> adjacency_list_;
764  std::vector<Eigen::Vector2d> triangle_uvs_;
765 
766  struct Material {
768  float f4[4] = {0};
769 
771  f4[0] = 0;
772  f4[1] = 0;
773  f4[2] = 0;
774  f4[3] = 0;
775  }
776 
777  MaterialParameter(const float v1,
778  const float v2,
779  const float v3,
780  const float v4) {
781  f4[0] = v1;
782  f4[1] = v2;
783  f4[2] = v3;
784  f4[3] = v4;
785  }
786 
787  MaterialParameter(const float v1, const float v2, const float v3) {
788  f4[0] = v1;
789  f4[1] = v2;
790  f4[2] = v3;
791  f4[3] = 1;
792  }
793 
794  MaterialParameter(const float v1, const float v2) {
795  f4[0] = v1;
796  f4[1] = v2;
797  f4[2] = 0;
798  f4[3] = 0;
799  }
800 
801  explicit MaterialParameter(const float v1) {
802  f4[0] = v1;
803  f4[1] = 0;
804  f4[2] = 0;
805  f4[3] = 0;
806  }
807 
808  static MaterialParameter CreateRGB(const float r,
809  const float g,
810  const float b) {
811  return {r, g, b, 1.f};
812  }
813 
814  float r() const { return f4[0]; }
815  float g() const { return f4[1]; }
816  float b() const { return f4[2]; }
817  float a() const { return f4[3]; }
818  };
819 
821  float baseMetallic = 0.f;
822  float baseRoughness = 1.f;
823  float baseReflectance = 0.5f;
824  float baseClearCoat = 0.f;
826  float baseAnisotropy = 0.f;
827 
828  std::shared_ptr<Image> albedo;
829  std::shared_ptr<Image> normalMap;
830  std::shared_ptr<Image> ambientOcclusion;
831  std::shared_ptr<Image> metallic;
832  std::shared_ptr<Image> roughness;
833  std::shared_ptr<Image> reflectance;
834  std::shared_ptr<Image> clearCoat;
835  std::shared_ptr<Image> clearCoatRoughness;
836  std::shared_ptr<Image> anisotropy;
837 
838  std::unordered_map<std::string, MaterialParameter> floatParameters;
839  std::unordered_map<std::string, Image> additionalMaps;
840  };
841 
842  std::unordered_map<std::string, Material> materials_;
843 
845  std::vector<int> triangle_material_ids_;
847  std::vector<Image> textures_;
848 };
849 
850 } // namespace geometry
851 } // namespace open3d
std::shared_ptr< Image > anisotropy
Definition: TriangleMesh.h:836
float baseRoughness
Definition: TriangleMesh.h:822
static std::shared_ptr< TriangleMesh > CreateFromPointCloudBallPivoting(const PointCloud &pcd, const std::vector< double > &radii)
Definition: SurfaceReconstructionBallPivoting.cpp:749
bool HasTriangleMaterialIds() const
Definition: TriangleMesh.h:109
bool IsSelfIntersecting() const
Definition: TriangleMesh.cpp:1375
std::shared_ptr< PointCloud > SamplePointsUniformlyImpl(size_t number_of_points, std::vector< double > &triangle_areas, double surface_area, bool use_triangle_normal, int seed)
Definition: TriangleMesh.cpp:428
std::vector< Eigen::Vector3i > triangles_
List of triangles denoted by the index of points forming the triangle.
Definition: TriangleMesh.h:757
bool HasMaterials() const
Definition: TriangleMesh.h:107
TriangleMesh & RemoveDuplicatedTriangles()
Function that removes duplicated triangles, i.e., removes triangles that reference the same three ver...
Definition: TriangleMesh.cpp:705
bool IsOrientable() const
Definition: TriangleMesh.cpp:1093
void RemoveVerticesByIndex(const std::vector< size_t > &vertex_indices)
This function removes the vertices with index in vertex_indices. Note that also all triangles associa...
Definition: TriangleMesh.cpp:1512
void RemoveVerticesByMask(const std::vector< bool > &vertex_mask)
This function removes the vertices that are masked in vertex_mask. Note that also all triangles assoc...
Definition: TriangleMesh.cpp:1529
float baseClearCoatRoughness
Definition: TriangleMesh.h:825
std::shared_ptr< TriangleMesh > SubdivideLoop(int number_of_iterations) const
Definition: TriangleMeshSubdivide.cpp:115
MaterialParameter baseColor
Definition: TriangleMesh.h:820
float baseClearCoat
Definition: TriangleMesh.h:824
The base geometry class.
Definition: Geometry.h:37
std::vector< int > GetNonManifoldVertices() const
Definition: TriangleMesh.cpp:1283
MaterialParameter(const float v1, const float v2, const float v3, const float v4)
Definition: TriangleMesh.h:777
std::shared_ptr< TriangleMesh > FilterSmoothSimple(int number_of_iterations, FilterScope scope=FilterScope::All) const
Function to smooth triangle mesh with simple neighbour average.
Definition: TriangleMesh.cpp:225
TriangleMesh & MergeCloseVertices(double eps)
Function that will merge close by vertices to a single one. The vertex position, normal and color wil...
Definition: TriangleMesh.cpp:910
std::shared_ptr< TriangleMesh > SelectByIndex(const std::vector< size_t > &indices, bool cleanup=true) const
Definition: TriangleMesh.cpp:1573
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)
Definition: TriangleMeshFactory.cpp:441
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:149
std::shared_ptr< Image > roughness
Definition: TriangleMesh.h:832
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToVerticesMap() const
Definition: TriangleMesh.cpp:1131
bool HasTextures() const
Returns true if the mesh has texture.
Definition: TriangleMesh.h:100
std::shared_ptr< Image > normalMap
Definition: TriangleMesh.h:829
bool IsBoundingBoxIntersecting(const TriangleMesh &other) const
Definition: TriangleMesh.cpp:1379
TriangleMesh()
Default Constructor.
Definition: TriangleMesh.h:57
Definition: TriangleMesh.h:766
void RemoveTrianglesByIndex(const std::vector< size_t > &triangle_indices)
This function removes the triangles with index in triangle_indices. Call RemoveUnreferencedVertices t...
Definition: TriangleMesh.cpp:1472
std::shared_ptr< TriangleMesh > FilterSharpen(int number_of_iterations, double strength, FilterScope scope=FilterScope::All) const
Function to sharpen triangle mesh.
Definition: TriangleMesh.cpp:154
MeshBash Class.
Definition: MeshBase.h:51
MeshBase & NormalizeNormals()
Normalize vertex normals to length 1.
Definition: MeshBase.h:117
A bounding box oriented along an arbitrary frame of reference.
Definition: BoundingVolume.h:44
std::unordered_map< std::string, MaterialParameter > floatParameters
Definition: TriangleMesh.h:838
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:54
bool IsEdgeManifold(bool allow_boundary_edges=true) const
Definition: TriangleMesh.cpp:1270
float b() const
Definition: TriangleMesh.h:816
TriangleMesh & ComputeVertexNormals(bool normalized=true)
Function to compute vertex normals, usually called before rendering.
Definition: TriangleMesh.cpp:123
static std::shared_ptr< TriangleMesh > CreateSphere(double radius=1.0, int resolution=20)
Definition: TriangleMeshFactory.cpp:157
bool HasTriangleUvs() const
Definition: TriangleMesh.h:95
static double ComputeTriangleArea(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
Function that computes the area of a mesh triangle.
Definition: TriangleMesh.cpp:1147
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToTrianglesMap() const
Definition: TriangleMesh.cpp:1112
static Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1)
Helper function to get an edge with ordered vertex indices.
Definition: TriangleMesh.h:351
static std::shared_ptr< TriangleMesh > CreateBox(double width=1.0, double height=1.0, double depth=1.0)
Definition: TriangleMeshFactory.cpp:120
Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const
Definition: TriangleMesh.cpp:1233
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...
Definition: TriangleMesh.cpp:1407
static std::shared_ptr< TriangleMesh > CreateCoordinateFrame(double size=1.0, const Eigen::Vector3d &origin=Eigen::Vector3d(0.0, 0.0, 0.0))
Definition: TriangleMeshFactory.cpp:402
std::vector< Eigen::Vector2i > GetSelfIntersectingTriangles() const
Definition: TriangleMesh.cpp:1343
TriangleMesh & operator+=(const TriangleMesh &mesh)
Definition: TriangleMesh.cpp:71
std::shared_ptr< TriangleMesh > FilterSmoothLaplacian(int number_of_iterations, double lambda, FilterScope scope=FilterScope::All) const
Function to smooth triangle mesh using Laplacian.
Definition: TriangleMesh.cpp:341
float g() const
Definition: TriangleMesh.h:815
static std::shared_ptr< TriangleMesh > CreateCylinder(double radius=1.0, double height=2.0, int resolution=20, int split=4)
Definition: TriangleMeshFactory.cpp:202
int size
Definition: FilePCD.cpp:59
TriangleMesh & RemoveDegenerateTriangles()
Function that removes degenerate triangles, i.e., triangles that reference a single vertex multiple t...
Definition: TriangleMesh.cpp:800
std::unordered_map< std::string, Material > materials_
Definition: TriangleMesh.h:842
std::shared_ptr< TriangleMesh > Crop(const AxisAlignedBoundingBox &bbox) const
Definition: TriangleMesh.cpp:1633
static std::shared_ptr< TriangleMesh > CreateTetrahedron(double radius=1.0)
Definition: TriangleMeshFactory.cpp:33
bool IsVertexManifold() const
Definition: TriangleMesh.cpp:1339
Definition: Helper.h:86
bool IsIntersecting(const TriangleMesh &other) const
Definition: TriangleMesh.cpp:1384
TriangleMesh & ComputeAdjacencyList()
Function to compute adjacency list, call before adjacency list is needed.
Definition: TriangleMesh.cpp:140
bool IsWatertight() const
Definition: TriangleMesh.cpp:1098
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 M...
Definition: TriangleMeshDeformation.cpp:37
TriangleMesh & NormalizeNormals()
Normalize both triangle normals and vertex normals to length 1.
Definition: TriangleMesh.h:115
TriangleMesh(const std::vector< Eigen::Vector3d > &vertices, const std::vector< Eigen::Vector3i > &triangles)
Parameterized Constructor.
Definition: TriangleMesh.h:62
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 ...
Definition: TriangleMesh.cpp:64
void swap(optional< T > &x, optional< T > &y) noexcept(noexcept(x.swap(y)))
Definition: Optional.h:895
virtual TriangleMesh & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: TriangleMesh.cpp:58
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 ...
Definition: SurfaceReconstructionPoisson.cpp:729
FilterScope
Indicates the scope of filter operations.
Definition: MeshBase.h:70
SimplificationContraction
Indicates the method that is used for mesh simplification if multiple vertices are combined to a sing...
Definition: MeshBase.h:61
DeformAsRigidAsPossibleEnergy
Definition: MeshBase.h:76
virtual TriangleMesh & Clear() override
Clear all elements in the geometry.
Definition: TriangleMesh.cpp:45
std::vector< Image > textures_
Textures of the image.
Definition: TriangleMesh.h:847
std::shared_ptr< Image > albedo
Definition: TriangleMesh.h:828
void RemoveTrianglesByMask(const std::vector< bool > &triangle_mask)
This function removes the triangles that are masked in triangle_mask. Call RemoveUnreferencedVertices...
Definition: TriangleMesh.cpp:1489
bool HasTriangles() const
Returns true if the mesh contains triangles.
Definition: TriangleMesh.h:80
TriangleMesh operator+(const TriangleMesh &mesh) const
Definition: TriangleMesh.cpp:104
static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
Definition: TriangleMesh.cpp:1217
std::shared_ptr< Image > clearCoat
Definition: TriangleMesh.h:834
bool OrientTriangles()
Definition: TriangleMesh.cpp:1102
TriangleMesh & RemoveNonManifoldEdges()
Function that removes all non-manifold edges, by successively deleting triangles with the smallest su...
Definition: TriangleMesh.cpp:830
static std::shared_ptr< TriangleMesh > CreateTorus(double torus_radius=1.0, double tube_radius=0.5, int radial_resolution=30, int tubular_resolution=20)
Definition: TriangleMeshFactory.cpp:307
float r() const
Definition: TriangleMesh.h:814
char type
Definition: FilePCD.cpp:60
std::shared_ptr< TriangleMesh > SubdivideMidpoint(int number_of_iterations) const
Definition: TriangleMeshSubdivide.cpp:37
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 ...
Definition: SurfaceReconstructionAlphaShape.cpp:40
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
Definition: TriangleMesh.cpp:291
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)
Definition: TriangleMeshFactory.cpp:359
bool HasAdjacencyList() const
Returns true if the mesh contains adjacency normals.
Definition: TriangleMesh.h:90
std::shared_ptr< Image > ambientOcclusion
Definition: TriangleMesh.h:830
static std::shared_ptr< TriangleMesh > CreateOctahedron(double radius=1.0)
Definition: TriangleMeshFactory.cpp:55
Definition: PinholeCameraIntrinsic.cpp:35
double GetTriangleArea(size_t triangle_idx) const
Definition: TriangleMesh.cpp:1156
std::vector< Eigen::Vector2i > GetNonManifoldEdges(bool allow_boundary_edges=true) const
Definition: TriangleMesh.cpp:1256
std::shared_ptr< Image > reflectance
Definition: TriangleMesh.h:833
std::shared_ptr< PointCloud > SamplePointsUniformly(size_t number_of_points, bool use_triangle_normal=false, int seed=-1)
Definition: TriangleMesh.cpp:496
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:42
~TriangleMesh() override
Definition: TriangleMesh.h:66
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)
Definition: TriangleMesh.cpp:516
std::unordered_map< std::string, Image > additionalMaps
Definition: TriangleMesh.h:839
static std::shared_ptr< TriangleMesh > CreateIcosahedron(double radius=1.0)
Definition: TriangleMeshFactory.cpp:78
int height
Definition: FilePCD.cpp:72
std::shared_ptr< TriangleMesh > SimplifyQuadricDecimation(int target_number_of_triangles, double maximum_error, double boundary_weight) const
Definition: TriangleMeshSimplification.cpp:265
int EulerPoincareCharacteristic() const
Definition: TriangleMesh.cpp:1241
std::vector< std::unordered_set< int > > adjacency_list_
Definition: TriangleMesh.h:762
std::vector< Eigen::Vector3d > triangle_normals_
Triangle normals.
Definition: TriangleMesh.h:759
MaterialParameter(const float v1, const float v2)
Definition: TriangleMesh.h:794
TriangleMesh(Geometry::GeometryType type)
Definition: TriangleMesh.h:724
TriangleMesh & RemoveUnreferencedVertices()
This function removes vertices from the triangle mesh that are not referenced in any triangle of the ...
Definition: TriangleMesh.cpp:757
bool HasTriangleNormals() const
Returns true if the mesh contains triangle normals.
Definition: TriangleMesh.h:85
std::vector< Eigen::Vector3d > vertices_
Vertex coordinates.
Definition: MeshBase.h:148
Triangle mesh contains vertices and triangles represented by the indices to the vertices.
Definition: TriangleMesh.h:54
MaterialParameter(const float v1)
Definition: TriangleMesh.h:801
TriangleMesh & ComputeTriangleNormals(bool normalized=true)
Function to compute triangle normals, usually called before rendering.
Definition: TriangleMesh.cpp:108
std::vector< int > triangle_material_ids_
List of material ids.
Definition: TriangleMesh.h:845
TriangleMesh & RemoveDuplicatedVertices()
Function that removes duplicated verties, i.e., vertices that have identical coordinates.
Definition: TriangleMesh.cpp:662
double GetSurfaceArea() const
Definition: TriangleMesh.cpp:1164
static MaterialParameter CreateRGB(const float r, const float g, const float b)
Definition: TriangleMesh.h:808
float baseMetallic
Definition: TriangleMesh.h:821
float baseReflectance
Definition: TriangleMesh.h:823
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 t...
Definition: TriangleMesh.cpp:1657
static Eigen::Vector3i GetOrderedTriangle(int vidx0, int vidx1, int vidx2)
Definition: TriangleMesh.h:310
double GetVolume() const
Definition: TriangleMesh.cpp:1184
float a() const
Definition: TriangleMesh.h:817
std::shared_ptr< Image > clearCoatRoughness
Definition: TriangleMesh.h:835
static std::shared_ptr< TriangleMesh > CreateCone(double radius=1.0, double height=2.0, int resolution=20, int split=1)
Definition: TriangleMeshFactory.cpp:254
std::shared_ptr< TriangleMesh > SimplifyVertexClustering(double voxel_size, SimplificationContraction contraction=SimplificationContraction::Average) const
Definition: TriangleMeshSimplification.cpp:91
std::vector< Eigen::Vector2d > triangle_uvs_
List of uv coordinates per triangle.
Definition: TriangleMesh.h:764
The Image class stores image with customizable width, height, num of channels and bytes per channel...
Definition: Image.h:53
float baseAnisotropy
Definition: TriangleMesh.h:826
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 Shrinka...
Definition: TriangleMesh.cpp:380
MaterialParameter(const float v1, const float v2, const float v3)
Definition: TriangleMesh.h:787
std::shared_ptr< Image > metallic
Definition: TriangleMesh.h:831
int width
Definition: FilePCD.cpp:71