open3d.t.geometry.TriangleMesh¶
-
class
open3d.t.geometry.
TriangleMesh
¶ A triangle mesh contains vertices and triangles. The triangle mesh class stores the attribute data in key-value maps. There are two maps: the vertex attributes map, and the triangle attribute map.
The attributes of the triangle mesh have different levels:
import open3d as o3d device = o3d.core.Device("CPU:0") dtype_f = o3d.core.float32 dtype_i = o3d.core.int32 # Create an empty triangle mesh # Use mesh.vertex to access the vertices' attributes # Use mesh.triangle to access the triangles' attributes mesh = o3d.t.geometry.TriangleMesh(device) # Default attribute: vertex.positions, triangle.indices # These attributes is created by default and is required by all triangle # meshes. The shape of both must be (N, 3). The device of "positions" # determines the device of the triangle mesh. mesh.vertex.positions = o3d.core.Tensor([[0, 0, 0], [0, 0, 1], [0, 1, 0], [0, 1, 1]], dtype_f, device) mesh.triangle.indices = o3d.core.Tensor([[0, 1, 2], [0, 2, 3]]], dtype_i, device) # Common attributes: vertex.colors , vertex.normals # triangle.colors, triangle.normals # Common attributes are used in built-in triangle mesh operations. The # spellings must be correct. For example, if "normal" is used instead of # "normals", some internal operations that expects "normals" will not work. # "normals" and "colors" must have shape (N, 3) and must be on the same # device as the triangle mesh. mesh.vertex.normals = o3d.core.Tensor([[0, 0, 1], [0, 1, 0], [1, 0, 0], [1, 1, 1]], dtype_f, device) mesh.vertex.colors = o3d.core.Tensor([[0.0, 0.0, 0.0], [0.1, 0.1, 0.1], [0.2, 0.2, 0.2], [0.3, 0.3, 0.3]], dtype_f, device) mesh.triangle.normals = o3d.core.Tensor(...) mesh.triangle.colors = o3d.core.Tensor(...) # User-defined attributes # You can also attach custom attributes. The value tensor must be on the # same device as the triangle mesh. The are no restrictions on the shape and # dtype, e.g., pcd.vertex.labels = o3d.core.Tensor(...) pcd.triangle.features = o3d.core.Tensor(...)
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__init__
(*args, **kwargs)¶ Overloaded function.
__init__(self: open3d.cpu.pybind.t.geometry.TriangleMesh, device: open3d.cpu.pybind.core.Device = CPU:0) -> None
Construct an empty trianglemesh on the provided
device
(default: ‘CPU:0’).__init__(self: open3d.cpu.pybind.t.geometry.TriangleMesh, vertex_positions: open3d.cpu.pybind.core.Tensor, triangle_indices: open3d.cpu.pybind.core.Tensor) -> None
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bake_triangle_attr_textures
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, size: int, triangle_attr: Set[str], margin: float = 2.0, fill: float = 0.0, update_material: bool = True) → Dict[str, open3d.cpu.pybind.core.Tensor]¶ Bake triangle attributes into textures.
This function assumes a triangle attribute with name ‘texture_uvs’.
This function always uses the CPU device.
- Parameters
size (int) – The width and height of the texture in pixels. Only square textures are supported.
triangle_attr (set) – The vertex attributes for which textures should be generated.
margin (float) – The margin in pixels. The recommended value is 2. The margin are additional pixels around the UV islands to avoid discontinuities.
fill (float) – The value used for filling texels outside the UV islands.
update_material (bool) – If true updates the material of the mesh. Baking a vertex attribute with the name ‘albedo’ will become the albedo texture in the material. Existing textures in the material will be overwritten.
- Returns
A dictionary of tensors that store the baked textures.
Example
We generate a texture visualizing the index of the triangle to which the texel belongs to:
import open3d as o3d from matplotlib import pyplot as plt box = o3d.geometry.TriangleMesh.create_box(create_uv_map=True) box = o3d.t.geometry.TriangleMesh.from_legacy(box) # Creates a triangle attribute 'albedo' which is the triangle index # multiplied by (255//12). box.triangle['albedo'] = (255//12)*np.arange(box.triangle.indices.shape[0], dtype=np.uint8) # Initialize material and bake the 'albedo' triangle attribute to a # texture. The texture will be automatically added to the material of # the object. box.material.set_default_properties() texture_tensors = box.bake_triangle_attr_textures(128, {'albedo'}) # Shows the textured cube. o3d.visualization.draw([box]) # Plot the tensor with the texture. plt.imshow(texture_tensors['albedo'].numpy())
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bake_vertex_attr_textures
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, size: int, vertex_attr: Set[str], margin: float = 2.0, fill: float = 0.0, update_material: bool = True) → Dict[str, open3d.cpu.pybind.core.Tensor]¶ Bake vertex attributes into textures.
This function assumes a triangle attribute with name ‘texture_uvs’. Only float type attributes can be baked to textures.
This function always uses the CPU device.
- Parameters
size (int) – The width and height of the texture in pixels. Only square textures are supported.
vertex_attr (set) – The vertex attributes for which textures should be generated.
margin (float) – The margin in pixels. The recommended value is 2. The margin are additional pixels around the UV islands to avoid discontinuities.
fill (float) – The value used for filling texels outside the UV islands.
update_material (bool) – If true updates the material of the mesh. Baking a vertex attribute with the name ‘albedo’ will become the albedo texture in the material. Existing textures in the material will be overwritten.
- Returns
A dictionary of tensors that store the baked textures.
Example
- We generate a texture storing the xyz coordinates for each texel::
import open3d as o3d from matplotlib import pyplot as plt
box = o3d.geometry.TriangleMesh.create_box(create_uv_map=True) box = o3d.t.geometry.TriangleMesh.from_legacy(box) box.vertex[‘albedo’] = box.vertex.positions
# Initialize material and bake the ‘albedo’ vertex attribute to a # texture. The texture will be automatically added to the material of # the object. box.material.set_default_properties() texture_tensors = box.bake_vertex_attr_textures(128, {‘albedo’})
# Shows the textured cube. o3d.visualization.draw([box])
# Plot the tensor with the texture. plt.imshow(texture_tensors[‘albedo’].numpy())
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boolean_difference
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, mesh: open3d.cpu.pybind.t.geometry.TriangleMesh, tolerance: float = 1e-06) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Computes the mesh that encompasses the volume after subtracting the volume of the second operand. Both meshes should be manifold.
This function always uses the CPU device.
- Parameters
mesh (open3d.t.geometry.TriangleMesh) – This is the second operand for the boolean operation.
tolerance (float) – Threshold which determines when point distances are considered to be 0.
- Returns
The mesh describing the difference volume.
Example
This subtracts the sphere from the cube volume:
box = o3d.geometry.TriangleMesh.create_box() box = o3d.t.geometry.TriangleMesh.from_legacy(box) sphere = o3d.geometry.TriangleMesh.create_sphere(0.8) sphere = o3d.t.geometry.TriangleMesh.from_legacy(sphere) ans = box.boolean_difference(sphere) o3d.visualization.draw([{'name': 'difference', 'geometry': ans}])
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boolean_intersection
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, mesh: open3d.cpu.pybind.t.geometry.TriangleMesh, tolerance: float = 1e-06) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Computes the mesh that encompasses the intersection of the volumes of two meshes. Both meshes should be manifold.
This function always uses the CPU device.
- Parameters
mesh (open3d.t.geometry.TriangleMesh) – This is the second operand for the boolean operation.
tolerance (float) – Threshold which determines when point distances are considered to be 0.
- Returns
The mesh describing the intersection volume.
Example
This copmutes the intersection of a sphere and a cube:
box = o3d.geometry.TriangleMesh.create_box() box = o3d.t.geometry.TriangleMesh.from_legacy(box) sphere = o3d.geometry.TriangleMesh.create_sphere(0.8) sphere = o3d.t.geometry.TriangleMesh.from_legacy(sphere) ans = box.boolean_intersection(sphere) o3d.visualization.draw([{'name': 'intersection', 'geometry': ans}])
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boolean_union
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, mesh: open3d.cpu.pybind.t.geometry.TriangleMesh, tolerance: float = 1e-06) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Computes the mesh that encompasses the union of the volumes of two meshes. Both meshes should be manifold.
This function always uses the CPU device.
- Parameters
mesh (open3d.t.geometry.TriangleMesh) – This is the second operand for the boolean operation.
tolerance (float) – Threshold which determines when point distances are considered to be 0.
- Returns
The mesh describing the union volume.
Example
This copmutes the union of a sphere and a cube:
box = o3d.geometry.TriangleMesh.create_box() box = o3d.t.geometry.TriangleMesh.from_legacy(box) sphere = o3d.geometry.TriangleMesh.create_sphere(0.8) sphere = o3d.t.geometry.TriangleMesh.from_legacy(sphere) ans = box.boolean_union(sphere) o3d.visualization.draw([{'name': 'union', 'geometry': ans}])
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clear
(self)¶ Clear all elements in the geometry.
- Returns
open3d.t.geometry.Geometry
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clip_plane
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, point: open3d.cpu.pybind.core.Tensor, normal: open3d.cpu.pybind.core.Tensor) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Returns a new triangle mesh clipped with the plane.
This method clips the triangle mesh with the specified plane. Parts of the mesh on the positive side of the plane will be kept and triangles intersected by the plane will be cut.
- Parameters
point (open3d.core.Tensor) – A point on the plane.
normal (open3d.core.Tensor) – The normal of the plane. The normal points to the positive side of the plane for which the geometry will be kept.
- Returns
New triangle mesh clipped with the plane.
This example shows how to create a hemisphere from a sphere:
import open3d as o3d sphere = o3d.t.geometry.TriangleMesh.from_legacy(o3d.geometry.TriangleMesh.create_sphere()) hemisphere = sphere.clip_plane(point=[0,0,0], normal=[1,0,0]) o3d.visualization.draw(hemisphere)
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clone
(self: open3d.cpu.pybind.t.geometry.TriangleMesh) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Returns copy of the triangle mesh on the same device.
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compute_convex_hull
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, joggle_inputs: bool = False) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Compute the convex hull of a point cloud using qhull. This runs on the CPU.
- Parameters
joggle_inputs (default False) –
perturbing the input data. Set to True if perturbing the input (randomly) –
acceptable but you need convex simplicial output. If False (iis) –
:param : :param neighboring facets may be merged in case of precision problems. See: :param `QHull docs <http: //www.qhull.org/html/qh-impre.htm#joggle`__ for more :param details.:
- Returns
TriangleMesh representing the convexh hull. This contains an extra vertex property “point_indices” that contains the index of the corresponding vertex in the original mesh.
Example
We will load the Stanford Bunny dataset, compute and display it’s convex hull:
bunny = o3d.data.BunnyMesh() mesh = o3d.t.geometry.TriangleMesh.from_legacy(o3d.io.read_triangle_mesh(bunny.path)) hull = mesh.compute_convex_hull() o3d.visualization.draw([{'name': 'bunny', 'geometry': mesh}, {'name': 'convex hull', 'geometry': hull}])
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compute_uvatlas
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, size: int = 512, gutter: float = 1.0, max_stretch: float = 0.1666666716337204) → None¶ Creates an UV atlas and adds it as triangle attr ‘texture_uvs’ to the mesh.
Input meshes must be manifold for this method to work. The algorithm is based on: Zhou et al, “Iso-charts: Stretch-driven Mesh Parameterization using Spectral
Analysis”, Eurographics Symposium on Geometry Processing (2004)
Sander et al. “Signal-Specialized Parametrization” Europgraphics 2002 This function always uses the CPU device. :param size: The target size of the texture (size x size). The uv coordinates
will still be in the range [0..1] but parameters like gutter use pixels as units.
- Parameters
gutter (float) – This is the space around the uv islands in pixels.
max_stretch (float) – The maximum amount of stretching allowed. The parameter range is [0..1] with 0 meaning no stretch allowed.
- Returns
None. This function modifies the mesh in-place.
Example
- This code creates a uv map for the Stanford Bunny mesh::
import open3d as o3d bunny = o3d.data.BunnyMesh() mesh = o3d.t.geometry.TriangleMesh.from_legacy(o3d.io.read_triangle_mesh(bunny.path)) mesh.compute_uvatlas()
# Add a wood texture and visualize texture_data = o3d.data.WoodTexture() mesh.material.material_name = ‘defaultLit’ mesh.material.texture_maps[‘albedo’] = o3d.t.io.read_image(texture_data.albedo_texture_path) o3d.visualization.draw(mesh)
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cpu
(self: open3d.cpu.pybind.t.geometry.TriangleMesh) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Transfer the triangle mesh to CPU. If the triangle mesh is already on CPU, no copy will be performed.
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static
create_arrow
(cylinder_radius=1.0, cone_radius=1.5, cylinder_height=5.0, cone_height=4.0, resolution=20, cylinder_split=4, cone_split=1, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a arrow mesh.
- Parameters
cylinder_radius (float, optional, default=1.0) – The radius of the cylinder.
cone_radius (float, optional, default=1.5) – The radius of the cone.
cylinder_height (float, optional, default=5.0) – The height of the cylinder. The cylinder is from (0, 0, 0) to (0, 0, cylinder_height)
cone_height (float, optional, default=4.0) – 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 (int, optional, default=20) – The cone will be split into
resolution
segments.cylinder_split (int, optional, default=4) – The
cylinder_height
will be split intocylinder_split
segments.cone_split (int, optional, default=1) – The
cone_height
will be split intocone_split
segments.float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create octahedron.
optional – 0): Device of the create octahedron.
default=CPU – 0): Device of the create octahedron.
- Returns
open3d.t.geometry.TriangleMesh
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static
create_box
(height=1.0, depth=1.0, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ - Parameters
height (float, optional, default=1.0) – y-directional length.
depth (float, optional, default=1.0) – z-directional length.
float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create mesh.
optional – 0): Device of the create mesh.
default=CPU – 0): Device of the create mesh.
- Returns
open3d.t.geometry.TriangleMesh
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static
create_cone
(radius=1.0, height=2.0, resolution=20, split=1, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a cone mesh.
- Parameters
radius (float, optional, default=1.0) – The radius of the cone.
height (float, optional, default=2.0) – The height of the cone. The axis of the cone will be from (0, 0, 0) to (0, 0, height).
resolution (int, optional, default=20) – The circle will be split into
resolution
segmentssplit (int, optional, default=1) – The
height
will be split intosplit
segments.float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create octahedron.
optional – 0): Device of the create octahedron.
default=CPU – 0): Device of the create octahedron.
- Returns
open3d.t.geometry.TriangleMesh
-
static
create_coordinate_frame
(size=1.0, origin=array([0., 0., 0.]), float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a coordinate frame mesh.
- Parameters
size (float, optional, default=1.0) – The size of the coordinate frame.
origin (numpy.ndarray[numpy.float64[3, 1]], optional, default=array([0., 0., 0.])) – The origin of the coordinate frame.
float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create octahedron.
optional – 0): Device of the create octahedron.
default=CPU – 0): Device of the create octahedron.
- Returns
open3d.t.geometry.TriangleMesh
-
static
create_cylinder
(radius=1.0, height=2.0, resolution=20, split=4, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a cylinder mesh.
- Parameters
radius (float, optional, default=1.0) – The radius of the cylinder.
height (float, optional, default=2.0) – The height of the cylinder.The axis of the cylinder will be from (0, 0, -height/2) to (0, 0, height/2).
resolution (int, optional, default=20) – The circle will be split into
resolution
segmentssplit (int, optional, default=4) – The
height
will be split intosplit
segments.float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create octahedron.
optional – 0): Device of the create octahedron.
default=CPU – 0): Device of the create octahedron.
- Returns
open3d.t.geometry.TriangleMesh
-
static
create_icosahedron
(radius=1.0, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a icosahedron mesh centered at (0, 0, 0).
- Parameters
radius (float, optional, default=1.0) – Distance from centroid to mesh vetices.
float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create octahedron.
optional – 0): Device of the create octahedron.
default=CPU – 0): Device of the create octahedron.
- Returns
open3d.t.geometry.TriangleMesh
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static
create_mobius
(length_split=70, width_split=15, twists=1, raidus=1, flatness=1, width=1, scale=1, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a Mobius strip.
- Parameters
length_split (int, optional, default=70) – The number of segments along the Mobius strip.
width_split (int, optional, default=15) – The number of segments along the width of the Mobius strip.
twists (int, optional, default=1) – Number of twists of the Mobius strip.
raidus (float, optional, default=1) –
flatness (float, optional, default=1) – Controls the flatness/height of the Mobius strip.
width (float, optional, default=1) – Width of the Mobius strip.
scale (float, optional, default=1) – Scale the complete Mobius strip.
float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create octahedron.
optional – 0): Device of the create octahedron.
default=CPU – 0): Device of the create octahedron.
- Returns
open3d.t.geometry.TriangleMesh
-
static
create_octahedron
(radius=1.0, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a octahedron mesh centered at (0, 0, 0).
- Parameters
radius (float, optional, default=1.0) – Distance from centroid to mesh vetices.
float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create octahedron.
optional – 0): Device of the create octahedron.
default=CPU – 0): Device of the create octahedron.
- Returns
open3d.t.geometry.TriangleMesh
-
static
create_sphere
(radius=1.0, resolution=20, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a sphere mesh centered at (0, 0, 0).
- Parameters
radius (float, optional, default=1.0) – The radius of the sphere.
resolution (int, optional, default=20) – The resolution of the sphere.
float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create sphere.
optional – 0): Device of the create sphere.
default=CPU – 0): Device of the create sphere.
- Returns
open3d.t.geometry.TriangleMesh
-
static
create_tetrahedron
(radius=1.0, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a tetrahedron mesh centered at (0, 0, 0).
- Parameters
radius (float, optional, default=1.0) – Distance from centroid to mesh vetices.
float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create tetrahedron.
optional – 0): Device of the create tetrahedron.
default=CPU – 0): Device of the create tetrahedron.
- Returns
open3d.t.geometry.TriangleMesh
-
static
create_text
(text: str, depth: float = 0.0, float_dtype: open3d.cpu.pybind.core.Dtype = Float32, int_dtype: open3d.cpu.pybind.core.Dtype = Int64, device: open3d.cpu.pybind.core.Device = CPU:0) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Create a triangle mesh from a text string.
- Parameters
text (str) – The text for generating the mesh. ASCII characters 32-126 are supported (includes alphanumeric characters and punctuation). In addition the line feed ‘n’ is supported to start a new line.
depth (float) – The depth of the generated mesh. If depth is 0 then a flat mesh will be generated.
float_dtype (o3d.core.Dtype) – Float type for the vertices. Either Float32 or Float64.
int_dtype (o3d.core.Dtype) – Int type for the triangle indices. Either Int32 or Int64.
device (o3d.core.Device) – The device for the returned mesh.
- Returns
Text as triangle mesh.
Example
This shows how to simplifify the Stanford Bunny mesh:
import open3d as o3d mesh = o3d.t.geometry.TriangleMesh.create_text('Open3D', depth=1) o3d.visualization.draw([{'name': 'text', 'geometry': mesh}])
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static
create_torus
(torus_radius=1.0, tube_radius=0.5, radial_resolution=30, tubular_resolution=20, float_dtype=Float32, int_dtype=Int64, device=CPU:0)¶ Create a torus mesh.
- Parameters
torus_radius (float, optional, default=1.0) – The radius from the center of the torus to the center of the tube.
tube_radius (float, optional, default=0.5) – The radius of the torus tube.
radial_resolution (int, optional, default=30) – The number of segments along the radial direction.
tubular_resolution (int, optional, default=20) – The number of segments along the tubular direction.
float_dtype (open3d.core.Dtype, optional, default=Float32) – Float_dtype, Float32 or Float64.
int_dtype (open3d.core.Dtype, optional, default=Int64) – Int_dtype, Int32 or Int64.
(open3d.core.Device (device) – 0): Device of the create octahedron.
optional – 0): Device of the create octahedron.
default=CPU – 0): Device of the create octahedron.
- Returns
open3d.t.geometry.TriangleMesh
-
cuda
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, device_id: int = 0) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Transfer the triangle mesh to a CUDA device. If the triangle mesh is already on the specified CUDA device, no copy will be performed.
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extrude_linear
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, vector: open3d.cpu.pybind.core.Tensor, scale: float = 1.0, capping: bool = True) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Sweeps the line set along a direction vector. :param vector: The direction vector. :type vector: open3d.core.Tensor :param scale: Scalar factor which essentially scales the direction vector. :type scale: float
- Returns
A triangle mesh with the result of the sweep operation.
Example
- This code generates a wedge from a triangle::
import open3d as o3d triangle = o3d.t.geometry.TriangleMesh([[1.0,1.0,0.0], [0,1,0], [1,0,0]], [[0,1,2]]) wedge = triangle.extrude_linear([0,0,1]) o3d.visualization.draw([{‘name’: ‘wedge’, ‘geometry’: wedge}])
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extrude_rotation
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, angle: float, axis: open3d.cpu.pybind.core.Tensor, resolution: int = 16, translation: float = 0.0, capping: bool = True) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Sweeps the triangle mesh rotationally about an axis. :param angle: The rotation angle in degree. :type angle: float :param axis: The rotation axis. :type axis: open3d.core.Tensor :param resolution: The resolution defines the number of intermediate sweeps
about the rotation axis.
- Parameters
translation (float) – The translation along the rotation axis.
- Returns
A triangle mesh with the result of the sweep operation.
Example
- This code generates a spring with a triangle cross-section::
import open3d as o3d
mesh = o3d.t.geometry.TriangleMesh([[1,1,0], [0.7,1,0], [1,0.7,0]], [[0,1,2]]) spring = mesh.extrude_rotation(3*360, [0,1,0], resolution=3*16, translation=2) o3d.visualization.draw([{‘name’: ‘spring’, ‘geometry’: spring}])
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fill_holes
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, hole_size: float = 1000000.0) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Fill holes by triangulating boundary edges.
This function always uses the CPU device.
- Parameters
hole_size (float) – This is the approximate threshold for filling holes. The value describes the maximum radius of holes to be filled.
- Returns
New mesh after filling holes.
Example
Fill holes at the bottom of the Stanford Bunny mesh:
bunny = o3d.data.BunnyMesh() mesh = o3d.t.geometry.TriangleMesh.from_legacy(o3d.io.read_triangle_mesh(bunny.path)) filled = mesh.fill_holes() o3d.visualization.draw([{'name': 'filled', 'geometry': ans}])
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static
from_legacy
(mesh_legacy: open3d.cpu.pybind.geometry.TriangleMesh, vertex_dtype: open3d.cpu.pybind.core.Dtype = Float32, triangle_dtype: open3d.cpu.pybind.core.Dtype = Int64, device: open3d.cpu.pybind.core.Device = CPU:0) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Create a TriangleMesh from a legacy Open3D TriangleMesh.
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get_axis_aligned_bounding_box
(self: open3d.cpu.pybind.t.geometry.TriangleMesh) → open3d::t::geometry::AxisAlignedBoundingBox¶ Create an axis-aligned bounding box from vertex attribute ‘positions’.
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get_center
(self: open3d.cpu.pybind.t.geometry.TriangleMesh) → open3d.cpu.pybind.core.Tensor¶ Returns the center for point coordinates.
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get_max_bound
(self: open3d.cpu.pybind.t.geometry.TriangleMesh) → open3d.cpu.pybind.core.Tensor¶ Returns the max bound for point coordinates.
-
get_min_bound
(self: open3d.cpu.pybind.t.geometry.TriangleMesh) → open3d.cpu.pybind.core.Tensor¶ Returns the min bound for point coordinates.
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has_valid_material
(self: open3d.cpu.pybind.t.geometry.DrawableGeometry) → bool¶ Returns true if the geometry’s material is valid.
-
is_empty
(self)¶ Returns
True
iff the geometry is empty.- Returns
bool
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rotate
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, R: open3d.cpu.pybind.core.Tensor, center: open3d.cpu.pybind.core.Tensor) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Rotate points and normals (if exist).
-
scale
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, scale: float, center: open3d.cpu.pybind.core.Tensor) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Scale points.
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simplify_quadric_decimation
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, target_reduction: float, preserve_volume: bool = True) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Function to simplify mesh using Quadric Error Metric Decimation by Garland and Heckbert.
This function always uses the CPU device.
- Parameters
target_reduction (float) – The factor of triangles to delete, i.e., setting this to 0.9 will return a mesh with about 10% of the original triangle count. It is not guaranteed that the target reduction factor will be reached.
preserve_volume (bool) – If set to True this enables volume preservation which reduces the error in triangle normal direction.
- Returns
Simplified TriangleMesh.
Example
This shows how to simplifify the Stanford Bunny mesh:
bunny = o3d.data.BunnyMesh() mesh = o3d.t.geometry.TriangleMesh.from_legacy(o3d.io.read_triangle_mesh(bunny.path)) simplified = mesh.simplify_quadric_decimation(0.99) o3d.visualization.draw([{'name': 'bunny', 'geometry': simplified}])
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slice_plane
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, point: open3d.cpu.pybind.core.Tensor, normal: open3d.cpu.pybind.core.Tensor, contour_values: List[float] = [0.0]) → open3d.cpu.pybind.t.geometry.LineSet¶ Returns a line set with the contour slices defined by the plane and values.
This method generates slices as LineSet from the mesh at specific contour values with respect to a plane.
- Parameters
point (open3d.core.Tensor) – A point on the plane.
normal (open3d.core.Tensor) – The normal of the plane.
contour_values (list) – A list of contour values at which slices will be generated. The value describes the signed distance to the plane.
- Returns
LineSet with he extracted contours.
This example shows how to create a hemisphere from a sphere:
import open3d as o3d import numpy as np bunny = o3d.data.BunnyMesh() mesh = o3d.t.geometry.TriangleMesh.from_legacy(o3d.io.read_triangle_mesh(bunny.path)) contours = mesh.slice_plane([0,0,0], [0,1,0], np.linspace(0,0.2)) o3d.visualization.draw([{'name': 'bunny', 'geometry': contours}])
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to
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, device: open3d.cpu.pybind.core.Device, copy: bool = False) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Transfer the triangle mesh to a specified device.
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to_legacy
(self: open3d.cpu.pybind.t.geometry.TriangleMesh) → open3d.cpu.pybind.geometry.TriangleMesh¶ Convert to a legacy Open3D TriangleMesh.
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transform
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, transformation: open3d.cpu.pybind.core.Tensor) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Transforms the points and normals (if exist).
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translate
(self: open3d.cpu.pybind.t.geometry.TriangleMesh, translation: open3d.cpu.pybind.core.Tensor, relative: bool = True) → open3d.cpu.pybind.t.geometry.TriangleMesh¶ Translates points.
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property
device
¶ Returns the device of the geometry.
-
property
is_cpu
¶ Returns true if the geometry is on CPU.
-
property
is_cuda
¶ Returns true if the geometry is on CUDA.
-
property
material
¶
-
property
triangle
¶
-
property
vertex
¶
-