#include <TriangleMesh.h>

Inheritance diagram for open3d::geometry::TriangleMesh:

Public Types
enum	SimplificationContraction { SimplificationContraction::Average, SimplificationContraction::Quadric }

enum	FilterScope { FilterScope::All, FilterScope::Color, FilterScope::Normal, FilterScope::Vertex }

Public Types inherited from open3d::geometry::Geometry3D
enum	RotationType { RotationType::XYZ, RotationType::YZX, RotationType::ZXY, RotationType::XZY, RotationType::ZYX, RotationType::YXZ, RotationType::AxisAngle }

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::TriangleMesh = 5, GeometryType::HalfEdgeTriangleMesh = 6, GeometryType::Image = 7 }

Public Member Functions
	TriangleMesh ()

	~TriangleMesh () override

void	Clear () override

bool	IsEmpty () const override

Eigen::Vector3d	GetMinBound () const override

Eigen::Vector3d	GetMaxBound () const override

TriangleMesh &	Transform (const Eigen::Matrix4d &transformation) override

TriangleMesh &	Translate (const Eigen::Vector3d &translation) override

TriangleMesh &	Scale (const double scale, bool center=true) override

TriangleMesh &	Rotate (const Eigen::Vector3d &rotation, bool center=true, RotationType type=RotationType::XYZ) override

TriangleMesh &	operator+= (const TriangleMesh &mesh)

TriangleMesh	operator+ (const TriangleMesh &mesh) const

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

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

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

virtual void	RemoveDuplicatedVertices ()

virtual void	RemoveDuplicatedTriangles ()

virtual void	RemoveUnreferencedVertices ()

virtual void	RemoveDegenerateTriangles ()

virtual void	RemoveNonManifoldEdges ()

void	FilterSharpen (int number_of_iterations, double strength, FilterScope scope=FilterScope::All)

void	FilterSmoothSimple (int number_of_iterations, FilterScope scope=FilterScope::All)

void	FilterSmoothLaplacian (int number_of_iterations, double lambda, FilterScope scope=FilterScope::All)

void	FilterSmoothTaubin (int number_of_iterations, double lambda=0.5, double mu=-0.53, FilterScope scope=FilterScope::All)

bool	HasVertices () const

bool	HasTriangles () const

bool	HasVertexNormals () const

bool	HasVertexColors () const

bool	HasTriangleNormals () const

bool	HasAdjacencyList () const

void	NormalizeNormals ()

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

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

double	GetTriangleArea (size_t triangle_idx) const

double	GetSurfaceArea () const

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

Eigen::Vector4d	GetTrianglePlane (size_t triangle_idx) const

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

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

GeometryType	GetGeometryType () const

int	Dimension () const

Data Fields
std::vector< Eigen::Vector3d >	vertices_

std::vector< Eigen::Vector3d >	vertex_normals_

std::vector< Eigen::Vector3d >	vertex_colors_

std::vector< Eigen::Vector3i >	triangles_

std::vector< Eigen::Vector3d >	triangle_normals_

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

Protected Member Functions
	TriangleMesh (Geometry::GeometryType type)

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)

Eigen::Matrix3d	GetRotationMatrix (const Eigen::Vector3d &rotation, RotationType type=RotationType::XYZ) const

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

Member Enumeration Documentation

◆ FilterScope

enum open3d::geometry::TriangleMesh::FilterScope

strong

Indicates the scope of filter operations.

Parameters

All	indicates that all properties (color, normal, vertex position) are filtered.
Color	indicates that only the colors are filtered.
Normal	indicates that only the normals are filtered.
Vertex	indicates that only the vertex positions are filtered.

Enumerator
All
Color
Normal
Vertex

◆ SimplificationContraction

enum open3d::geometry::TriangleMesh::SimplificationContraction

strong

Indicates the method that is used for mesh simplification if multiple vertices are combined to a single one.

Parameters

Average	indicates that the average position is computed as output.
Quadric	indicates that the distance to the adjacent triangle planes is minimized. Cf. "Simplifying Surfaces with Color and Texture using Quadric Error Metrics" by Garland and Heckbert.

Enumerator
Average
Quadric

Constructor & Destructor Documentation

◆ TriangleMesh() [1/2]

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

inline

◆ ~TriangleMesh()

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

inlineoverride

◆ TriangleMesh() [2/2]

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

inlineprotected

Member Function Documentation

◆ Clear()

void open3d::geometry::TriangleMesh::Clear ( )

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ ComputeAdjacencyList()

void open3d::geometry::TriangleMesh::ComputeAdjacencyList ( )

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

◆ ComputeTriangleNormals()

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

Function to compute triangle normals, usually called before rendering.

◆ ComputeVertexNormals()

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

Function to compute vertex normals, usually called before rendering.

◆ 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()

void open3d::geometry::TriangleMesh::FilterSharpen	(	int	number_of_iterations,
		double	strength,
		FilterScope	scope = `FilterScope::All`
	)

Function to sharpen triangle mesh. The output value ($v_o$) is the input value ($v_i$) plus

Parameters

strength	times the input value minus the sum of he adjacent values. $v_o = v_i x strength (v_i * \|N\| - {n N} v_n)$.
number_of_iterations	defines the number of repetitions of this operation.

◆ FilterSmoothLaplacian()

void open3d::geometry::TriangleMesh::FilterSmoothLaplacian	(	int	number_of_iterations,
		double	lambda,
		FilterScope	scope = `FilterScope::All`
	)

Function to smooth triangle mesh using Laplacian. $v_o = v_i (sum_{n N} w_n v_n - v_i)$, 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), and

Parameters

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

◆ FilterSmoothSimple()

void open3d::geometry::TriangleMesh::FilterSmoothSimple	(	int	number_of_iterations,
		FilterScope	scope = `FilterScope::All`
	)

Function to smooth triangle mesh with simple neighbour average. $v_o = {v_i + {n N} v_n)}{|N| + 1}$, 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()

void open3d::geometry::TriangleMesh::FilterSmoothTaubin	(	int	number_of_iterations,
		double	lambda = `0.5`,
		double	mu = `-0.53`,
		FilterScope	scope = `FilterScope::All`
	)

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

Parameters

lambda	and second with
mu	as smoothing parameter. This method avoids shrinkage of the triangle mesh.
number_of_iterations	defines the number of repetitions of this operation.

◆ GetEdgeToTrianglesMap()

std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen::hash< 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.

◆ GetMaxBound()

Eigen::Vector3d open3d::geometry::TriangleMesh::GetMaxBound ( ) const

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

Eigen::Vector3d open3d::geometry::TriangleMesh::GetMinBound ( ) const

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ 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, than 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.)

◆ 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.

◆ HasAdjacencyList()

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

inline

◆ HasTriangleNormals()

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

inline

◆ HasTriangles()

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

inline

◆ HasVertexColors()

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

inline

◆ HasVertexNormals()

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

inline

◆ HasVertices()

bool open3d::geometry::TriangleMesh::HasVertices ( ) 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 edgemanifold if each edge is bounding either one or two triangles. If allow_boundary_edges is set to false, than returns false if there exists boundary edges.

◆ IsEmpty()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ 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 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.)

◆ NormalizeNormals()

void open3d::geometry::TriangleMesh::NormalizeNormals ( )

inline

◆ 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 functions re-arranges the triangles such that all normals point towards the outside/inside.

◆ PaintUniformColor()

void open3d::geometry::TriangleMesh::PaintUniformColor ( const Eigen::Vector3d & color )

inline

Assigns each vertex in the TriangleMesh the same color.

Parameters

color.

◆ RemoveDegenerateTriangles()

void open3d::geometry::TriangleMesh::RemoveDegenerateTriangles ( )

virtual

Function that removes degenerate triangles, i.e., triangles that references a single vertex multiple times in a single triangle. They are usually the product of removing duplicated vertices.

Reimplemented in open3d::geometry::HalfEdgeTriangleMesh.

◆ RemoveDuplicatedTriangles()

void open3d::geometry::TriangleMesh::RemoveDuplicatedTriangles ( )

virtual

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

Reimplemented in open3d::geometry::HalfEdgeTriangleMesh.

◆ RemoveDuplicatedVertices()

void open3d::geometry::TriangleMesh::RemoveDuplicatedVertices ( )

virtual

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

Reimplemented in open3d::geometry::HalfEdgeTriangleMesh.

◆ RemoveNonManifoldEdges()

void open3d::geometry::TriangleMesh::RemoveNonManifoldEdges ( )

virtual

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.

◆ RemoveUnreferencedVertices()

void open3d::geometry::TriangleMesh::RemoveUnreferencedVertices ( )

virtual

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

Reimplemented in open3d::geometry::HalfEdgeTriangleMesh.

◆ Rotate()

TriangleMesh & open3d::geometry::TriangleMesh::Rotate	(	const Eigen::Vector3d &	rotation,
		bool	center = `true`,
		RotationType	type = `RotationType::XYZ`
	)

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Scale()

TriangleMesh & open3d::geometry::TriangleMesh::Scale	(	const double	scale,
		bool	center = `true`
	)

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Transform()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Translate()

TriangleMesh & open3d::geometry::TriangleMesh::Translate ( const Eigen::Vector3d & translation )

overridevirtual

Implements open3d::geometry::Geometry3D.

Field Documentation

◆ adjacency_list_

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

◆ triangle_normals_

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

◆ triangles_

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

◆ vertex_colors_

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

◆ vertex_normals_

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

◆ vertices_

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

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

/home/ylao/repo/Open3D/src/Open3D/Geometry/TriangleMesh.h
/home/ylao/repo/Open3D/src/Open3D/Geometry/TriangleMesh.cpp

Public Types

Public Member Functions

Data Fields

Protected Member Functions

Member Enumeration Documentation

◆ FilterScope

◆ SimplificationContraction

Constructor & Destructor Documentation

◆ TriangleMesh() [1/2]

◆ ~TriangleMesh()

◆ TriangleMesh() [2/2]

Member Function Documentation

◆ Clear()

◆ ComputeAdjacencyList()

◆ ComputeTriangleNormals()

◆ ComputeVertexNormals()

◆ EulerPoincareCharacteristic()

◆ FilterSharpen()

◆ FilterSmoothLaplacian()

◆ FilterSmoothSimple()

◆ FilterSmoothTaubin()

◆ GetEdgeToTrianglesMap()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetNonManifoldEdges()

◆ GetNonManifoldVertices()

◆ GetSelfIntersectingTriangles()

◆ GetSurfaceArea() [1/2]

◆ GetSurfaceArea() [2/2]

◆ GetTriangleArea()

◆ GetTrianglePlane()

◆ HasAdjacencyList()

◆ HasTriangleNormals()

◆ HasTriangles()

◆ HasVertexColors()

◆ HasVertexNormals()

◆ HasVertices()

◆ IsBoundingBoxIntersecting()

◆ IsEdgeManifold()

◆ IsEmpty()

◆ IsIntersecting()

◆ IsOrientable()

◆ IsSelfIntersecting()

◆ IsVertexManifold()

◆ NormalizeNormals()

◆ operator+()

◆ operator+=()

◆ OrientTriangles()

◆ PaintUniformColor()

◆ RemoveDegenerateTriangles()

◆ RemoveDuplicatedTriangles()

◆ RemoveDuplicatedVertices()

◆ RemoveNonManifoldEdges()

◆ RemoveUnreferencedVertices()

◆ Rotate()

◆ Scale()

◆ Transform()

◆ Translate()

Field Documentation

◆ adjacency_list_

◆ triangle_normals_

◆ triangles_

◆ vertex_colors_

◆ vertex_normals_

◆ vertices_