open3d.geometry.TriangleMesh

class open3d.geometry.TriangleMesh

TriangleMesh class. 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.

class Type

Enum class for Geometry types.

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: open3d.geometry.TriangleMesh) -> None

Default constructor

  1. __init__(self: open3d.geometry.TriangleMesh, arg0: open3d.geometry.TriangleMesh) -> None

Copy constructor

clear(self)

Clear all elements in the geometry.

Returns

None

compute_adjacency_list(self)

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

Returns

None

compute_triangle_normals(self, normalized=True)

Function to compute triangle normals, usually called before rendering

Parameters

normalized (bool, optional, default=True) –

Returns

None

compute_vertex_normals(self, normalized=True)

Function to compute vertex normals, usually called before rendering

Parameters

normalized (bool, optional, default=True) –

Returns

None

dimension(self)

Returns whether the geometry is 2D or 3D.

Returns

int

euler_poincare_characteristic(self)

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.

Returns

int

filter_sharpen(self, number_of_iterations=1, strength=1, filter_scope=FilterScope.All)

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

Parameters

  • number_of_iterations (int, optional, default=1) – Number of repetitions of this operation

  • strength (float, optional, default=1) –

  • filter_scope (open3d.geometry.FilterScope, optional, default=FilterScope.All) –

Returns

None

filter_smooth_laplacian(self, number_of_iterations=1, lambda=0.5, filter_scope=FilterScope.All)

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), and lambda is the smoothing parameter.

Parameters

  • number_of_iterations (int, optional, default=1) – Number of repetitions of this operation

  • lambda (float, optional, default=0.5) – Filter parameter.

  • filter_scope (open3d.geometry.FilterScope, optional, default=FilterScope.All) –

Returns

None

filter_smooth_simple(self, number_of_iterations=1, filter_scope=FilterScope.All)

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 (int, optional, default=1) – Number of repetitions of this operation

  • filter_scope (open3d.geometry.FilterScope, optional, default=FilterScope.All) –

Returns

None

filter_smooth_taubin(self, number_of_iterations=1, lambda=0.5, mu=-0.53, filter_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 filter_smooth_laplacian, first with filter parameter lambda and second with filter parameter mu as smoothing parameter. This method avoids shrinkage of the triangle mesh.

Parameters

  • number_of_iterations (int, optional, default=1) – Number of repetitions of this operation

  • lambda (float, optional, default=0.5) – Filter parameter.

  • mu (float, optional, default=-0.53) – Filter parameter.

  • filter_scope (open3d.geometry.FilterScope, optional, default=FilterScope.All) –

Returns

None

get_geometry_type(self)

Returns one of registered geometry types.

Returns

open3d.geometry.Geometry.GeometryType

get_max_bound(self)

Returns max bounds for geometry coordinates.

Returns

numpy.ndarray[float64[3, 1]]

get_min_bound(self)

Returns min bounds for geometry coordinates.

Returns

numpy.ndarray[float64[3, 1]]

get_non_manifold_edges(self, allow_boundary_edges=True)

Get list of non-manifold edges.

Parameters

allow_boundary_edges (bool, optional, default=True) – If true, than non-manifold edges are defined as edges with more than two adjacent triangles, otherwise each edge that is not adjacent to two triangles is defined as non-manifold.

Returns

open3d.utility.Vector2iVector

get_non_manifold_vertices(self)

Returns a list of indices to non-manifold vertices.

Returns

open3d.utility.IntVector

get_self_intersecting_triangles(self)

Returns a list of indices to triangles that intersect the mesh.

Returns

open3d.utility.Vector2iVector

has_adjacency_list(self)

Returns True if the mesh contains adjacency normals.

Returns

bool

has_triangle_normals(self)

Returns True if the mesh contains triangle normals.

Returns

bool

has_triangles(self)

Returns True if the mesh contains triangles.

Returns

bool

has_vertex_colors(self)

Returns True if the mesh contains vertex colors.

Returns

bool

has_vertex_normals(self)

Returns True if the mesh contains vertex normals.

Returns

bool

has_vertices(self)

Returns True if the mesh contains vertices.

Returns

bool

is_edge_manifold(self, allow_boundary_edges=True)

Tests if the triangle mesh is edge manifold.

Parameters

allow_boundary_edges (bool, optional, default=True) – If true, than non-manifold edges are defined as edges with more than two adjacent triangles, otherwise each edge that is not adjacent to two triangles is defined as non-manifold.

Returns

bool

is_empty(self)

Returns True iff the geometry is empty.

Returns

bool

is_intersecting(self, arg0)

Tests the triangle mesh is intersecting the other triangle mesh.

Parameters

arg0 (open3d.geometry.TriangleMesh) –

Returns

bool

is_orientable(self)

Tests the triangle mesh is orientable

Returns

bool

is_self_intersecting(self)

Tests the triangle mesh is self-intersecting

Returns

bool

is_vertex_manifold(self)

Tests if all vertices of the triangle mesh are manifold.

Returns

bool

normalize_normals(self)

Normalize both triangle normals and vertex normals to legnth 1.

Returns

None

orient_triangles(self)

If the mesh is orientable this function orients all triangles such that all normals point towards the same direction.

Returns

bool

paint_uniform_color(self, arg0)

Assigns each vertex in the TriangleMesh the same color.

Parameters

arg0 (numpy.ndarray[float64[3, 1]]) –

Returns

None

remove_degenerate_triangles(self)

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.

Returns

None

remove_duplicated_triangles(self)

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

Returns

None

remove_duplicated_vertices(self)

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

Returns

None

remove_non_manifold_edges(self)

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.

Returns

None

remove_unreferenced_vertices(self)

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

Returns

None

rotate(self, rotation, center=True, type=RotationType.XYZ)

Apply rotation to the geometry coordinates and normals.

Parameters

  • rotation (numpy.ndarray[float64[3, 1]]) – A 3D vector that either defines the three angles for Euler rotation, or in the axis-angle representation the normalized vector defines the axis of rotation and the norm the angle around this axis.

  • center (bool, optional, default=True) – If true, then the rotation is applied to the centered geometry

  • type (open3d.geometry.RotationType, optional, default=RotationType.XYZ) – Type of rotation, i.e., an Euler format, or axis-angle.

Returns

open3d.geometry.Geometry3D

scale(self, scale, center=True)

Apply scaling to the geometry coordinates.

Parameters

  • scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry

  • center (bool, optional, default=True) – If true, then the scale is applied to the centered geometry

Returns

open3d.geometry.Geometry3D

transform(self, arg0)

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

Parameters

arg0 (numpy.ndarray[float64[4, 4]]) –

Returns

open3d.geometry.Geometry3D

translate(self, arg0)

Apply translation to the geometry coordinates.

Parameters

arg0 (numpy.ndarray[float64[3, 1]]) –

Returns

open3d.geometry.Geometry3D

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
property adjacency_list

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

Type

List of Sets

property triangle_normals

Triangle normals.

Type

float64 array of shape (num_triangles, 3), use numpy.asarray() to access data

property triangles

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

Type

int array of shape (num_triangles, 3), use numpy.asarray() to access data

property vertex_colors

RGB colors of vertices.

Type

float64 array of shape (num_vertices, 3), range [0, 1] , use numpy.asarray() to access data

property vertex_normals

Vertex normals.

Type

float64 array of shape (num_vertices, 3), use numpy.asarray() to access data

property vertices

Vertex coordinates.

Type

float64 array of shape (num_vertices, 3), use numpy.asarray() to access data