Open3D (C++ API)  0.18.0
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TriangleMesh.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <Eigen/Core>
11#include <memory>
12#include <numeric>
13#include <tuple>
14#include <unordered_map>
15#include <unordered_set>
16#include <vector>
17
21
22namespace open3d {
23namespace geometry {
24
25class PointCloud;
26class TetraMesh;
27
35class TriangleMesh : public MeshBase {
36public:
43 TriangleMesh(const std::vector<Eigen::Vector3d> &vertices,
44 const std::vector<Eigen::Vector3i> &triangles)
46 triangles_(triangles) {}
47 ~TriangleMesh() override {}
48
49public:
50 virtual TriangleMesh &Clear() override;
51 virtual TriangleMesh &Transform(
52 const Eigen::Matrix4d &transformation) override;
53 virtual TriangleMesh &Rotate(const Eigen::Matrix3d &R,
54 const Eigen::Vector3d &center) override;
55
56public:
58 TriangleMesh operator+(const TriangleMesh &mesh) const;
59
61 bool HasTriangles() const {
62 return vertices_.size() > 0 && triangles_.size() > 0;
63 }
64
66 bool HasTriangleNormals() const {
67 return HasTriangles() && triangles_.size() == triangle_normals_.size();
68 }
69
71 bool HasAdjacencyList() const {
72 return vertices_.size() > 0 &&
73 adjacency_list_.size() == vertices_.size();
74 }
75
76 bool HasTriangleUvs() const {
77 return HasTriangles() && triangle_uvs_.size() == 3 * triangles_.size();
78 }
79
81 bool HasTextures() const {
82 bool is_all_texture_valid = std::accumulate(
83 textures_.begin(), textures_.end(), true,
84 [](bool a, const Image &b) { return a && !b.IsEmpty(); });
85 return !textures_.empty() && is_all_texture_valid;
86 }
87
88 bool HasMaterials() const { return !materials_.empty(); }
89
91 return HasTriangles() &&
92 triangle_material_ids_.size() == triangles_.size();
93 }
94
98 for (size_t i = 0; i < triangle_normals_.size(); i++) {
99 triangle_normals_[i].normalize();
100 if (std::isnan(triangle_normals_[i](0))) {
101 triangle_normals_[i] = Eigen::Vector3d(0.0, 0.0, 1.0);
102 }
103 }
104 return *this;
105 }
106
109 TriangleMesh &ComputeTriangleNormals(bool normalized = true);
110
113 TriangleMesh &ComputeVertexNormals(bool normalized = true);
114
118
122
127
131
137
143
150 TriangleMesh &MergeCloseVertices(double eps);
151
161 std::shared_ptr<TriangleMesh> FilterSharpen(
162 int number_of_iterations,
163 double strength,
164 FilterScope scope = FilterScope::All) const;
165
174 std::shared_ptr<TriangleMesh> FilterSmoothSimple(
175 int number_of_iterations,
176 FilterScope scope = FilterScope::All) const;
177
189 std::shared_ptr<TriangleMesh> FilterSmoothLaplacian(
190 int number_of_iterations,
191 double lambda_filter,
192 FilterScope scope = FilterScope::All) const;
193
204 std::shared_ptr<TriangleMesh> FilterSmoothTaubin(
205 int number_of_iterations,
206 double lambda_filter = 0.5,
207 double mu = -0.53,
208 FilterScope scope = FilterScope::All) const;
209
213 int EulerPoincareCharacteristic() const;
214
218 std::vector<Eigen::Vector2i> GetNonManifoldEdges(
219 bool allow_boundary_edges = true) const;
220
225 bool IsEdgeManifold(bool allow_boundary_edges = true) const;
226
230 std::vector<int> GetNonManifoldVertices() const;
231
235 bool IsVertexManifold() const;
236
239 std::vector<Eigen::Vector2i> GetSelfIntersectingTriangles() const;
240
243 bool IsSelfIntersecting() const;
244
247 bool IsBoundingBoxIntersecting(const TriangleMesh &other) const;
248
251 bool IsIntersecting(const TriangleMesh &other) const;
252
256 bool IsOrientable() const;
257
261 bool IsWatertight() const;
262
266 bool OrientTriangles();
267
270 std::unordered_map<Eigen::Vector2i,
271 std::vector<int>,
273 GetEdgeToTrianglesMap() const;
274
277 std::unordered_map<Eigen::Vector2i,
278 std::vector<int>,
280 GetEdgeToVerticesMap() const;
281
283 static double ComputeTriangleArea(const Eigen::Vector3d &p0,
284 const Eigen::Vector3d &p1,
285 const Eigen::Vector3d &p2);
286
289 double GetTriangleArea(size_t triangle_idx) const;
290
291 static inline Eigen::Vector3i GetOrderedTriangle(int vidx0,
292 int vidx1,
293 int vidx2) {
294 if (vidx0 > vidx2) {
295 std::swap(vidx0, vidx2);
296 }
297 if (vidx0 > vidx1) {
298 std::swap(vidx0, vidx1);
299 }
300 if (vidx1 > vidx2) {
301 std::swap(vidx1, vidx2);
302 }
303 return Eigen::Vector3i(vidx0, vidx1, vidx2);
304 }
305
308 double GetSurfaceArea() const;
309
312 double GetSurfaceArea(std::vector<double> &triangle_areas) const;
313
318 double GetVolume() const;
319
323 static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0,
324 const Eigen::Vector3d &p1,
325 const Eigen::Vector3d &p2);
326
329 Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const;
330
332 static inline Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1) {
333 return Eigen::Vector2i(std::min(vidx0, vidx1), std::max(vidx0, vidx1));
334 }
335
338 std::shared_ptr<PointCloud> SamplePointsUniformlyImpl(
339 size_t number_of_points,
340 std::vector<double> &triangle_areas,
341 double surface_area,
342 bool use_triangle_normal);
343
350 std::shared_ptr<PointCloud> SamplePointsUniformly(
351 size_t number_of_points, bool use_triangle_normal = false);
352
365 std::shared_ptr<PointCloud> SamplePointsPoissonDisk(
366 size_t number_of_points,
367 double init_factor = 5,
368 const std::shared_ptr<PointCloud> pcl_init = nullptr,
369 bool use_triangle_normal = false);
370
376 std::shared_ptr<TriangleMesh> SubdivideMidpoint(
377 int number_of_iterations) const;
378
384 std::shared_ptr<TriangleMesh> SubdivideLoop(int number_of_iterations) const;
385
392 std::shared_ptr<TriangleMesh> SimplifyVertexClustering(
393 double voxel_size,
394 SimplificationContraction contraction =
396
406 std::shared_ptr<TriangleMesh> SimplifyQuadricDecimation(
407 int target_number_of_triangles,
408 double maximum_error,
409 double boundary_weight) const;
410
420 std::shared_ptr<TriangleMesh> SelectByIndex(
421 const std::vector<size_t> &indices, bool cleanup = true) const;
422
427 std::shared_ptr<TriangleMesh> Crop(
428 const AxisAlignedBoundingBox &bbox) const;
429
434 std::shared_ptr<TriangleMesh> Crop(const OrientedBoundingBox &bbox) const;
435
442 std::tuple<std::vector<int>, std::vector<size_t>, std::vector<double>>
444
451 void RemoveTrianglesByIndex(const std::vector<size_t> &triangle_indices);
452
459 void RemoveTrianglesByMask(const std::vector<bool> &triangle_mask);
460
467 void RemoveVerticesByIndex(const std::vector<size_t> &vertex_indices);
468
475 void RemoveVerticesByMask(const std::vector<bool> &vertex_mask);
476
490 std::shared_ptr<TriangleMesh> DeformAsRigidAsPossible(
491 const std::vector<int> &constraint_vertex_indices,
492 const std::vector<Eigen::Vector3d> &constraint_vertex_positions,
493 size_t max_iter,
496 double smoothed_alpha = 0.01) const;
497
509 static std::shared_ptr<TriangleMesh> CreateFromPointCloudAlphaShape(
510 const PointCloud &pcd,
511 double alpha,
512 std::shared_ptr<TetraMesh> tetra_mesh = nullptr,
513 std::vector<size_t> *pt_map = nullptr);
514
528 static std::shared_ptr<TriangleMesh> CreateFromPointCloudBallPivoting(
529 const PointCloud &pcd, const std::vector<double> &radii);
530
553 static std::tuple<std::shared_ptr<TriangleMesh>, std::vector<double>>
555 size_t depth = 8,
556 float width = 0.0f,
557 float scale = 1.1f,
558 bool linear_fit = false,
559 int n_threads = -1);
560
566 static std::shared_ptr<TriangleMesh> CreateTetrahedron(
567 double radius = 1.0, bool create_uv_map = false);
568
574 static std::shared_ptr<TriangleMesh> CreateOctahedron(
575 double radius = 1.0, bool create_uv_map = false);
576
581 static std::shared_ptr<TriangleMesh> CreateIcosahedron(
582 double radius = 1.0, bool create_uv_map = false);
583
588 static std::shared_ptr<TriangleMesh> CreateFromOrientedBoundingBox(
589 const OrientedBoundingBox &obox,
590 const Eigen::Vector3d &scale = Eigen::Vector3d::Ones(),
591 bool create_uv_map = false);
592
601 static std::shared_ptr<TriangleMesh> CreateBox(
602 double width = 1.0,
603 double height = 1.0,
604 double depth = 1.0,
605 bool create_uv_map = false,
606 bool map_texture_to_each_face = false);
607
618 static std::shared_ptr<TriangleMesh> CreateSphere(
619 double radius = 1.0,
620 int resolution = 20,
621 bool create_uv_map = false);
622
634 static std::shared_ptr<TriangleMesh> CreateCylinder(
635 double radius = 1.0,
636 double height = 2.0,
637 int resolution = 20,
638 int split = 4,
639 bool create_uv_map = false);
640
651 static std::shared_ptr<TriangleMesh> CreateCone(double radius = 1.0,
652 double height = 2.0,
653 int resolution = 20,
654 int split = 1,
655 bool create_uv_map = false);
656
670 static std::shared_ptr<TriangleMesh> CreateTorus(
671 double torus_radius = 1.0,
672 double tube_radius = 0.5,
673 int radial_resolution = 30,
674 int tubular_resolution = 20);
675
686 //
700 static std::shared_ptr<TriangleMesh> CreateArrow(
701 double cylinder_radius = 1.0,
702 double cone_radius = 1.5,
703 double cylinder_height = 5.0,
704 double cone_height = 4.0,
705 int resolution = 20,
706 int cylinder_split = 4,
707 int cone_split = 1);
708
714 static std::shared_ptr<TriangleMesh> CreateCoordinateFrame(
715 double size = 1.0,
716 const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0));
717
728 static std::shared_ptr<TriangleMesh> CreateMobius(int length_split = 70,
729 int width_split = 15,
730 int twists = 1,
731 double radius = 1,
732 double flatness = 1,
733 double width = 1,
734 double scale = 1);
735
736protected:
737 // Forward child class type to avoid indirect nonvirtual base
739
741 std::shared_ptr<TriangleMesh> &mesh,
742 const std::vector<Eigen::Vector3d> &prev_vertices,
743 const std::vector<Eigen::Vector3d> &prev_vertex_normals,
744 const std::vector<Eigen::Vector3d> &prev_vertex_colors,
745 const std::vector<std::unordered_set<int>> &adjacency_list,
746 double lambda_filter,
747 bool filter_vertex,
748 bool filter_normal,
749 bool filter_color) const;
750
759 std::unordered_map<Eigen::Vector2i,
760 double,
763 const std::unordered_map<Eigen::Vector2i,
764 std::vector<int>,
766 &edges_to_vertices,
767 double min_weight = std::numeric_limits<double>::lowest()) const;
768
769public:
771 std::vector<Eigen::Vector3i> triangles_;
773 std::vector<Eigen::Vector3d> triangle_normals_;
776 std::vector<std::unordered_set<int>> adjacency_list_;
778 std::vector<Eigen::Vector2d> triangle_uvs_;
779
780 struct Material {
782 float f4[4] = {0};
783
785 f4[0] = 0;
786 f4[1] = 0;
787 f4[2] = 0;
788 f4[3] = 0;
789 }
790
791 MaterialParameter(const float v1,
792 const float v2,
793 const float v3,
794 const float v4) {
795 f4[0] = v1;
796 f4[1] = v2;
797 f4[2] = v3;
798 f4[3] = v4;
799 }
800
801 MaterialParameter(const float v1, const float v2, const float v3) {
802 f4[0] = v1;
803 f4[1] = v2;
804 f4[2] = v3;
805 f4[3] = 1;
806 }
807
808 MaterialParameter(const float v1, const float v2) {
809 f4[0] = v1;
810 f4[1] = v2;
811 f4[2] = 0;
812 f4[3] = 0;
813 }
814
815 explicit MaterialParameter(const float v1) {
816 f4[0] = v1;
817 f4[1] = 0;
818 f4[2] = 0;
819 f4[3] = 0;
820 }
821
822 static MaterialParameter CreateRGB(const float r,
823 const float g,
824 const float b) {
825 return {r, g, b, 1.f};
826 }
827
828 float r() const { return f4[0]; }
829 float g() const { return f4[1]; }
830 float b() const { return f4[2]; }
831 float a() const { return f4[3]; }
832 };
833
835 float baseMetallic = 0.f;
836 float baseRoughness = 1.f;
837 float baseReflectance = 0.5f;
838 float baseClearCoat = 0.f;
840 float baseAnisotropy = 0.f;
841
842 std::shared_ptr<Image> albedo;
843 std::shared_ptr<Image> normalMap;
844 std::shared_ptr<Image> ambientOcclusion;
845 std::shared_ptr<Image> metallic;
846 std::shared_ptr<Image> roughness;
847 std::shared_ptr<Image> reflectance;
848 std::shared_ptr<Image> clearCoat;
849 std::shared_ptr<Image> clearCoatRoughness;
850 std::shared_ptr<Image> anisotropy;
851
852 std::unordered_map<std::string, MaterialParameter> floatParameters;
853 std::unordered_map<std::string, Image> additionalMaps;
854 };
855
856 std::vector<std::pair<std::string, Material>> materials_;
857
859 std::vector<int> triangle_material_ids_;
861 std::vector<Image> textures_;
862};
863
864} // namespace geometry
865} // namespace open3d
A bounding box that is aligned along the coordinate axes and defined by the min_bound and max_bound.
Definition BoundingVolume.h:160
The base geometry class.
Definition Geometry.h:18
GeometryType
Specifies possible geometry types.
Definition Geometry.h:23
The Image class stores image with customizable width, height, num of channels and bytes per channel.
Definition Image.h:34
MeshBash Class.
Definition MeshBase.h:32
std::vector< Eigen::Vector3d > vertices_
Vertex coordinates.
Definition MeshBase.h:149
MeshBase & NormalizeNormals()
Normalize vertex normals to length 1.
Definition MeshBase.h:118
DeformAsRigidAsPossibleEnergy
Definition MeshBase.h:57
SimplificationContraction
Indicates the method that is used for mesh simplification if multiple vertices are combined to a sing...
Definition MeshBase.h:42
FilterScope
Indicates the scope of filter operations.
Definition MeshBase.h:51
A bounding box oriented along an arbitrary frame of reference.
Definition BoundingVolume.h:25
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition PointCloud.h:36
Triangle mesh contains vertices and triangles represented by the indices to the vertices.
Definition TriangleMesh.h:35
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:46
bool IsBoundingBoxIntersecting(const TriangleMesh &other) const
Definition TriangleMesh.cpp:1393
TriangleMesh(Geometry::GeometryType type)
Definition TriangleMesh.h:738
TriangleMesh & RemoveNonManifoldEdges()
Function that removes all non-manifold edges, by successively deleting triangles with the smallest su...
Definition TriangleMesh.cpp:830
std::vector< Image > textures_
Textures of the image.
Definition TriangleMesh.h:861
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:1148
std::vector< std::pair< std::string, Material > > materials_
Definition TriangleMesh.h:856
std::shared_ptr< TriangleMesh > SubdivideMidpoint(int number_of_iterations) const
Definition TriangleMeshSubdivide.cpp:18
std::shared_ptr< PointCloud > SamplePointsUniformlyImpl(size_t number_of_points, std::vector< double > &triangle_areas, double surface_area, bool use_triangle_normal)
Definition TriangleMesh.cpp:434
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:1421
double GetVolume() const
Definition TriangleMesh.cpp:1185
std::shared_ptr< TriangleMesh > SubdivideLoop(int number_of_iterations) const
Definition TriangleMeshSubdivide.cpp:96
static std::shared_ptr< TriangleMesh > CreateIcosahedron(double radius=1.0, bool create_uv_map=false)
Definition TriangleMeshFactory.cpp:85
TriangleMesh & operator+=(const TriangleMesh &mesh)
Definition TriangleMesh.cpp:53
std::shared_ptr< TriangleMesh > FilterSmoothTaubin(int number_of_iterations, double lambda_filter=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:386
std::shared_ptr< PointCloud > SamplePointsUniformly(size_t number_of_points, bool use_triangle_normal=false)
Definition TriangleMesh.cpp:501
std::vector< Eigen::Vector2i > GetSelfIntersectingTriangles() const
Definition TriangleMesh.cpp:1344
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)
Definition TriangleMesh.cpp:518
bool IsVertexManifold() const
Definition TriangleMesh.cpp:1340
TriangleMesh & RemoveDuplicatedVertices()
Function that removes duplicated verties, i.e., vertices that have identical coordinates.
Definition TriangleMesh.cpp:662
std::vector< std::unordered_set< int > > adjacency_list_
Definition TriangleMesh.h:776
static std::shared_ptr< TriangleMesh > CreateMobius(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:800
bool IsEdgeManifold(bool allow_boundary_edges=true) const
Definition TriangleMesh.cpp:1271
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:1487
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_filter, bool filter_vertex, bool filter_normal, bool filter_color) const
Definition TriangleMesh.cpp:293
static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
Definition TriangleMesh.cpp:1218
bool HasTriangles() const
Returns true if the mesh contains triangles.
Definition TriangleMesh.h:61
TriangleMesh & ComputeVertexNormals(bool normalized=true)
Function to compute vertex normals, usually called before rendering.
Definition TriangleMesh.cpp:127
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:1538
static std::shared_ptr< TriangleMesh > CreateCone(double radius=1.0, double height=2.0, int resolution=20, int split=1, bool create_uv_map=false)
Definition TriangleMeshFactory.cpp:539
static std::tuple< std::shared_ptr< TriangleMesh >, std::vector< double > > CreateFromPointCloudPoisson(const PointCloud &pcd, size_t depth=8, float width=0.0f, 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:719
virtual TriangleMesh & Clear() override
Clear all elements in the geometry.
Definition TriangleMesh.cpp:27
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
static Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1)
Helper function to get an edge with ordered vertex indices.
Definition TriangleMesh.h:332
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:25
std::shared_ptr< TriangleMesh > SimplifyVertexClustering(double voxel_size, SimplificationContraction contraction=SimplificationContraction::Average) const
Definition TriangleMeshSimplification.cpp:72
int EulerPoincareCharacteristic() const
Definition TriangleMesh.cpp:1242
std::shared_ptr< TriangleMesh > SelectByIndex(const std::vector< size_t > &indices, bool cleanup=true) const
Definition TriangleMesh.cpp:1599
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToTrianglesMap() const
Definition TriangleMesh.cpp:1113
bool HasTriangleMaterialIds() const
Definition TriangleMesh.h:90
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:1555
static std::shared_ptr< TriangleMesh > CreateFromPointCloudBallPivoting(const PointCloud &pcd, const std::vector< double > &radii)
Definition SurfaceReconstructionBallPivoting.cpp:737
std::vector< Eigen::Vector2d > triangle_uvs_
List of uv coordinates per triangle.
Definition TriangleMesh.h:778
~TriangleMesh() override
Definition TriangleMesh.h:47
virtual TriangleMesh & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition TriangleMesh.cpp:40
static std::shared_ptr< TriangleMesh > CreateTetrahedron(double radius=1.0, bool create_uv_map=false)
Definition TriangleMeshFactory.cpp:15
bool IsOrientable() const
Definition TriangleMesh.cpp:1094
std::vector< Eigen::Vector3i > triangles_
List of triangles denoted by the index of points forming the triangle.
Definition TriangleMesh.h:771
bool HasTextures() const
Returns true if the mesh has texture.
Definition TriangleMesh.h:81
bool OrientTriangles()
Definition TriangleMesh.cpp:1103
bool HasTriangleUvs() const
Definition TriangleMesh.h:76
std::shared_ptr< TriangleMesh > Crop(const AxisAlignedBoundingBox &bbox) const
Definition TriangleMesh.cpp:1665
std::vector< Eigen::Vector3d > triangle_normals_
Triangle normals.
Definition TriangleMesh.h:773
static std::shared_ptr< TriangleMesh > CreateOctahedron(double radius=1.0, bool create_uv_map=false)
Definition TriangleMeshFactory.cpp:52
TriangleMesh & RemoveDuplicatedTriangles()
Function that removes duplicated triangles, i.e., removes triangles that reference the same three ver...
Definition TriangleMesh.cpp:705
static std::shared_ptr< TriangleMesh > CreateFromOrientedBoundingBox(const OrientedBoundingBox &obox, const Eigen::Vector3d &scale=Eigen::Vector3d::Ones(), bool create_uv_map=false)
Definition TriangleMeshFactory.cpp:142
std::vector< Eigen::Vector2i > GetNonManifoldEdges(bool allow_boundary_edges=true) const
Definition TriangleMesh.cpp:1257
TriangleMesh & RemoveDegenerateTriangles()
Function that removes degenerate triangles, i.e., triangles that reference a single vertex multiple t...
Definition TriangleMesh.cpp:800
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:19
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:718
TriangleMesh & RemoveUnreferencedVertices()
This function removes vertices from the triangle mesh that are not referenced in any triangle of the ...
Definition TriangleMesh.cpp:757
std::shared_ptr< TriangleMesh > SimplifyQuadricDecimation(int target_number_of_triangles, double maximum_error, double boundary_weight) const
Definition TriangleMeshSimplification.cpp:246
bool HasTriangleNormals() const
Returns true if the mesh contains triangle normals.
Definition TriangleMesh.h:66
static std::shared_ptr< TriangleMesh > CreateCylinder(double radius=1.0, double height=2.0, int resolution=20, int split=4, bool create_uv_map=false)
Definition TriangleMeshFactory.cpp:383
bool IsWatertight() const
Definition TriangleMesh.cpp:1099
bool HasAdjacencyList() const
Returns true if the mesh contains adjacency normals.
Definition TriangleMesh.h:71
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:1689
bool IsIntersecting(const TriangleMesh &other) const
Definition TriangleMesh.cpp:1398
double GetTriangleArea(size_t triangle_idx) const
Definition TriangleMesh.cpp:1157
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:666
TriangleMesh & ComputeAdjacencyList()
Function to compute adjacency list, call before adjacency list is needed.
Definition TriangleMesh.cpp:142
TriangleMesh(const std::vector< Eigen::Vector3d > &vertices, const std::vector< Eigen::Vector3i > &triangles)
Parameterized Constructor.
Definition TriangleMesh.h:43
static Eigen::Vector3i GetOrderedTriangle(int vidx0, int vidx1, int vidx2)
Definition TriangleMesh.h:291
TriangleMesh & NormalizeNormals()
Normalize both triangle normals and vertex normals to length 1.
Definition TriangleMesh.h:96
std::shared_ptr< TriangleMesh > FilterSharpen(int number_of_iterations, double strength, FilterScope scope=FilterScope::All) const
Function to sharpen triangle mesh.
Definition TriangleMesh.cpp:156
std::vector< int > triangle_material_ids_
List of material ids.
Definition TriangleMesh.h:859
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToVerticesMap() const
Definition TriangleMesh.cpp:1132
Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const
Definition TriangleMesh.cpp:1234
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:227
TriangleMesh operator+(const TriangleMesh &mesh) const
Definition TriangleMesh.cpp:108
TriangleMesh()
Default Constructor.
Definition TriangleMesh.h:38
bool IsSelfIntersecting() const
Definition TriangleMesh.cpp:1389
static std::shared_ptr< TriangleMesh > CreateBox(double width=1.0, double height=1.0, double depth=1.0, bool create_uv_map=false, bool map_texture_to_each_face=false)
Definition TriangleMeshFactory.cpp:154
std::shared_ptr< TriangleMesh > FilterSmoothLaplacian(int number_of_iterations, double lambda_filter, FilterScope scope=FilterScope::All) const
Function to smooth triangle mesh using Laplacian.
Definition TriangleMesh.cpp:345
TriangleMesh & ComputeTriangleNormals(bool normalized=true)
Function to compute triangle normals, usually called before rendering.
Definition TriangleMesh.cpp:112
double GetSurfaceArea() const
Definition TriangleMesh.cpp:1165
std::vector< int > GetNonManifoldVertices() const
Definition TriangleMesh.cpp:1284
void RemoveTrianglesByMask(const std::vector< bool > &triangle_mask)
This function removes the triangles that are masked in triangle_mask. Call RemoveUnreferencedVertices...
Definition TriangleMesh.cpp:1504
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:761
static std::shared_ptr< TriangleMesh > CreateSphere(double radius=1.0, int resolution=20, bool create_uv_map=false)
Definition TriangleMeshFactory.cpp:216
bool HasMaterials() const
Definition TriangleMesh.h:88
int width
Definition FilePCD.cpp:52
int size
Definition FilePCD.cpp:40
int height
Definition FilePCD.cpp:53
char type
Definition FilePCD.cpp:41
Definition PinholeCameraIntrinsic.cpp:16
void swap(open3d::core::SmallVectorImpl< T > &LHS, open3d::core::SmallVectorImpl< T > &RHS)
Implement std::swap in terms of SmallVector swap.
Definition SmallVector.h:1370
float b() const
Definition TriangleMesh.h:830
float g() const
Definition TriangleMesh.h:829
float r() const
Definition TriangleMesh.h:828
MaterialParameter(const float v1, const float v2, const float v3, const float v4)
Definition TriangleMesh.h:791
static MaterialParameter CreateRGB(const float r, const float g, const float b)
Definition TriangleMesh.h:822
MaterialParameter(const float v1, const float v2, const float v3)
Definition TriangleMesh.h:801
MaterialParameter(const float v1, const float v2)
Definition TriangleMesh.h:808
MaterialParameter(const float v1)
Definition TriangleMesh.h:815
float a() const
Definition TriangleMesh.h:831
Definition TriangleMesh.h:780
std::shared_ptr< Image > anisotropy
Definition TriangleMesh.h:850
std::shared_ptr< Image > normalMap
Definition TriangleMesh.h:843
std::shared_ptr< Image > clearCoatRoughness
Definition TriangleMesh.h:849
std::shared_ptr< Image > roughness
Definition TriangleMesh.h:846
float baseAnisotropy
Definition TriangleMesh.h:840
std::unordered_map< std::string, Image > additionalMaps
Definition TriangleMesh.h:853
float baseClearCoat
Definition TriangleMesh.h:838
float baseRoughness
Definition TriangleMesh.h:836
std::unordered_map< std::string, MaterialParameter > floatParameters
Definition TriangleMesh.h:852
std::shared_ptr< Image > reflectance
Definition TriangleMesh.h:847
MaterialParameter baseColor
Definition TriangleMesh.h:834
std::shared_ptr< Image > metallic
Definition TriangleMesh.h:845
std::shared_ptr< Image > ambientOcclusion
Definition TriangleMesh.h:844
std::shared_ptr< Image > albedo
Definition TriangleMesh.h:842
float baseReflectance
Definition TriangleMesh.h:837
float baseMetallic
Definition TriangleMesh.h:835
std::shared_ptr< Image > clearCoat
Definition TriangleMesh.h:848
float baseClearCoatRoughness
Definition TriangleMesh.h:839
Definition Helper.h:71