Open3D (C++ API)  0.19.0
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TriangleMesh.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2024 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 const std::vector<double> &triangle_areas,
341 bool use_triangle_normal);
342
349 std::shared_ptr<PointCloud> SamplePointsUniformly(
350 size_t number_of_points, bool use_triangle_normal = false);
351
364 std::shared_ptr<PointCloud> SamplePointsPoissonDisk(
365 size_t number_of_points,
366 double init_factor = 5,
367 const std::shared_ptr<PointCloud> pcl_init = nullptr,
368 bool use_triangle_normal = false);
369
375 std::shared_ptr<TriangleMesh> SubdivideMidpoint(
376 int number_of_iterations) const;
377
383 std::shared_ptr<TriangleMesh> SubdivideLoop(int number_of_iterations) const;
384
391 std::shared_ptr<TriangleMesh> SimplifyVertexClustering(
392 double voxel_size,
393 SimplificationContraction contraction =
395
405 std::shared_ptr<TriangleMesh> SimplifyQuadricDecimation(
406 int target_number_of_triangles,
407 double maximum_error,
408 double boundary_weight) const;
409
419 std::shared_ptr<TriangleMesh> SelectByIndex(
420 const std::vector<size_t> &indices, bool cleanup = true) const;
421
426 std::shared_ptr<TriangleMesh> Crop(
427 const AxisAlignedBoundingBox &bbox) const;
428
433 std::shared_ptr<TriangleMesh> Crop(const OrientedBoundingBox &bbox) const;
434
441 std::tuple<std::vector<int>, std::vector<size_t>, std::vector<double>>
443
450 void RemoveTrianglesByIndex(const std::vector<size_t> &triangle_indices);
451
458 void RemoveTrianglesByMask(const std::vector<bool> &triangle_mask);
459
466 void RemoveVerticesByIndex(const std::vector<size_t> &vertex_indices);
467
474 void RemoveVerticesByMask(const std::vector<bool> &vertex_mask);
475
489 std::shared_ptr<TriangleMesh> DeformAsRigidAsPossible(
490 const std::vector<int> &constraint_vertex_indices,
491 const std::vector<Eigen::Vector3d> &constraint_vertex_positions,
492 size_t max_iter,
495 double smoothed_alpha = 0.01) const;
496
508 static std::shared_ptr<TriangleMesh> CreateFromPointCloudAlphaShape(
509 const PointCloud &pcd,
510 double alpha,
511 std::shared_ptr<TetraMesh> tetra_mesh = nullptr,
512 std::vector<size_t> *pt_map = nullptr);
513
527 static std::shared_ptr<TriangleMesh> CreateFromPointCloudBallPivoting(
528 const PointCloud &pcd, const std::vector<double> &radii);
529
552 static std::tuple<std::shared_ptr<TriangleMesh>, std::vector<double>>
554 size_t depth = 8,
555 float width = 0.0f,
556 float scale = 1.1f,
557 bool linear_fit = false,
558 int n_threads = -1);
559
565 static std::shared_ptr<TriangleMesh> CreateTetrahedron(
566 double radius = 1.0, bool create_uv_map = false);
567
573 static std::shared_ptr<TriangleMesh> CreateOctahedron(
574 double radius = 1.0, bool create_uv_map = false);
575
580 static std::shared_ptr<TriangleMesh> CreateIcosahedron(
581 double radius = 1.0, bool create_uv_map = false);
582
587 static std::shared_ptr<TriangleMesh> CreateFromOrientedBoundingBox(
588 const OrientedBoundingBox &obox,
589 const Eigen::Vector3d &scale = Eigen::Vector3d::Ones(),
590 bool create_uv_map = false);
591
600 static std::shared_ptr<TriangleMesh> CreateBox(
601 double width = 1.0,
602 double height = 1.0,
603 double depth = 1.0,
604 bool create_uv_map = false,
605 bool map_texture_to_each_face = false);
606
617 static std::shared_ptr<TriangleMesh> CreateSphere(
618 double radius = 1.0,
619 int resolution = 20,
620 bool create_uv_map = false);
621
633 static std::shared_ptr<TriangleMesh> CreateCylinder(
634 double radius = 1.0,
635 double height = 2.0,
636 int resolution = 20,
637 int split = 4,
638 bool create_uv_map = false);
639
650 static std::shared_ptr<TriangleMesh> CreateCone(double radius = 1.0,
651 double height = 2.0,
652 int resolution = 20,
653 int split = 1,
654 bool create_uv_map = false);
655
669 static std::shared_ptr<TriangleMesh> CreateTorus(
670 double torus_radius = 1.0,
671 double tube_radius = 0.5,
672 int radial_resolution = 30,
673 int tubular_resolution = 20);
674
685 //
699 static std::shared_ptr<TriangleMesh> CreateArrow(
700 double cylinder_radius = 1.0,
701 double cone_radius = 1.5,
702 double cylinder_height = 5.0,
703 double cone_height = 4.0,
704 int resolution = 20,
705 int cylinder_split = 4,
706 int cone_split = 1);
707
713 static std::shared_ptr<TriangleMesh> CreateCoordinateFrame(
714 double size = 1.0,
715 const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0));
716
727 static std::shared_ptr<TriangleMesh> CreateMobius(int length_split = 70,
728 int width_split = 15,
729 int twists = 1,
730 double radius = 1,
731 double flatness = 1,
732 double width = 1,
733 double scale = 1);
734
735protected:
736 // Forward child class type to avoid indirect nonvirtual base
738
740 std::shared_ptr<TriangleMesh> &mesh,
741 const std::vector<Eigen::Vector3d> &prev_vertices,
742 const std::vector<Eigen::Vector3d> &prev_vertex_normals,
743 const std::vector<Eigen::Vector3d> &prev_vertex_colors,
744 const std::vector<std::unordered_set<int>> &adjacency_list,
745 double lambda_filter,
746 bool filter_vertex,
747 bool filter_normal,
748 bool filter_color) const;
749
758 std::unordered_map<Eigen::Vector2i,
759 double,
762 const std::unordered_map<Eigen::Vector2i,
763 std::vector<int>,
765 &edges_to_vertices,
766 double min_weight = std::numeric_limits<double>::lowest()) const;
767
768public:
770 std::vector<Eigen::Vector3i> triangles_;
772 std::vector<Eigen::Vector3d> triangle_normals_;
775 std::vector<std::unordered_set<int>> adjacency_list_;
777 std::vector<Eigen::Vector2d> triangle_uvs_;
778
779 struct Material {
781 float f4[4] = {0};
782
784 f4[0] = 0;
785 f4[1] = 0;
786 f4[2] = 0;
787 f4[3] = 0;
788 }
789
790 MaterialParameter(const float v1,
791 const float v2,
792 const float v3,
793 const float v4) {
794 f4[0] = v1;
795 f4[1] = v2;
796 f4[2] = v3;
797 f4[3] = v4;
798 }
799
800 MaterialParameter(const float v1, const float v2, const float v3) {
801 f4[0] = v1;
802 f4[1] = v2;
803 f4[2] = v3;
804 f4[3] = 1;
805 }
806
807 MaterialParameter(const float v1, const float v2) {
808 f4[0] = v1;
809 f4[1] = v2;
810 f4[2] = 0;
811 f4[3] = 0;
812 }
813
814 explicit MaterialParameter(const float v1) {
815 f4[0] = v1;
816 f4[1] = 0;
817 f4[2] = 0;
818 f4[3] = 0;
819 }
820
821 static MaterialParameter CreateRGB(const float r,
822 const float g,
823 const float b) {
824 return {r, g, b, 1.f};
825 }
826
827 float r() const { return f4[0]; }
828 float g() const { return f4[1]; }
829 float b() const { return f4[2]; }
830 float a() const { return f4[3]; }
831 };
832
834 float baseMetallic = 0.f;
835 float baseRoughness = 1.f;
836 float baseReflectance = 0.5f;
837 float baseClearCoat = 0.f;
839 float baseAnisotropy = 0.f;
840
841 std::shared_ptr<Image> albedo;
842 std::shared_ptr<Image> normalMap;
843 std::shared_ptr<Image> ambientOcclusion;
844 std::shared_ptr<Image> metallic;
845 std::shared_ptr<Image> roughness;
846 std::shared_ptr<Image> reflectance;
847 std::shared_ptr<Image> clearCoat;
848 std::shared_ptr<Image> clearCoatRoughness;
849 std::shared_ptr<Image> anisotropy;
850
851 std::unordered_map<std::string, MaterialParameter> floatParameters;
852 std::unordered_map<std::string, Image> additionalMaps;
853 };
854
855 std::vector<std::pair<std::string, Material>> materials_;
856
858 std::vector<int> triangle_material_ids_;
860 std::vector<Image> textures_;
861};
862
863} // namespace geometry
864} // 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:1408
TriangleMesh(Geometry::GeometryType type)
Definition TriangleMesh.h:737
TriangleMesh & RemoveNonManifoldEdges()
Function that removes all non-manifold edges, by successively deleting triangles with the smallest su...
Definition TriangleMesh.cpp:845
std::vector< Image > textures_
Textures of the image.
Definition TriangleMesh.h:860
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:1163
std::vector< std::pair< std::string, Material > > materials_
Definition TriangleMesh.h:855
std::shared_ptr< TriangleMesh > SubdivideMidpoint(int number_of_iterations) const
Definition TriangleMeshSubdivide.cpp:18
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:1436
double GetVolume() const
Definition TriangleMesh.cpp:1200
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:392
std::shared_ptr< PointCloud > SamplePointsUniformly(size_t number_of_points, bool use_triangle_normal=false)
Definition TriangleMesh.cpp:515
std::vector< Eigen::Vector2i > GetSelfIntersectingTriangles() const
Definition TriangleMesh.cpp:1359
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:532
bool IsVertexManifold() const
Definition TriangleMesh.cpp:1355
TriangleMesh & RemoveDuplicatedVertices()
Function that removes duplicated verties, i.e., vertices that have identical coordinates.
Definition TriangleMesh.cpp:677
std::vector< std::unordered_set< int > > adjacency_list_
Definition TriangleMesh.h:775
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:1286
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:1502
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:299
static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
Definition TriangleMesh.cpp:1233
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:131
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:1553
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:925
static Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1)
Helper function to get an edge with ordered vertex indices.
Definition TriangleMesh.h:332
std::shared_ptr< PointCloud > SamplePointsUniformlyImpl(size_t number_of_points, const std::vector< double > &triangle_areas, bool use_triangle_normal)
Definition TriangleMesh.cpp:440
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:1257
std::shared_ptr< TriangleMesh > SelectByIndex(const std::vector< size_t > &indices, bool cleanup=true) const
Definition TriangleMesh.cpp:1614
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToTrianglesMap() const
Definition TriangleMesh.cpp:1128
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:1570
static std::shared_ptr< TriangleMesh > CreateFromPointCloudBallPivoting(const PointCloud &pcd, const std::vector< double > &radii)
Definition SurfaceReconstructionBallPivoting.cpp:739
std::vector< Eigen::Vector2d > triangle_uvs_
List of uv coordinates per triangle.
Definition TriangleMesh.h:777
~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:1109
std::vector< Eigen::Vector3i > triangles_
List of triangles denoted by the index of points forming the triangle.
Definition TriangleMesh.h:770
bool HasTextures() const
Returns true if the mesh has texture.
Definition TriangleMesh.h:81
bool OrientTriangles()
Definition TriangleMesh.cpp:1118
bool HasTriangleUvs() const
Definition TriangleMesh.h:76
std::shared_ptr< TriangleMesh > Crop(const AxisAlignedBoundingBox &bbox) const
Definition TriangleMesh.cpp:1680
std::vector< Eigen::Vector3d > triangle_normals_
Triangle normals.
Definition TriangleMesh.h:772
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:720
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:1272
TriangleMesh & RemoveDegenerateTriangles()
Function that removes degenerate triangles, i.e., triangles that reference a single vertex multiple t...
Definition TriangleMesh.cpp:815
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:772
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:1114
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:1704
bool IsIntersecting(const TriangleMesh &other) const
Definition TriangleMesh.cpp:1413
double GetTriangleArea(size_t triangle_idx) const
Definition TriangleMesh.cpp:1172
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:148
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:162
std::vector< int > triangle_material_ids_
List of material ids.
Definition TriangleMesh.h:858
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToVerticesMap() const
Definition TriangleMesh.cpp:1147
Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const
Definition TriangleMesh.cpp:1249
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:233
TriangleMesh operator+(const TriangleMesh &mesh) const
Definition TriangleMesh.cpp:112
TriangleMesh()
Default Constructor.
Definition TriangleMesh.h:38
bool IsSelfIntersecting() const
Definition TriangleMesh.cpp:1404
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:351
TriangleMesh & ComputeTriangleNormals(bool normalized=true)
Function to compute triangle normals, usually called before rendering.
Definition TriangleMesh.cpp:116
double GetSurfaceArea() const
Definition TriangleMesh.cpp:1180
std::vector< int > GetNonManifoldVertices() const
Definition TriangleMesh.cpp:1299
void RemoveTrianglesByMask(const std::vector< bool > &triangle_mask)
This function removes the triangles that are masked in triangle_mask. Call RemoveUnreferencedVertices...
Definition TriangleMesh.cpp:1519
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:829
float g() const
Definition TriangleMesh.h:828
float r() const
Definition TriangleMesh.h:827
MaterialParameter(const float v1, const float v2, const float v3, const float v4)
Definition TriangleMesh.h:790
static MaterialParameter CreateRGB(const float r, const float g, const float b)
Definition TriangleMesh.h:821
MaterialParameter(const float v1, const float v2, const float v3)
Definition TriangleMesh.h:800
MaterialParameter(const float v1, const float v2)
Definition TriangleMesh.h:807
MaterialParameter(const float v1)
Definition TriangleMesh.h:814
float a() const
Definition TriangleMesh.h:830
Definition TriangleMesh.h:779
std::shared_ptr< Image > anisotropy
Definition TriangleMesh.h:849
std::shared_ptr< Image > normalMap
Definition TriangleMesh.h:842
std::shared_ptr< Image > clearCoatRoughness
Definition TriangleMesh.h:848
std::shared_ptr< Image > roughness
Definition TriangleMesh.h:845
float baseAnisotropy
Definition TriangleMesh.h:839
std::unordered_map< std::string, Image > additionalMaps
Definition TriangleMesh.h:852
float baseClearCoat
Definition TriangleMesh.h:837
float baseRoughness
Definition TriangleMesh.h:835
std::unordered_map< std::string, MaterialParameter > floatParameters
Definition TriangleMesh.h:851
std::shared_ptr< Image > reflectance
Definition TriangleMesh.h:846
MaterialParameter baseColor
Definition TriangleMesh.h:833
std::shared_ptr< Image > metallic
Definition TriangleMesh.h:844
std::shared_ptr< Image > ambientOcclusion
Definition TriangleMesh.h:843
std::shared_ptr< Image > albedo
Definition TriangleMesh.h:841
float baseReflectance
Definition TriangleMesh.h:836
float baseMetallic
Definition TriangleMesh.h:834
std::shared_ptr< Image > clearCoat
Definition TriangleMesh.h:847
float baseClearCoatRoughness
Definition TriangleMesh.h:838
Definition Helper.h:71