Open3D (C++ API)  0.16.0
TriangleMesh.h
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26
27#pragma once
28
29#include <list>
30
31#include "open3d/core/Tensor.h"
38
39namespace open3d {
40namespace t {
41namespace geometry {
42
43class LineSet;
44
111class TriangleMesh : public Geometry, public DrawableGeometry {
112public:
116 TriangleMesh(const core::Device &device = core::Device("CPU:0"));
117
126 TriangleMesh(const core::Tensor &vertex_positions,
127 const core::Tensor &triangle_indices);
128
129 virtual ~TriangleMesh() override {}
130
131public:
133 std::string ToString() const;
134
140 TriangleMesh To(const core::Device &device, bool copy = false) const;
141
143 TriangleMesh Clone() const { return To(GetDevice(), /*copy=*/true); }
144
146 const TensorMap &GetVertexAttr() const { return vertex_attr_; }
147
150
155 core::Tensor &GetVertexAttr(const std::string &key) {
156 return vertex_attr_.at(key);
157 }
158
162
166
170
172 const TensorMap &GetTriangleAttr() const { return triangle_attr_; }
173
176
181 core::Tensor &GetTriangleAttr(const std::string &key) {
182 return triangle_attr_.at(key);
183 }
184
188
192
196
200 const core::Tensor &GetVertexAttr(const std::string &key) const {
201 return vertex_attr_.at(key);
202 }
203
208 void RemoveVertexAttr(const std::string &key) { vertex_attr_.Erase(key); }
209
213 return GetVertexAttr("positions");
214 }
215
219 return GetVertexAttr("colors");
220 }
221
225 return GetVertexAttr("normals");
226 }
227
232 const core::Tensor &GetTriangleAttr(const std::string &key) const {
233 return triangle_attr_.at(key);
234 }
235
240 void RemoveTriangleAttr(const std::string &key) {
242 }
243
247 return GetTriangleAttr("indices");
248 }
249
253 return GetTriangleAttr("normals");
254 }
255
259 return GetTriangleAttr("colors");
260 }
261
267 void SetVertexAttr(const std::string &key, const core::Tensor &value) {
269 vertex_attr_[key] = value;
270 }
271
274 void SetVertexPositions(const core::Tensor &value) {
276 SetVertexAttr("positions", value);
277 }
278
281 void SetVertexColors(const core::Tensor &value) {
283 SetVertexAttr("colors", value);
284 }
285
288 void SetVertexNormals(const core::Tensor &value) {
290 SetVertexAttr("normals", value);
291 }
292
298 void SetTriangleAttr(const std::string &key, const core::Tensor &value) {
300 triangle_attr_[key] = value;
301 }
302
304 void SetTriangleIndices(const core::Tensor &value) {
306 SetTriangleAttr("indices", value);
307 }
308
311 void SetTriangleNormals(const core::Tensor &value) {
313 SetTriangleAttr("normals", value);
314 }
315
318 void SetTriangleColors(const core::Tensor &value) {
320 SetTriangleAttr("colors", value);
321 }
322
327 bool HasVertexAttr(const std::string &key) const {
328 return vertex_attr_.Contains(key) &&
329 GetVertexAttr(key).GetLength() > 0 &&
330 GetVertexAttr(key).GetLength() ==
332 }
333
336 bool HasVertexPositions() const { return HasVertexAttr("positions"); }
337
343 bool HasVertexColors() const { return HasVertexAttr("colors"); }
344
350 bool HasVertexNormals() const { return HasVertexAttr("normals"); }
351
356 bool HasTriangleAttr(const std::string &key) const {
357 return triangle_attr_.Contains(key) &&
358 GetTriangleAttr(key).GetLength() > 0 &&
359 GetTriangleAttr(key).GetLength() ==
361 }
362
366 bool HasTriangleIndices() const { return HasTriangleAttr("indices"); }
367
373 bool HasTriangleNormals() const { return HasTriangleAttr("normals"); }
374
380 bool HasTriangleColors() const { return HasTriangleAttr("colors"); }
381
392 static TriangleMesh CreateBox(
393 double width = 1.0,
394 double height = 1.0,
395 double depth = 1.0,
396 core::Dtype float_dtype = core::Float32,
397 core::Dtype int_dtype = core::Int64,
398 const core::Device &device = core::Device("CPU:0"));
399
414 double radius = 1.0,
415 int resolution = 20,
416 core::Dtype float_dtype = core::Float32,
417 core::Dtype int_dtype = core::Int64,
418 const core::Device &device = core::Device("CPU:0"));
419
430 double radius = 1.0,
431 core::Dtype float_dtype = core::Float32,
432 core::Dtype int_dtype = core::Int64,
433 const core::Device &device = core::Device("CPU:0"));
434
445 double radius = 1.0,
446 core::Dtype float_dtype = core::Float32,
447 core::Dtype int_dtype = core::Int64,
448 const core::Device &device = core::Device("CPU:0"));
449
460 double radius = 1.0,
461 core::Dtype float_dtype = core::Float32,
462 core::Dtype int_dtype = core::Int64,
463 const core::Device &device = core::Device("CPU:0"));
464
478 double radius = 1.0,
479 double height = 2.0,
480 int resolution = 20,
481 int split = 4,
482 core::Dtype float_dtype = core::Float32,
483 core::Dtype int_dtype = core::Int64,
484 const core::Device &device = core::Device("CPU:0"));
485
499 double radius = 1.0,
500 double height = 2.0,
501 int resolution = 20,
502 int split = 1,
503 core::Dtype float_dtype = core::Float32,
504 core::Dtype int_dtype = core::Int64,
505 const core::Device &device = core::Device("CPU:0"));
506
521 double torus_radius = 1.0,
522 double tube_radius = 0.5,
523 int radial_resolution = 30,
524 int tubular_resolution = 20,
525 core::Dtype float_dtype = core::Float32,
526 core::Dtype int_dtype = core::Int64,
527 const core::Device &device = core::Device("CPU:0"));
528
547 double cylinder_radius = 1.0,
548 double cone_radius = 1.5,
549 double cylinder_height = 5.0,
550 double cone_height = 4.0,
551 int resolution = 20,
552 int cylinder_split = 4,
553 int cone_split = 1,
554 core::Dtype float_dtype = core::Float32,
555 core::Dtype int_dtype = core::Int64,
556 const core::Device &device = core::Device("CPU:0"));
557
567 double size = 1.0,
568 const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0),
569 core::Dtype float_dtype = core::Float32,
570 core::Dtype int_dtype = core::Int64,
571 const core::Device &device = core::Device("CPU:0"));
572
589 int length_split = 70,
590 int width_split = 15,
591 int twists = 1,
592 double radius = 1,
593 double flatness = 1,
594 double width = 1,
595 double scale = 1,
596 core::Dtype float_dtype = core::Float32,
597 core::Dtype int_dtype = core::Int64,
598 const core::Device &device = core::Device("CPU:0"));
599
610 const std::string &text,
611 double depth = 0.0,
612 core::Dtype float_dtype = core::Float32,
613 core::Dtype int_dtype = core::Int64,
614 const core::Device &device = core::Device("CPU:0"));
615
616public:
618 TriangleMesh &Clear() override {
619 vertex_attr_.clear();
620 triangle_attr_.clear();
621 return *this;
622 }
623
625 bool IsEmpty() const override { return !HasVertexPositions(); }
626
628
630
632
652 TriangleMesh &Transform(const core::Tensor &transformation);
653
658 TriangleMesh &Translate(const core::Tensor &translation,
659 bool relative = true);
660
666 TriangleMesh &Scale(double scale, const core::Tensor &center);
667
674 TriangleMesh &Rotate(const core::Tensor &R, const core::Tensor &center);
675
686 const core::Tensor &normal) const;
687
696 LineSet SlicePlane(const core::Tensor &point,
697 const core::Tensor &normal,
698 const std::vector<double> contour_values = {0.0}) const;
699
700 core::Device GetDevice() const override { return device_; }
701
710 const open3d::geometry::TriangleMesh &mesh_legacy,
711 core::Dtype float_dtype = core::Float32,
712 core::Dtype int_dtype = core::Int64,
713 const core::Device &device = core::Device("CPU:0"));
714
717
732 TriangleMesh ComputeConvexHull(bool joggle_inputs = false) const;
733
747 TriangleMesh SimplifyQuadricDecimation(double target_reduction,
748 bool preserve_volume = true) const;
749
762 double tolerance = 1e-6) const;
763
775 double tolerance = 1e-6) const;
776
788 double tolerance = 1e-6) const;
789
792
801 TriangleMesh FillHoles(double hole_size = 1e6) const;
802
821 void ComputeUVAtlas(size_t size = 512,
822 float gutter = 1.0f,
823 float max_stretch = 1.f / 6);
824
850 std::unordered_map<std::string, core::Tensor> BakeVertexAttrTextures(
851 int size,
852 const std::unordered_set<std::string> &vertex_attr = {},
853 double margin = 2.,
854 double fill = 0.,
855 bool update_material = true);
856
881 std::unordered_map<std::string, core::Tensor> BakeTriangleAttrTextures(
882 int size,
883 const std::unordered_set<std::string> &triangle_attr = {},
884 double margin = 2.,
885 double fill = 0.,
886 bool update_material = true);
887
896 TriangleMesh ExtrudeRotation(double angle,
897 const core::Tensor &axis,
898 int resolution = 16,
899 double translation = 0.0,
900 bool capping = true) const;
901
908 double scale = 1.0,
909 bool capping = true) const;
910
911protected:
915};
916
917} // namespace geometry
918} // namespace t
919} // namespace open3d
#define AssertTensorDevice(tensor,...)
Definition: TensorCheck.h:62
#define AssertTensorShape(tensor,...)
Definition: TensorCheck.h:77
bool copy
Definition: VtkUtils.cpp:89
Definition: Device.h:37
Definition: Dtype.h:39
Definition: Tensor.h:51
int64_t GetLength() const
Definition: Tensor.h:1130
Tensor Min(const SizeVector &dims, bool keepdim=false) const
Definition: Tensor.cpp:1217
Tensor Mean(const SizeVector &dims, bool keepdim=false) const
Definition: Tensor.cpp:1196
Tensor Max(const SizeVector &dims, bool keepdim=false) const
Definition: Tensor.cpp:1224
Triangle mesh contains vertices and triangles represented by the indices to the vertices.
Definition: TriangleMesh.h:54
A bounding box that is aligned along the coordinate axes and defined by the min_bound and max_bound.
Definition: BoundingVolume.h:63
Mix-in class for geometry types that can be visualized.
Definition: DrawableGeometry.h:38
The base geometry class.
Definition: Geometry.h:42
A LineSet contains points and lines joining them and optionally attributes on the points and lines.
Definition: LineSet.h:103
Definition: TensorMap.h:50
std::size_t Erase(const std::string key)
Erase elements for the TensorMap by key value, if the key exists. If the key does not exists,...
Definition: TensorMap.h:111
bool Contains(const std::string &key) const
Definition: TensorMap.h:206
A triangle mesh contains vertices and triangles.
Definition: TriangleMesh.h:111
static TriangleMesh CreateText(const std::string &text, double depth=0.0, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:264
TriangleMesh ExtrudeRotation(double angle, const core::Tensor &axis, int resolution=16, double translation=0.0, bool capping=true) const
Definition: TriangleMesh.cpp:756
core::Tensor & GetVertexAttr(const std::string &key)
Definition: TriangleMesh.h:155
static 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, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:208
TriangleMesh BooleanDifference(const TriangleMesh &mesh, double tolerance=1e-6) const
Definition: TriangleMesh.cpp:440
void SetTriangleIndices(const core::Tensor &value)
Set the value of the "indices" attribute in triangle_attr_.
Definition: TriangleMesh.h:304
TriangleMesh FillHoles(double hole_size=1e6) const
Definition: TriangleMesh.cpp:450
core::Tensor GetMinBound() const
Definition: TriangleMesh.h:627
void SetVertexPositions(const core::Tensor &value)
Definition: TriangleMesh.h:274
void SetVertexAttr(const std::string &key, const core::Tensor &value)
Definition: TriangleMesh.h:267
static TriangleMesh CreateCoordinateFrame(double size=1.0, const Eigen::Vector3d &origin=Eigen::Vector3d(0.0, 0.0, 0.0), core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:229
core::Tensor & GetTriangleNormals()
Definition: TriangleMesh.h:191
core::Tensor & GetTriangleAttr(const std::string &key)
Definition: TriangleMesh.h:181
void SetVertexColors(const core::Tensor &value)
Definition: TriangleMesh.h:281
TensorMap triangle_attr_
Definition: TriangleMesh.h:914
void SetTriangleColors(const core::Tensor &value)
Definition: TriangleMesh.h:318
TriangleMesh ExtrudeLinear(const core::Tensor &vector, double scale=1.0, bool capping=true) const
Definition: TriangleMesh.cpp:766
virtual ~TriangleMesh() override
Definition: TriangleMesh.h:129
bool HasTriangleIndices() const
Definition: TriangleMesh.h:366
static TriangleMesh CreateBox(double width=1.0, double height=1.0, double depth=1.0, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:40
bool HasVertexColors() const
Definition: TriangleMesh.h:343
void SetTriangleAttr(const std::string &key, const core::Tensor &value)
Definition: TriangleMesh.h:298
core::Device device_
Definition: TriangleMesh.h:912
void ComputeUVAtlas(size_t size=512, float gutter=1.0f, float max_stretch=1.f/6)
Definition: TriangleMesh.cpp:464
TensorMap & GetVertexAttr()
Getter for vertex_attr_ TensorMap.
Definition: TriangleMesh.h:149
TriangleMesh & Clear() override
Clear all data in the trianglemesh.
Definition: TriangleMesh.h:618
void RemoveTriangleAttr(const std::string &key)
Definition: TriangleMesh.h:240
bool HasTriangleNormals() const
Definition: TriangleMesh.h:373
TriangleMesh ComputeConvexHull(bool joggle_inputs=false) const
Definition: TriangleMesh.cpp:300
bool HasVertexNormals() const
Definition: TriangleMesh.h:350
static geometry::TriangleMesh FromLegacy(const open3d::geometry::TriangleMesh &mesh_legacy, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMesh.cpp:194
void RemoveVertexAttr(const std::string &key)
Definition: TriangleMesh.h:208
TriangleMesh To(const core::Device &device, bool copy=false) const
Definition: TriangleMesh.cpp:286
open3d::geometry::TriangleMesh ToLegacy() const
Convert to a legacy Open3D TriangleMesh.
Definition: TriangleMesh.cpp:245
TensorMap & GetTriangleAttr()
Getter for triangle_attr_ TensorMap.
Definition: TriangleMesh.h:175
const core::Tensor & GetTriangleNormals() const
Definition: TriangleMesh.h:252
const TensorMap & GetTriangleAttr() const
Getter for triangle_attr_ TensorMap. Used in Pybind.
Definition: TriangleMesh.h:172
TriangleMesh Clone() const
Returns copy of the triangle mesh on the same device.
Definition: TriangleMesh.h:143
core::Device GetDevice() const override
Returns the device of the geometry.
Definition: TriangleMesh.h:700
core::Tensor GetMaxBound() const
Definition: TriangleMesh.h:629
TriangleMesh & Rotate(const core::Tensor &R, const core::Tensor &center)
Rotates the VertexPositions, VertexNormals and TriangleNormals (if exists).
Definition: TriangleMesh.cpp:179
core::Tensor & GetVertexColors()
Definition: TriangleMesh.h:165
TriangleMesh ClipPlane(const core::Tensor &point, const core::Tensor &normal) const
Clip mesh with a plane. This method clips the triangle mesh with the specified plane....
Definition: TriangleMesh.cpp:305
static TriangleMesh CreateTorus(double torus_radius=1.0, double tube_radius=0.5, int radial_resolution=30, int tubular_resolution=20, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:190
static TriangleMesh CreateOctahedron(double radius=1.0, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:130
core::Tensor & GetTriangleIndices()
Definition: TriangleMesh.h:187
const core::Tensor & GetTriangleIndices() const
Definition: TriangleMesh.h:246
AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const
Create an axis-aligned bounding box from vertex attribute "positions".
Definition: TriangleMesh.cpp:446
TriangleMesh BooleanIntersection(const TriangleMesh &mesh, double tolerance=1e-6) const
Definition: TriangleMesh.cpp:433
TriangleMesh(const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMesh.cpp:61
const core::Tensor & GetVertexColors() const
Definition: TriangleMesh.h:218
TriangleMesh & Scale(double scale, const core::Tensor &center)
Scales the VertexPositions of the TriangleMesh.
Definition: TriangleMesh.cpp:168
void SetTriangleNormals(const core::Tensor &value)
Definition: TriangleMesh.h:311
core::Tensor & GetVertexPositions()
Definition: TriangleMesh.h:161
std::unordered_map< std::string, core::Tensor > BakeTriangleAttrTextures(int size, const std::unordered_set< std::string > &triangle_attr={}, double margin=2., double fill=0., bool update_material=true)
Definition: TriangleMesh.cpp:702
bool HasTriangleColors() const
Definition: TriangleMesh.h:380
const core::Tensor & GetTriangleColors() const
Definition: TriangleMesh.h:258
LineSet SlicePlane(const core::Tensor &point, const core::Tensor &normal, const std::vector< double > contour_values={0.0}) const
Extract contour slices given a plane. This method extracts slices as LineSet from the mesh at specifi...
Definition: TriangleMesh.cpp:336
static 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, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:243
const core::Tensor & GetVertexPositions() const
Definition: TriangleMesh.h:212
bool HasTriangleAttr(const std::string &key) const
Definition: TriangleMesh.h:356
static TriangleMesh CreateIcosahedron(double radius=1.0, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:143
bool HasVertexAttr(const std::string &key) const
Definition: TriangleMesh.h:327
const core::Tensor & GetVertexAttr(const std::string &key) const
Definition: TriangleMesh.h:200
TriangleMesh & Transform(const core::Tensor &transformation)
Transforms the VertexPositions, VertexNormals and TriangleNormals (if exist) of the TriangleMesh.
Definition: TriangleMesh.cpp:139
const TensorMap & GetVertexAttr() const
Getter for vertex_attr_ TensorMap. Used in Pybind.
Definition: TriangleMesh.h:146
static TriangleMesh CreateSphere(double radius=1.0, int resolution=20, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:104
void SetVertexNormals(const core::Tensor &value)
Definition: TriangleMesh.h:288
const core::Tensor & GetTriangleAttr(const std::string &key) const
Definition: TriangleMesh.h:232
core::Tensor GetCenter() const
Definition: TriangleMesh.h:631
TensorMap vertex_attr_
Definition: TriangleMesh.h:913
core::Tensor & GetTriangleColors()
Definition: TriangleMesh.h:195
std::string ToString() const
Text description.
Definition: TriangleMesh.cpp:83
core::Tensor & GetVertexNormals()
Definition: TriangleMesh.h:169
const core::Tensor & GetVertexNormals() const
Definition: TriangleMesh.h:224
bool HasVertexPositions() const
Definition: TriangleMesh.h:336
TriangleMesh BooleanUnion(const TriangleMesh &mesh, double tolerance=1e-6) const
Definition: TriangleMesh.cpp:427
static TriangleMesh CreateTetrahedron(double radius=1.0, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:117
static TriangleMesh CreateCylinder(double radius=1.0, double height=2.0, int resolution=20, int split=4, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:156
std::unordered_map< std::string, core::Tensor > BakeVertexAttrTextures(int size, const std::unordered_set< std::string > &vertex_attr={}, double margin=2., double fill=0., bool update_material=true)
Definition: TriangleMesh.cpp:636
TriangleMesh & Translate(const core::Tensor &translation, bool relative=true)
Translates the VertexPositions of the TriangleMesh.
Definition: TriangleMesh.cpp:154
static TriangleMesh CreateCone(double radius=1.0, double height=2.0, int resolution=20, int split=1, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))
Definition: TriangleMeshFactory.cpp:173
TriangleMesh SimplifyQuadricDecimation(double target_reduction, bool preserve_volume=true) const
Definition: TriangleMesh.cpp:374
bool IsEmpty() const override
Returns !HasVertexPositions(), triangles are ignored.
Definition: TriangleMesh.h:625
int width
Definition: FilePCD.cpp:71
int size
Definition: FilePCD.cpp:59
int height
Definition: FilePCD.cpp:72
const Dtype Int64
Definition: Dtype.cpp:66
const Dtype Float32
Definition: Dtype.cpp:61
constexpr nullopt_t nullopt
Definition: Optional.h:171
Definition: PinholeCameraIntrinsic.cpp:35