Open3D (C++ API)  0.16.0
TriangleMesh.h
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26
27#pragma once
28
29#include <Eigen/Core>
30#include <memory>
31#include <numeric>
32#include <tuple>
33#include <unordered_map>
34#include <unordered_set>
35#include <vector>
36
40
41namespace open3d {
42namespace geometry {
43
44class PointCloud;
45class TetraMesh;
46
54class TriangleMesh : public MeshBase {
55public:
62 TriangleMesh(const std::vector<Eigen::Vector3d> &vertices,
63 const std::vector<Eigen::Vector3i> &triangles)
65 triangles_(triangles) {}
66 ~TriangleMesh() override {}
67
68public:
69 virtual TriangleMesh &Clear() override;
70 virtual TriangleMesh &Transform(
71 const Eigen::Matrix4d &transformation) override;
72 virtual TriangleMesh &Rotate(const Eigen::Matrix3d &R,
73 const Eigen::Vector3d &center) override;
74
75public:
77 TriangleMesh operator+(const TriangleMesh &mesh) const;
78
80 bool HasTriangles() const {
81 return vertices_.size() > 0 && triangles_.size() > 0;
82 }
83
85 bool HasTriangleNormals() const {
86 return HasTriangles() && triangles_.size() == triangle_normals_.size();
87 }
88
90 bool HasAdjacencyList() const {
91 return vertices_.size() > 0 &&
92 adjacency_list_.size() == vertices_.size();
93 }
94
95 bool HasTriangleUvs() const {
96 return HasTriangles() && triangle_uvs_.size() == 3 * triangles_.size();
97 }
98
100 bool HasTextures() const {
101 bool is_all_texture_valid = std::accumulate(
102 textures_.begin(), textures_.end(), true,
103 [](bool a, const Image &b) { return a && !b.IsEmpty(); });
104 return !textures_.empty() && is_all_texture_valid;
105 }
106
107 bool HasMaterials() const { return !materials_.empty(); }
108
110 return HasTriangles() &&
111 triangle_material_ids_.size() == triangles_.size();
112 }
113
117 for (size_t i = 0; i < triangle_normals_.size(); i++) {
118 triangle_normals_[i].normalize();
119 if (std::isnan(triangle_normals_[i](0))) {
120 triangle_normals_[i] = Eigen::Vector3d(0.0, 0.0, 1.0);
121 }
122 }
123 return *this;
124 }
125
128 TriangleMesh &ComputeTriangleNormals(bool normalized = true);
129
132 TriangleMesh &ComputeVertexNormals(bool normalized = true);
133
137
141
146
150
156
162
169 TriangleMesh &MergeCloseVertices(double eps);
170
180 std::shared_ptr<TriangleMesh> FilterSharpen(
181 int number_of_iterations,
182 double strength,
183 FilterScope scope = FilterScope::All) const;
184
193 std::shared_ptr<TriangleMesh> FilterSmoothSimple(
194 int number_of_iterations,
195 FilterScope scope = FilterScope::All) const;
196
208 std::shared_ptr<TriangleMesh> FilterSmoothLaplacian(
209 int number_of_iterations,
210 double lambda_filter,
211 FilterScope scope = FilterScope::All) const;
212
223 std::shared_ptr<TriangleMesh> FilterSmoothTaubin(
224 int number_of_iterations,
225 double lambda_filter = 0.5,
226 double mu = -0.53,
227 FilterScope scope = FilterScope::All) const;
228
232 int EulerPoincareCharacteristic() const;
233
237 std::vector<Eigen::Vector2i> GetNonManifoldEdges(
238 bool allow_boundary_edges = true) const;
239
244 bool IsEdgeManifold(bool allow_boundary_edges = true) const;
245
249 std::vector<int> GetNonManifoldVertices() const;
250
254 bool IsVertexManifold() const;
255
258 std::vector<Eigen::Vector2i> GetSelfIntersectingTriangles() const;
259
262 bool IsSelfIntersecting() const;
263
266 bool IsBoundingBoxIntersecting(const TriangleMesh &other) const;
267
270 bool IsIntersecting(const TriangleMesh &other) const;
271
275 bool IsOrientable() const;
276
280 bool IsWatertight() const;
281
285 bool OrientTriangles();
286
289 std::unordered_map<Eigen::Vector2i,
290 std::vector<int>,
292 GetEdgeToTrianglesMap() const;
293
296 std::unordered_map<Eigen::Vector2i,
297 std::vector<int>,
299 GetEdgeToVerticesMap() const;
300
302 static double ComputeTriangleArea(const Eigen::Vector3d &p0,
303 const Eigen::Vector3d &p1,
304 const Eigen::Vector3d &p2);
305
308 double GetTriangleArea(size_t triangle_idx) const;
309
310 static inline Eigen::Vector3i GetOrderedTriangle(int vidx0,
311 int vidx1,
312 int vidx2) {
313 if (vidx0 > vidx2) {
314 std::swap(vidx0, vidx2);
315 }
316 if (vidx0 > vidx1) {
317 std::swap(vidx0, vidx1);
318 }
319 if (vidx1 > vidx2) {
320 std::swap(vidx1, vidx2);
321 }
322 return Eigen::Vector3i(vidx0, vidx1, vidx2);
323 }
324
327 double GetSurfaceArea() const;
328
331 double GetSurfaceArea(std::vector<double> &triangle_areas) const;
332
337 double GetVolume() const;
338
342 static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0,
343 const Eigen::Vector3d &p1,
344 const Eigen::Vector3d &p2);
345
348 Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const;
349
351 static inline Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1) {
352 return Eigen::Vector2i(std::min(vidx0, vidx1), std::max(vidx0, vidx1));
353 }
354
357 std::shared_ptr<PointCloud> SamplePointsUniformlyImpl(
358 size_t number_of_points,
359 std::vector<double> &triangle_areas,
360 double surface_area,
361 bool use_triangle_normal);
362
369 std::shared_ptr<PointCloud> SamplePointsUniformly(
370 size_t number_of_points, bool use_triangle_normal = false);
371
384 std::shared_ptr<PointCloud> SamplePointsPoissonDisk(
385 size_t number_of_points,
386 double init_factor = 5,
387 const std::shared_ptr<PointCloud> pcl_init = nullptr,
388 bool use_triangle_normal = false);
389
395 std::shared_ptr<TriangleMesh> SubdivideMidpoint(
396 int number_of_iterations) const;
397
403 std::shared_ptr<TriangleMesh> SubdivideLoop(int number_of_iterations) const;
404
411 std::shared_ptr<TriangleMesh> SimplifyVertexClustering(
412 double voxel_size,
413 SimplificationContraction contraction =
415
425 std::shared_ptr<TriangleMesh> SimplifyQuadricDecimation(
426 int target_number_of_triangles,
427 double maximum_error,
428 double boundary_weight) const;
429
439 std::shared_ptr<TriangleMesh> SelectByIndex(
440 const std::vector<size_t> &indices, bool cleanup = true) const;
441
446 std::shared_ptr<TriangleMesh> Crop(
447 const AxisAlignedBoundingBox &bbox) const;
448
453 std::shared_ptr<TriangleMesh> Crop(const OrientedBoundingBox &bbox) const;
454
461 std::tuple<std::vector<int>, std::vector<size_t>, std::vector<double>>
463
470 void RemoveTrianglesByIndex(const std::vector<size_t> &triangle_indices);
471
478 void RemoveTrianglesByMask(const std::vector<bool> &triangle_mask);
479
486 void RemoveVerticesByIndex(const std::vector<size_t> &vertex_indices);
487
494 void RemoveVerticesByMask(const std::vector<bool> &vertex_mask);
495
509 std::shared_ptr<TriangleMesh> DeformAsRigidAsPossible(
510 const std::vector<int> &constraint_vertex_indices,
511 const std::vector<Eigen::Vector3d> &constraint_vertex_positions,
512 size_t max_iter,
515 double smoothed_alpha = 0.01) const;
516
528 static std::shared_ptr<TriangleMesh> CreateFromPointCloudAlphaShape(
529 const PointCloud &pcd,
530 double alpha,
531 std::shared_ptr<TetraMesh> tetra_mesh = nullptr,
532 std::vector<size_t> *pt_map = nullptr);
533
547 static std::shared_ptr<TriangleMesh> CreateFromPointCloudBallPivoting(
548 const PointCloud &pcd, const std::vector<double> &radii);
549
572 static std::tuple<std::shared_ptr<TriangleMesh>, std::vector<double>>
574 size_t depth = 8,
575 float width = 0.0f,
576 float scale = 1.1f,
577 bool linear_fit = false,
578 int n_threads = -1);
579
585 static std::shared_ptr<TriangleMesh> CreateTetrahedron(
586 double radius = 1.0, bool create_uv_map = false);
587
593 static std::shared_ptr<TriangleMesh> CreateOctahedron(
594 double radius = 1.0, bool create_uv_map = false);
595
600 static std::shared_ptr<TriangleMesh> CreateIcosahedron(
601 double radius = 1.0, bool create_uv_map = false);
602
611 static std::shared_ptr<TriangleMesh> CreateBox(
612 double width = 1.0,
613 double height = 1.0,
614 double depth = 1.0,
615 bool create_uv_map = false,
616 bool map_texture_to_each_face = false);
617
628 static std::shared_ptr<TriangleMesh> CreateSphere(
629 double radius = 1.0,
630 int resolution = 20,
631 bool create_uv_map = false);
632
644 static std::shared_ptr<TriangleMesh> CreateCylinder(
645 double radius = 1.0,
646 double height = 2.0,
647 int resolution = 20,
648 int split = 4,
649 bool create_uv_map = false);
650
661 static std::shared_ptr<TriangleMesh> CreateCone(double radius = 1.0,
662 double height = 2.0,
663 int resolution = 20,
664 int split = 1,
665 bool create_uv_map = false);
666
680 static std::shared_ptr<TriangleMesh> CreateTorus(
681 double torus_radius = 1.0,
682 double tube_radius = 0.5,
683 int radial_resolution = 30,
684 int tubular_resolution = 20);
685
696 //
710 static std::shared_ptr<TriangleMesh> CreateArrow(
711 double cylinder_radius = 1.0,
712 double cone_radius = 1.5,
713 double cylinder_height = 5.0,
714 double cone_height = 4.0,
715 int resolution = 20,
716 int cylinder_split = 4,
717 int cone_split = 1);
718
724 static std::shared_ptr<TriangleMesh> CreateCoordinateFrame(
725 double size = 1.0,
726 const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0));
727
738 static std::shared_ptr<TriangleMesh> CreateMobius(int length_split = 70,
739 int width_split = 15,
740 int twists = 1,
741 double radius = 1,
742 double flatness = 1,
743 double width = 1,
744 double scale = 1);
745
746protected:
747 // Forward child class type to avoid indirect nonvirtual base
749
751 std::shared_ptr<TriangleMesh> &mesh,
752 const std::vector<Eigen::Vector3d> &prev_vertices,
753 const std::vector<Eigen::Vector3d> &prev_vertex_normals,
754 const std::vector<Eigen::Vector3d> &prev_vertex_colors,
755 const std::vector<std::unordered_set<int>> &adjacency_list,
756 double lambda_filter,
757 bool filter_vertex,
758 bool filter_normal,
759 bool filter_color) const;
760
769 std::unordered_map<Eigen::Vector2i,
770 double,
773 const std::unordered_map<Eigen::Vector2i,
774 std::vector<int>,
776 &edges_to_vertices,
777 double min_weight = std::numeric_limits<double>::lowest()) const;
778
779public:
781 std::vector<Eigen::Vector3i> triangles_;
783 std::vector<Eigen::Vector3d> triangle_normals_;
786 std::vector<std::unordered_set<int>> adjacency_list_;
788 std::vector<Eigen::Vector2d> triangle_uvs_;
789
790 struct Material {
792 float f4[4] = {0};
793
795 f4[0] = 0;
796 f4[1] = 0;
797 f4[2] = 0;
798 f4[3] = 0;
799 }
800
801 MaterialParameter(const float v1,
802 const float v2,
803 const float v3,
804 const float v4) {
805 f4[0] = v1;
806 f4[1] = v2;
807 f4[2] = v3;
808 f4[3] = v4;
809 }
810
811 MaterialParameter(const float v1, const float v2, const float v3) {
812 f4[0] = v1;
813 f4[1] = v2;
814 f4[2] = v3;
815 f4[3] = 1;
816 }
817
818 MaterialParameter(const float v1, const float v2) {
819 f4[0] = v1;
820 f4[1] = v2;
821 f4[2] = 0;
822 f4[3] = 0;
823 }
824
825 explicit MaterialParameter(const float v1) {
826 f4[0] = v1;
827 f4[1] = 0;
828 f4[2] = 0;
829 f4[3] = 0;
830 }
831
832 static MaterialParameter CreateRGB(const float r,
833 const float g,
834 const float b) {
835 return {r, g, b, 1.f};
836 }
837
838 float r() const { return f4[0]; }
839 float g() const { return f4[1]; }
840 float b() const { return f4[2]; }
841 float a() const { return f4[3]; }
842 };
843
845 float baseMetallic = 0.f;
846 float baseRoughness = 1.f;
847 float baseReflectance = 0.5f;
848 float baseClearCoat = 0.f;
850 float baseAnisotropy = 0.f;
851
852 std::shared_ptr<Image> albedo;
853 std::shared_ptr<Image> normalMap;
854 std::shared_ptr<Image> ambientOcclusion;
855 std::shared_ptr<Image> metallic;
856 std::shared_ptr<Image> roughness;
857 std::shared_ptr<Image> reflectance;
858 std::shared_ptr<Image> clearCoat;
859 std::shared_ptr<Image> clearCoatRoughness;
860 std::shared_ptr<Image> anisotropy;
861
862 std::unordered_map<std::string, MaterialParameter> floatParameters;
863 std::unordered_map<std::string, Image> additionalMaps;
864 };
865
866 std::unordered_map<std::string, Material> materials_;
867
869 std::vector<int> triangle_material_ids_;
871 std::vector<Image> textures_;
872};
873
874} // namespace geometry
875} // namespace open3d
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:155
The base geometry class.
Definition: Geometry.h:37
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:42
The Image class stores image with customizable width, height, num of channels and bytes per channel.
Definition: Image.h:53
MeshBash Class.
Definition: MeshBase.h:51
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:76
SimplificationContraction
Indicates the method that is used for mesh simplification if multiple vertices are combined to a sing...
Definition: MeshBase.h:61
FilterScope
Indicates the scope of filter operations.
Definition: MeshBase.h:70
A bounding box oriented along an arbitrary frame of reference.
Definition: BoundingVolume.h:44
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Triangle mesh contains vertices and triangles represented by the indices to the vertices.
Definition: TriangleMesh.h:54
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:65
bool IsBoundingBoxIntersecting(const TriangleMesh &other) const
Definition: TriangleMesh.cpp:1412
TriangleMesh(Geometry::GeometryType type)
Definition: TriangleMesh.h:748
TriangleMesh & RemoveNonManifoldEdges()
Function that removes all non-manifold edges, by successively deleting triangles with the smallest su...
Definition: TriangleMesh.cpp:849
std::vector< Image > textures_
Textures of the image.
Definition: TriangleMesh.h:871
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:1167
std::shared_ptr< TriangleMesh > SubdivideMidpoint(int number_of_iterations) const
Definition: TriangleMeshSubdivide.cpp:37
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:453
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:1440
double GetVolume() const
Definition: TriangleMesh.cpp:1204
std::shared_ptr< TriangleMesh > SubdivideLoop(int number_of_iterations) const
Definition: TriangleMeshSubdivide.cpp:115
static std::shared_ptr< TriangleMesh > CreateIcosahedron(double radius=1.0, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:103
TriangleMesh & operator+=(const TriangleMesh &mesh)
Definition: TriangleMesh.cpp:72
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:405
std::shared_ptr< PointCloud > SamplePointsUniformly(size_t number_of_points, bool use_triangle_normal=false)
Definition: TriangleMesh.cpp:520
std::vector< Eigen::Vector2i > GetSelfIntersectingTriangles() const
Definition: TriangleMesh.cpp:1363
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:537
bool IsVertexManifold() const
Definition: TriangleMesh.cpp:1359
TriangleMesh & RemoveDuplicatedVertices()
Function that removes duplicated verties, i.e., vertices that have identical coordinates.
Definition: TriangleMesh.cpp:681
std::vector< std::unordered_set< int > > adjacency_list_
Definition: TriangleMesh.h:786
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:806
bool IsEdgeManifold(bool allow_boundary_edges=true) const
Definition: TriangleMesh.cpp:1290
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:1506
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:312
static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
Definition: TriangleMesh.cpp:1237
bool HasTriangles() const
Returns true if the mesh contains triangles.
Definition: TriangleMesh.h:80
TriangleMesh & ComputeVertexNormals(bool normalized=true)
Function to compute vertex normals, usually called before rendering.
Definition: TriangleMesh.cpp:146
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:1557
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:545
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:738
virtual TriangleMesh & Clear() override
Clear all elements in the geometry.
Definition: TriangleMesh.cpp:46
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:929
static Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1)
Helper function to get an edge with ordered vertex indices.
Definition: TriangleMesh.h:351
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:40
std::shared_ptr< TriangleMesh > SimplifyVertexClustering(double voxel_size, SimplificationContraction contraction=SimplificationContraction::Average) const
Definition: TriangleMeshSimplification.cpp:91
int EulerPoincareCharacteristic() const
Definition: TriangleMesh.cpp:1261
std::shared_ptr< TriangleMesh > SelectByIndex(const std::vector< size_t > &indices, bool cleanup=true) const
Definition: TriangleMesh.cpp:1618
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToTrianglesMap() const
Definition: TriangleMesh.cpp:1132
bool HasTriangleMaterialIds() const
Definition: TriangleMesh.h:109
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:1574
static std::shared_ptr< TriangleMesh > CreateFromPointCloudBallPivoting(const PointCloud &pcd, const std::vector< double > &radii)
Definition: SurfaceReconstructionBallPivoting.cpp:756
std::vector< Eigen::Vector2d > triangle_uvs_
List of uv coordinates per triangle.
Definition: TriangleMesh.h:788
~TriangleMesh() override
Definition: TriangleMesh.h:66
virtual TriangleMesh & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: TriangleMesh.cpp:59
static std::shared_ptr< TriangleMesh > CreateTetrahedron(double radius=1.0, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:33
bool IsOrientable() const
Definition: TriangleMesh.cpp:1113
std::vector< Eigen::Vector3i > triangles_
List of triangles denoted by the index of points forming the triangle.
Definition: TriangleMesh.h:781
bool HasTextures() const
Returns true if the mesh has texture.
Definition: TriangleMesh.h:100
bool OrientTriangles()
Definition: TriangleMesh.cpp:1122
bool HasTriangleUvs() const
Definition: TriangleMesh.h:95
std::shared_ptr< TriangleMesh > Crop(const AxisAlignedBoundingBox &bbox) const
Definition: TriangleMesh.cpp:1678
std::vector< Eigen::Vector3d > triangle_normals_
Triangle normals.
Definition: TriangleMesh.h:783
static std::shared_ptr< TriangleMesh > CreateOctahedron(double radius=1.0, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:70
TriangleMesh & RemoveDuplicatedTriangles()
Function that removes duplicated triangles, i.e., removes triangles that reference the same three ver...
Definition: TriangleMesh.cpp:724
std::vector< Eigen::Vector2i > GetNonManifoldEdges(bool allow_boundary_edges=true) const
Definition: TriangleMesh.cpp:1276
std::unordered_map< std::string, Material > materials_
Definition: TriangleMesh.h:866
TriangleMesh & RemoveDegenerateTriangles()
Function that removes degenerate triangles, i.e., triangles that reference a single vertex multiple t...
Definition: TriangleMesh.cpp:819
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:38
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:724
TriangleMesh & RemoveUnreferencedVertices()
This function removes vertices from the triangle mesh that are not referenced in any triangle of the ...
Definition: TriangleMesh.cpp:776
std::shared_ptr< TriangleMesh > SimplifyQuadricDecimation(int target_number_of_triangles, double maximum_error, double boundary_weight) const
Definition: TriangleMeshSimplification.cpp:265
bool HasTriangleNormals() const
Returns true if the mesh contains triangle normals.
Definition: TriangleMesh.h:85
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:389
bool IsWatertight() const
Definition: TriangleMesh.cpp:1118
bool HasAdjacencyList() const
Returns true if the mesh contains adjacency normals.
Definition: TriangleMesh.h:90
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:1702
bool IsIntersecting(const TriangleMesh &other) const
Definition: TriangleMesh.cpp:1417
double GetTriangleArea(size_t triangle_idx) const
Definition: TriangleMesh.cpp:1176
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:672
TriangleMesh & ComputeAdjacencyList()
Function to compute adjacency list, call before adjacency list is needed.
Definition: TriangleMesh.cpp:161
TriangleMesh(const std::vector< Eigen::Vector3d > &vertices, const std::vector< Eigen::Vector3i > &triangles)
Parameterized Constructor.
Definition: TriangleMesh.h:62
static Eigen::Vector3i GetOrderedTriangle(int vidx0, int vidx1, int vidx2)
Definition: TriangleMesh.h:310
TriangleMesh & NormalizeNormals()
Normalize both triangle normals and vertex normals to length 1.
Definition: TriangleMesh.h:115
std::shared_ptr< TriangleMesh > FilterSharpen(int number_of_iterations, double strength, FilterScope scope=FilterScope::All) const
Function to sharpen triangle mesh.
Definition: TriangleMesh.cpp:175
std::vector< int > triangle_material_ids_
List of material ids.
Definition: TriangleMesh.h:869
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToVerticesMap() const
Definition: TriangleMesh.cpp:1151
Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const
Definition: TriangleMesh.cpp:1253
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:246
TriangleMesh operator+(const TriangleMesh &mesh) const
Definition: TriangleMesh.cpp:127
TriangleMesh()
Default Constructor.
Definition: TriangleMesh.h:57
bool IsSelfIntersecting() const
Definition: TriangleMesh.cpp:1408
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:160
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:364
TriangleMesh & ComputeTriangleNormals(bool normalized=true)
Function to compute triangle normals, usually called before rendering.
Definition: TriangleMesh.cpp:131
double GetSurfaceArea() const
Definition: TriangleMesh.cpp:1184
std::vector< int > GetNonManifoldVertices() const
Definition: TriangleMesh.cpp:1303
void RemoveTrianglesByMask(const std::vector< bool > &triangle_mask)
This function removes the triangles that are masked in triangle_mask. Call RemoveUnreferencedVertices...
Definition: TriangleMesh.cpp:1523
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:767
static std::shared_ptr< TriangleMesh > CreateSphere(double radius=1.0, int resolution=20, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:222
bool HasMaterials() const
Definition: TriangleMesh.h:107
int width
Definition: FilePCD.cpp:71
int size
Definition: FilePCD.cpp:59
int height
Definition: FilePCD.cpp:72
char type
Definition: FilePCD.cpp:60
Definition: PinholeCameraIntrinsic.cpp:35
void swap(open3d::core::SmallVectorImpl< T > &LHS, open3d::core::SmallVectorImpl< T > &RHS)
Implement std::swap in terms of SmallVector swap.
Definition: SmallVector.h:1389
float b() const
Definition: TriangleMesh.h:840
float g() const
Definition: TriangleMesh.h:839
float r() const
Definition: TriangleMesh.h:838
MaterialParameter(const float v1, const float v2, const float v3, const float v4)
Definition: TriangleMesh.h:801
static MaterialParameter CreateRGB(const float r, const float g, const float b)
Definition: TriangleMesh.h:832
MaterialParameter(const float v1, const float v2, const float v3)
Definition: TriangleMesh.h:811
MaterialParameter(const float v1, const float v2)
Definition: TriangleMesh.h:818
MaterialParameter(const float v1)
Definition: TriangleMesh.h:825
float a() const
Definition: TriangleMesh.h:841
Definition: TriangleMesh.h:790
std::shared_ptr< Image > anisotropy
Definition: TriangleMesh.h:860
std::shared_ptr< Image > normalMap
Definition: TriangleMesh.h:853
std::shared_ptr< Image > clearCoatRoughness
Definition: TriangleMesh.h:859
std::shared_ptr< Image > roughness
Definition: TriangleMesh.h:856
float baseAnisotropy
Definition: TriangleMesh.h:850
std::unordered_map< std::string, Image > additionalMaps
Definition: TriangleMesh.h:863
float baseClearCoat
Definition: TriangleMesh.h:848
float baseRoughness
Definition: TriangleMesh.h:846
std::unordered_map< std::string, MaterialParameter > floatParameters
Definition: TriangleMesh.h:862
std::shared_ptr< Image > reflectance
Definition: TriangleMesh.h:857
MaterialParameter baseColor
Definition: TriangleMesh.h:844
std::shared_ptr< Image > metallic
Definition: TriangleMesh.h:855
std::shared_ptr< Image > ambientOcclusion
Definition: TriangleMesh.h:854
std::shared_ptr< Image > albedo
Definition: TriangleMesh.h:852
float baseReflectance
Definition: TriangleMesh.h:847
float baseMetallic
Definition: TriangleMesh.h:845
std::shared_ptr< Image > clearCoat
Definition: TriangleMesh.h:858
float baseClearCoatRoughness
Definition: TriangleMesh.h:849
Definition: Helper.h:90