A triangle mesh contains vertices and triangles. More...

#include <TriangleMesh.h>

Inheritance diagram for cloudViewer::t::geometry::TriangleMesh:

[legend]

Collaboration diagram for cloudViewer::t::geometry::TriangleMesh:

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Public Member Functions
	TriangleMesh (const core::Device &device=core::Device("CPU:0"))

	TriangleMesh (const core::Tensor &vertex_positions, const core::Tensor &triangle_indices)

virtual	~TriangleMesh () override

std::string	ToString () const
	Text description. More...

TriangleMesh	To (const core::Device &device, bool copy=false) const

TriangleMesh	Clone () const
	Returns copy of the triangle mesh on the same device. More...

const TensorMap &	GetVertexAttr () const
	Getter for vertex_attr_ TensorMap. Used in Pybind. More...

TensorMap &	GetVertexAttr ()
	Getter for vertex_attr_ TensorMap. More...

core::Tensor &	GetVertexAttr (const std::string &key)

core::Tensor &	GetVertexPositions ()

core::Tensor &	GetVertexColors ()

core::Tensor &	GetVertexNormals ()

const TensorMap &	GetTriangleAttr () const
	Getter for triangle_attr_ TensorMap. Used in Pybind. More...

TensorMap &	GetTriangleAttr ()
	Getter for triangle_attr_ TensorMap. More...

core::Tensor &	GetTriangleAttr (const std::string &key)

core::Tensor &	GetTriangleIndices ()

core::Tensor &	GetTriangleNormals ()

core::Tensor &	GetTriangleColors ()

const core::Tensor &	GetVertexAttr (const std::string &key) const

void	RemoveVertexAttr (const std::string &key)

const core::Tensor &	GetVertexPositions () const

const core::Tensor &	GetVertexColors () const

const core::Tensor &	GetVertexNormals () const

const core::Tensor &	GetTriangleAttr (const std::string &key) const

void	RemoveTriangleAttr (const std::string &key)

const core::Tensor &	GetTriangleIndices () const

const core::Tensor &	GetTriangleNormals () const

const core::Tensor &	GetTriangleColors () const

void	SetVertexAttr (const std::string &key, const core::Tensor &value)

void	SetVertexPositions (const core::Tensor &value)

void	SetVertexColors (const core::Tensor &value)

void	SetVertexNormals (const core::Tensor &value)

void	SetTriangleAttr (const std::string &key, const core::Tensor &value)

void	SetTriangleIndices (const core::Tensor &value)
	Set the value of the "indices" attribute in triangle_attr_. More...

void	SetTriangleNormals (const core::Tensor &value)

void	SetTriangleColors (const core::Tensor &value)

bool	HasVertexAttr (const std::string &key) const

bool	HasVertexPositions () const

bool	HasVertexColors () const

bool	HasVertexNormals () const

bool	HasTriangleAttr (const std::string &key) const

bool	HasTriangleIndices () const

bool	HasTriangleNormals () const

bool	HasTriangleColors () const

TriangleMesh &	Clear () override
	Clear all data in the trianglemesh. More...

bool	IsEmpty () const override
	Returns !HasVertexPositions(), triangles are ignored. More...

core::Tensor	GetMinBound () const

core::Tensor	GetMaxBound () const

core::Tensor	GetCenter () const

TriangleMesh &	Transform (const core::Tensor &transformation)
	Transforms the VertexPositions, VertexNormals and TriangleNormals (if exist) of the TriangleMesh. More...

TriangleMesh &	Translate (const core::Tensor &translation, bool relative=true)
	Translates the VertexPositions of the TriangleMesh. More...

TriangleMesh &	Scale (double scale, const core::Tensor &center)
	Scales the VertexPositions of the TriangleMesh. More...

TriangleMesh &	Rotate (const core::Tensor &R, const core::Tensor &center)
	Rotates the VertexPositions, VertexNormals and TriangleNormals (if exists). More...

TriangleMesh &	NormalizeNormals ()
	Normalize both triangle normals and vertex normals to length 1. More...

TriangleMesh &	ComputeTriangleNormals (bool normalized=true)
	Function to compute triangle normals, usually called before rendering. More...

TriangleMesh &	ComputeVertexNormals (bool normalized=true)
	Function to compute vertex normals, usually called before rendering. More...

double	GetSurfaceArea () const
	Function that computes the surface area of the mesh, i.e. the sum of the individual triangle surfaces. More...

TriangleMesh &	ComputeTriangleAreas ()
	Function to compute triangle areas and save it as a triangle attribute "areas". Prints a warning, if mesh is empty or has no triangles. More...

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. Parts of the mesh on the positive side of the plane will be kept and triangles intersected by the plane will be cut. More...

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 specific contour values defined by the specified plane. More...

core::Device	GetDevice () const override
	Returns the device of the geometry. More...

ccMesh	ToLegacy () const
	Convert to a legacy CloudViewer TriangleMesh. More...

TriangleMesh	ComputeConvexHull (bool joggle_inputs=false) const

TriangleMesh	SimplifyQuadricDecimation (double target_reduction, bool preserve_volume=true) const

TriangleMesh	BooleanUnion (const TriangleMesh &mesh, double tolerance=1e-6) const

TriangleMesh	BooleanIntersection (const TriangleMesh &mesh, double tolerance=1e-6) const

TriangleMesh	BooleanDifference (const TriangleMesh &mesh, double tolerance=1e-6) const

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const
	Create an axis-aligned bounding box from vertex attribute "positions". More...

OrientedBoundingBox	GetOrientedBoundingBox () const
	Create an oriented bounding box from vertex attribute "positions". More...

TriangleMesh	FillHoles (double hole_size=1e6) const

std::tuple< float, int, int >	ComputeUVAtlas (size_t size=512, float gutter=1.0f, float max_stretch=1.f/6, int parallel_partitions=1, int nthreads=0)

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)

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)

TriangleMesh	ExtrudeRotation (double angle, const core::Tensor &axis, int resolution=16, double translation=0.0, bool capping=true) const

TriangleMesh	ExtrudeLinear (const core::Tensor &vector, double scale=1.0, bool capping=true) const

int	PCAPartition (int max_faces)

TriangleMesh	SelectFacesByMask (const core::Tensor &mask) const

TriangleMesh	SelectByIndex (const core::Tensor &indices, bool copy_attributes=true) const

TriangleMesh	RemoveUnreferencedVertices ()

Image	ProjectImagesToAlbedo (const std::vector< Image > &images, const std::vector< core::Tensor > &intrinsic_matrices, const std::vector< core::Tensor > &extrinsic_matrices, int tex_size=1024, bool update_material=true)

TriangleMesh	RemoveNonManifoldEdges ()

core::Tensor	GetNonManifoldEdges (bool allow_boundary_edges=true) const

PointCloud	SamplePointsUniformly (size_t number_of_points, bool use_triangle_normal=false)

core::Tensor	ComputeMetrics (const TriangleMesh &mesh2, std::vector< Metric > metrics={Metric::ChamferDistance}, MetricParameters params=MetricParameters()) const

Public Member Functions inherited from cloudViewer::t::geometry::Geometry
virtual	~Geometry ()

GeometryType	GetGeometryType () const
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

std::string	GetName () const

void	SetName (const std::string &name)

Public Member Functions inherited from cloudViewer::core::IsDevice
	IsDevice ()=default

virtual	~IsDevice ()=default

bool	IsCPU () const

bool	IsCUDA () const

bool	IsSYCL () const

Public Member Functions inherited from cloudViewer::t::geometry::DrawableGeometry
	DrawableGeometry ()

	~DrawableGeometry ()

bool	HasMaterial () const
	Check if a material has been applied to this Geometry with SetMaterial. More...

visualization::rendering::Material &	GetMaterial ()
	Get material associated with this Geometry. More...

const visualization::rendering::Material &	GetMaterial () const
	Get const reference to material associated with this Geometry. More...

void	SetMaterial (const visualization::rendering::Material &material)
	Set the material properties associate with this Geometry. More...

Static Public Member Functions
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"))

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"))

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"))

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"))

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"))

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"))

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"))

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"))

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"))

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"))

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"))

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"))

static TriangleMesh	CreateIsosurfaces (const core::Tensor &volume, const std::vector< double > contour_values={0.0}, const core::Device &device=core::Device("CPU:0"))

static geometry::TriangleMesh	FromLegacy (const ccMesh &mesh_legacy, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))

static std::unordered_map< std::string, geometry::TriangleMesh >	FromTriangleMeshModel (const cloudViewer::visualization::rendering::TriangleMeshModel &model, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))

Protected Attributes
core::Device	device_ = core::Device("CPU:0")

TensorMap	vertex_attr_

TensorMap	triangle_attr_

Additional Inherited Members
Public Types inherited from cloudViewer::t::geometry::Geometry
enum class	GeometryType { Unspecified = 0 , PointCloud = 1 , VoxelGrid = 2 , Octree = 3 , LineSet = 4 , MeshBase = 5 , TriangleMesh = 6 , HalfEdgeTriangleMesh = 7 , Image = 8 , RGBDImage = 9 , TetraMesh = 10 , OrientedBoundingBox = 11 , AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Protected Member Functions inherited from cloudViewer::t::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

A triangle mesh contains vertices and triangles.

The triangle mesh class stores the attribute data in key-value maps. There are two maps: the vertex attributes map, and the triangle attribute map.

Default attribute: vertex_attr_["positions"], triangle_attr_["indices"]
- Vertex positions
  - TriangleMesh::GetVertexPositions()
  - TriangleMesh::SetVertexPositions(const Tensor& vertex_positions)
  - TriangleMesh::HasVertexPositions()
  - Value tensor must have shape {num_vertices, 3}.
- Triangle indices
  - TriangleMesh::GetTriangleIndices()
  - TriangleMesh::SetTriangleIndices(const Tensor& triangle_indices)
  - TriangleMesh::HasTriangleIndices()
  - Value tensor must have shape {num_triangles, 3}.
- Created by default, required for all triangle meshes.
- The device of vertex positions and triangle indices must be the same. They determine the device of the trianglemesh.
Common attributes: vertex_attr_["normals"], vertex_attr_["colors"] triangle_attr_["normals"], triangle_attr_["colors"]
- Vertex normals
  - TriangleMesh::GetVertexNormals()
  - TriangleMesh::SetVertexNormals(const Tensor& vertex_normals)
  - TriangleMesh::HasVertexNormals()
  - Value tensor must have shape {num_vertices, 3}.
  - Value tensor can have any dtype.
- Vertex colors
  - TriangleMesh::GetVertexColors()
  - TriangleMesh::SetVertexColors(const Tensor& vertex_colors)
  - TriangleMesh::HasVertexColors()
  - Value tensor must have shape {num_vertices, 3}.
  - Value tensor can have any dtype.
- Triangle normals
  - TriangleMesh::GetTriangleNormals()
  - TriangleMesh::SetTriangleNormals(const Tensor& triangle_normals)
  - TriangleMesh::HasTriangleNormals()
  - Value tensor must have shape {num_triangles, 3}.
  - Value tensor can have any dtype.
- Triangle colors
  - TriangleMesh::GetTriangleColors()
  - TriangleMesh::SetTriangleColors(const Tensor& triangle_colors)
  - TriangleMesh::HasTriangleColors()
  - Value tensor must have shape {num_triangles, 3}.
  - Value tensor can have any dtype.
- Not created by default.
- For all attributes above, the device must be consistent with the device of the triangle mesh.
Custom attributes: e.g. vetex_attr_["labels"], triangle_attr_["labels"]
- Use generalized helper functions, e.g.:
  - TriangleMesh::GetVertexAttr(const std::string& key)
  - TriangleMesh::SetVertexAttr(const std::string& key, const Tensor& value)
  - TriangleMesh::HasVertexAttr(const std::string& key)
  - TriangleMesh::GetTriangleAttr(const std::string& key)
  - TriangleMesh::SetTriangleAttr(const std::string& key, const Tensor& value)
  - TriangleMesh::HasTriangleAttr(const std::string& key)
- Not created by default. Users can add their own custom attributes.
- Value tensor must be on the same device as the triangle mesh.

Note that the we can also use the generalized helper functions for the default and common attributes.

Definition at line 98 of file TriangleMesh.h.

Constructor & Destructor Documentation

◆ TriangleMesh() [1/2]

cloudViewer::t::geometry::TriangleMesh::TriangleMesh ( const core::Device & device = core::Device("CPU:0") )

Construct an empty trianglemesh on the provided device.

Parameters

device The device on which to initialize the trianglemesh (default: 'CPU:0').

Definition at line 74 of file TriangleMesh.cpp.

◆ TriangleMesh() [2/2]

cloudViewer::t::geometry::TriangleMesh::TriangleMesh	(	const core::Tensor &	vertex_positions,
		const core::Tensor &	triangle_indices
	)

Construct a trianglemesh from vertices and triangles.

The input tensors will be directly used as the underlying storage of the triangle mesh (no memory copy). The device for vertex_positions must be consistent with triangle_indices.

Parameters

vertex_positions	A tensor with element shape {3}.
triangle_indices	A tensor with element shape {3}.

Definition at line 80 of file TriangleMesh.cpp.

References cloudViewer::core::Tensor::GetDevice(), LogError, and cloudViewer::core::Device::ToString().

◆ ~TriangleMesh()

virtual cloudViewer::t::geometry::TriangleMesh::~TriangleMesh ( )

inlineoverridevirtual

Definition at line 116 of file TriangleMesh.h.

Member Function Documentation

◆ BakeTriangleAttrTextures()

std::unordered_map< std::string, core::Tensor > cloudViewer::t::geometry::TriangleMesh::BakeTriangleAttrTextures	(	int	size,
		const std::unordered_set< std::string > &	triangle_attr = `{}`,
		double	margin = `2.`,
		double	fill = `0.`,
		bool	update_material = `true`
	)

Bake triangle attributes into textures.

This function assumes a triangle attribute with name 'texture_uvs'.

This function always uses the CPU device.

Parameters

size	The width and height of the texture in pixels. Only square textures are supported.
vertex_attr	The vertex attributes for which textures should be generated.
margin	The margin in pixels. The recommended value is 2. The margin are additional pixels around the UV islands to avoid discontinuities.
fill	The value used for filling texels outside the UV islands.
update_material	If true updates the material of the mesh. Baking a vertex attribute with the name 'albedo' will become the albedo texture in the material. Existing textures in the material will be overwritten.

Returns: A dictionary of textures.

Definition at line 1041 of file TriangleMesh.cpp.

References AssertTensorDtype, AssertTensorShape, cloudViewer::t::geometry::TensorMap::Contains(), cloudViewer::t::geometry::TensorMap::Contiguous(), DISPATCH_DTYPE_TO_TEMPLATE_WITH_BOOL, cloudViewer::core::Float32, cloudViewer::core::Tensor::GetDtype(), GetTriangleIndices(), cloudViewer::core::Int64, LogError, cloudViewer::core::None, result, size, and triangle_attr_.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ BakeVertexAttrTextures()

std::unordered_map< std::string, core::Tensor > cloudViewer::t::geometry::TriangleMesh::BakeVertexAttrTextures	(	int	size,
		const std::unordered_set< std::string > &	vertex_attr = `{}`,
		double	margin = `2.`,
		double	fill = `0.`,
		bool	update_material = `true`
	)

Bake vertex attributes into textures.

This function assumes a triangle attribute with name 'texture_uvs'. Only float type attributes can be baked to textures.

This function always uses the CPU device.

Parameters

size	The width and height of the texture in pixels. Only square textures are supported.
vertex_attr	The vertex attributes for which textures should be generated.
margin	The margin in pixels. The recommended value is 2. The margin are additional pixels around the UV islands to avoid discontinuities.
fill	The value used for filling texels outside the UV islands.
update_material	If true updates the material of the mesh. Baking a vertex attribute with the name 'albedo' will become the albedo texture in the material. Existing textures in the material will be overwritten.

Returns: A dictionary of textures.

Definition at line 975 of file TriangleMesh.cpp.

Referenced by ProjectImagesToAlbedo(), and cloudViewer::t::geometry::pybind_trianglemesh().

◆ BooleanDifference()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::BooleanDifference	(	const TriangleMesh &	mesh,
		double	tolerance = `1e-6`
	)		const

Computes the mesh that encompasses the volume after subtracting the volume of the second operand. Both meshes should be manifold.

This function always uses the CPU device.

Parameters

mesh	This is the second operand for the boolean operation.
tolerance	Threshold which determines when point distances are considered to be 0.

Returns: The mesh describing the difference volume.

Definition at line 775 of file TriangleMesh.cpp.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ BooleanIntersection()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::BooleanIntersection	(	const TriangleMesh &	mesh,
		double	tolerance = `1e-6`
	)		const

Computes the mesh that encompasses the intersection of the volumes of two meshes. Both meshes should be manifold.

This function always uses the CPU device.

Parameters

mesh	This is the second operand for the boolean operation.
tolerance	Threshold which determines when point distances are considered to be 0.

Returns: The mesh describing the intersection volume.

Definition at line 768 of file TriangleMesh.cpp.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ BooleanUnion()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::BooleanUnion	(	const TriangleMesh &	mesh,
		double	tolerance = `1e-6`
	)		const

Computes the mesh that encompasses the union of the volumes of two meshes. Both meshes should be manifold.

This function always uses the CPU device.

Parameters

mesh	This is the second operand for the boolean operation.
tolerance	Threshold which determines when point distances are considered to be 0.

Returns: The mesh describing the union volume.

Definition at line 762 of file TriangleMesh.cpp.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ Clear()

TriangleMesh& cloudViewer::t::geometry::TriangleMesh::Clear ( )

inlineoverridevirtual

Clear all data in the trianglemesh.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 619 of file TriangleMesh.h.

References triangle_attr_, and vertex_attr_.

Referenced by cloudViewer::t::io::ReadTriangleMeshUsingASSIMP().

◆ ClipPlane()

TriangleMesh cloudViewer::t::geometry::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. Parts of the mesh on the positive side of the plane will be kept and triangles intersected by the plane will be cut.

Parameters

point	A point on the plane as [Tensor of dim {3}].
normal	The normal of the plane as [Tensor of dim {3}]. The normal points to the positive side of the plane for which the geometry will be kept.

Returns: New triangle mesh clipped with the plane.

Definition at line 640 of file TriangleMesh.cpp.

References AssertTensorDtypes, AssertTensorShape, cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), cloudViewer::t::geometry::vtkutils::CreateVtkPolyDataFromGeometry(), cloudViewer::core::Float32, cloudViewer::core::Float64, GetTriangleAttr(), GetVertexAttr(), cloudViewer::core::Int32, cloudViewer::core::Int64, and normal.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ Clone()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::Clone ( ) const

inline

Returns copy of the triangle mesh on the same device.

Definition at line 130 of file TriangleMesh.h.

References GetDevice(), and To().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ ComputeConvexHull()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::ComputeConvexHull ( bool joggle_inputs = false ) const

Compute the convex hull of the triangle mesh using qhull.

This runs on the CPU.

Parameters

joggle_inputs (default False). Handle precision problems by randomly perturbing the input data. Set to True if perturbing the input iis acceptable but you need convex simplicial output. If False, neighboring facets may be merged in case of precision problems. See QHull docs for more details.

Returns: TriangleMesh representing the convexh hull. This contains an extra vertex property "point_map" that contains the index of the corresponding vertex in the original mesh.

Definition at line 635 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::PointCloud::ComputeConvexHull(), and GetVertexPositions().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ ComputeMetrics()

core::Tensor cloudViewer::t::geometry::TriangleMesh::ComputeMetrics	(	const TriangleMesh &	mesh2,
		std::vector< Metric >	metrics = `{Metric::ChamferDistance}`,
		MetricParameters	params = `MetricParameters()`
	)		const

Compute various metrics between two triangle meshes. This uses ray casting for distance computations between a sampled point cloud and a triangle mesh. Currently, Chamfer distance, Hausdorff distance and F-Score [[Knapitsch2017]] are supported. The Chamfer distance is the sum of the mean distance to the nearest neighbor from the sampled surface points of the first mesh to the second mesh and vice versa. The F-Score at a fixed threshold radius is the harmonic mean of the Precision and Recall. Recall is the percentage of surface points from the first mesh that have the second mesh within the threshold radius, while Precision is the percentage of sampled points from the second mesh that have the first mesh surface within the threshold radius.

$\begin{eqnarray*} \text{Chamfer Distance: } d_{CD}(X,Y) &=& \frac{1}{|X|}\sum_{i \in X} || x_i - n(x_i, Y) || + \frac{1}{|Y|}\sum_{i \in Y} || y_i - n(y_i, X) || \\{} \text{Hausdorff distance: } d_H(X,Y) &=& \max \left\{ \max_{i \in X} || x_i - n(x_i, Y) ||, \max_{i \in Y} || y_i - n(y_i, X) || \right\} \\{} \text{Precision: } P(X,Y|d) &=& \frac{100}{|X|} \sum_{i \in X} || x_i - n(x_i, Y) || < d \\{} \text{Recall: } R(X,Y|d) &=& \frac{100}{|Y|} \sum_{i \in Y} || y_i - n(y_i, X) || < d \\{} \text{F-Score: } F(X,Y|d) &=& \frac{2 P(X,Y|d) R(X,Y|d)}{P(X,Y|d) + R(X,Y|d)} \end{eqnarray*}$

As a side effect, the triangle areas are saved in the "areas" attribute.

Parameters

mesh2	Other point cloud to compare with.
metrics	List of Metric s to compute. Multiple metrics can be computed at once for efficiency.
params	MetricParameters struct holds parameters required by different metrics.

Returns: Tensor containing the requested metrics.

Definition at line 1894 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::RaycastingScene::AddTriangles(), cloudViewer::t::geometry::RaycastingScene::ComputeDistance(), cloudViewer::t::geometry::ComputeMetricsCommon(), cloudViewer::core::IsDevice::IsCPU(), IsEmpty(), LogError, LogWarning, params, and To().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ ComputeTriangleAreas()

TriangleMesh & cloudViewer::t::geometry::TriangleMesh::ComputeTriangleAreas ( )

Function to compute triangle areas and save it as a triangle attribute "areas". Prints a warning, if mesh is empty or has no triangles.

Definition at line 335 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::ComputeTriangleAreasHelper(), cloudViewer::core::Tensor::Empty(), GetDevice(), cloudViewer::core::Tensor::GetDtype(), GetVertexPositions(), HasTriangleAttr(), HasTriangleIndices(), IsEmpty(), LogWarning, and SetTriangleAttr().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh(), RemoveNonManifoldEdges(), and SamplePointsUniformly().

◆ ComputeTriangleNormals()

TriangleMesh & cloudViewer::t::geometry::TriangleMesh::ComputeTriangleNormals ( bool normalized = true )

Function to compute triangle normals, usually called before rendering.

Definition at line 241 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::kernel::trianglemesh::ComputeTriangleNormalsCPU(), CUDA_CALL, GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::GetLength(), GetTriangleIndices(), GetVertexPositions(), HasTriangleIndices(), cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), IsEmpty(), LogError, LogWarning, NormalizeNormals(), SetTriangleIndices(), SetTriangleNormals(), and SetVertexPositions().

Referenced by ComputeVertexNormals(), cloudViewer::t::geometry::pybind_trianglemesh(), and SamplePointsUniformly().

◆ ComputeUVAtlas()

std::tuple< float, int, int > cloudViewer::t::geometry::TriangleMesh::ComputeUVAtlas	(	size_t	size = `512`,
		float	gutter = `1.0f`,
		float	max_stretch = `1.f / 6`,
		int	parallel_partitions = `1`,
		int	nthreads = `0`
	)

Creates an UV atlas and adds it as triangle attr 'texture_uvs' to the mesh.

Input meshes must be manifold for this method to work.

The algorithm is based on:

Zhou et al, "Iso-charts: Stretch-driven Mesh Parameterization using Spectral Analysis", Eurographics Symposium on Geometry Processing (2004)
Sander et al. "Signal-Specialized Parametrization" Europgraphics 2002

This function always uses the CPU device.

Parameters

size	The target size of the texture (size x size). The uv coordinates will still be in the range [0..1] but parameters like gutter use pixels as units.
gutter	This is the space around the uv islands in pixels.
max_stretch	The maximum amount of stretching allowed. The parameter range is [0..1] with 0 meaning no stretch allowed.
parallel_partitions	The approximate number of partitions created before computing the UV atlas for parallelizing the computation. Parallelization can be enabled with values > 1. Note that parallelization increases the number of UV islands and can lead to results with lower quality.
nthreads	The number of threads used when parallel_partitions is > 1. Set to 0 for automatic number of thread detection.

Returns: Tuple with (max stretch, num_charts, num_partitions) storing the actual amount of stretch, the number of created charts, and the number of parallel partitions created.

Definition at line 803 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::kernel::uvunwrapping::ComputeUVAtlas(), and size.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ ComputeVertexNormals()

TriangleMesh & cloudViewer::t::geometry::TriangleMesh::ComputeVertexNormals ( bool normalized = true )

Function to compute vertex normals, usually called before rendering.

Definition at line 277 of file TriangleMesh.cpp.

References ComputeTriangleNormals(), cloudViewer::t::geometry::kernel::trianglemesh::ComputeVertexNormalsCPU(), CUDA_CALL, GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::GetLength(), GetTriangleIndices(), GetTriangleNormals(), GetVertexPositions(), HasTriangleIndices(), cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), IsEmpty(), LogError, LogWarning, NormalizeNormals(), SetTriangleIndices(), SetTriangleNormals(), SetVertexNormals(), vertex_num, and cloudViewer::core::Tensor::Zeros().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateArrow()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a arrow triangle mesh.

Parameters

cylinder_radius	defines the radius of the cylinder.
cone_radius	defines the radius of the cone.
cylinder_height	defines the height of the cylinder. The axis of cylinder is from (0, 0, 0) to (0, 0, cylinder_height).
cone_height	defines the height of the cone. The axis of the cone will be from (0, 0, cylinder_height) to (0, 0, cylinder_height + cone_height).
resolution	defines the resolution of the cone. The circle will be split into resolution segments.
cylinder_split	defines the number of segments along the cylinder_height direction.
cone_split	defines the number of segments along the cone_height direction.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 183 of file TriangleMeshFactory.cpp.

References ccMesh::CreateArrow(), and FromLegacy().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateBox()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a box triangle mesh. One vertex of the box will be placed at the origin and the box aligns with the positive x, y, and z axes.

Parameters

width	is x-directional length.
height	is y-directional length.
depth	is z-directional length.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 22 of file TriangleMeshFactory.cpp.

References cloudViewer::core::Float32, cloudViewer::core::Float64, height, cloudViewer::core::Int32, cloudViewer::core::Int64, LogError, cloudViewer::core::Tensor::To(), cloudViewer::core::Dtype::ToString(), and width.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateCone()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a cone triangle mesh.

Parameters

radius	defines the radius of the cone.
height	defines the height of the cone. The axis of the cone will be from (0, 0, 0) to (0, 0, height).
resolution	defines the resolution of the cone. The circle will be split into resolution segments.
split	defines the number of segments along the height direction.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 151 of file TriangleMeshFactory.cpp.

References ccMesh::CreateCone(), FromLegacy(), and height.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateCoordinateFrame()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a coordinate frame mesh.

Parameters

size	defines the size of the coordinate frame.
origin	defines the origin of the coordinate frame.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 203 of file TriangleMeshFactory.cpp.

References ccMesh::CreateCoordinateFrame(), FromLegacy(), and size.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateCylinder()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a cylinder triangle mesh.

Parameters

radius	defines the radius of the cylinder.
height	defines the height of the cylinder. The axis of the cylinder will be from (0, 0, -height/2) to (0, 0, height/2).
resolution	defines the resolution of the cylinder. The circle will be split into resolution segments
split	defines the number of segments along the height direction.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 135 of file TriangleMeshFactory.cpp.

References ccMesh::CreateCylinder(), FromLegacy(), and height.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateIcosahedron()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a icosahedron triangle mesh. The centroid of the mesh will be placed at (0, 0, 0) and the vertices have a distance of radius to the center.

Parameters

radius	defines the distance from centroid to mesh vertices.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 123 of file TriangleMeshFactory.cpp.

References ccMesh::CreateIcosahedron(), and FromLegacy().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateIsosurfaces()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::CreateIsosurfaces	(	const core::Tensor &	volume,
		const std::vector< double >	contour_values = `{0.0}`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

static

Create a mesh from a 3D scalar field (volume) by computing the isosurface. This method uses the Flying Edges dual contouring method that computes the isosurface similar to Marching Cubes. The center of the first voxel of the volume is at the origin (0,0,0). The center of the voxel at index [z,y,x] will be at (x,y,z).

Parameters

volume	3D tensor with the volume.
contour_values	A list of contour values at which isosurfaces will be generated. The default value is 0.
device	The device for the returned mesh.

Definition at line 279 of file TriangleMeshFactory.cpp.

References AssertTensorDtypes, AssertTensorShape, cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), cloudViewer::t::geometry::vtkutils::CreateVtkImageDataFromTensor(), cloudViewer::core::Float32, cloudViewer::core::Float64, and cloudViewer::core::None.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateMobius()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a Mobius strip.

Parameters

length_split	defines the number of segments along the Mobius strip.
width_split	defines the number of segments along the width of the Mobius strip.
twists	defines the number of twists of the strip.
radius	defines the radius of the Mobius strip.
flatness	controls the height of the strip.
width	controls the width of the Mobius strip.
scale	is used to scale the entire Mobius strip.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 217 of file TriangleMeshFactory.cpp.

References ccMesh::CreateMobius(), FromLegacy(), and width.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateOctahedron()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a octahedron triangle mesh. The centroid of the mesh will be placed at (0, 0, 0) and the vertices have a distance of radius to the center.

Parameters

radius	defines the distance from centroid to mesh vertices.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 111 of file TriangleMeshFactory.cpp.

References ccMesh::CreateOctahedron(), and FromLegacy().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateSphere()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a sphere triangle mesh. The sphere with radius will be centered at (0, 0, 0). Its axis is aligned with z-axis.

Parameters

radius	defines the radius of the sphere.
resolution	defines the resolution of the sphere. The longitudes will be split into resolution segments (i.e. there are resolution + 1 latitude lines including the north and south pole). The latitudes will be split into `2 * resolution segments (i.e. there are 2 * resolution longitude lines.)
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 86 of file TriangleMeshFactory.cpp.

References ccMesh::CreateSphere(), and FromLegacy().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateTetrahedron()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a tetrahedron triangle mesh. The centroid of the mesh will be placed at (0, 0, 0) and the vertices have a distance of radius to the center.

Parameters

radius	defines the distance from centroid to mesh vertices.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 99 of file TriangleMeshFactory.cpp.

References ccMesh::CreateTetrahedron(), and FromLegacy().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateText()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a text triangle mesh.

Parameters

text	The text for generating the mesh. ASCII characters 32-126 are supported (includes alphanumeric characters and punctuation). In addition the line feed ' ' is supported to start a new line.
depth	The depth of the generated mesh. If depth is 0 then a flat mesh will be generated.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 236 of file TriangleMeshFactory.cpp.

References cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::core::Int32, cloudViewer::core::Int64, LogError, and cloudViewer::core::Dtype::ToString().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ CreateTorus()

TriangleMesh cloudViewer::t::geometry::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")`
	)

static

Create a torus triangle mesh.

Parameters

torus_radius	defines the radius from the center of the torus to the center of the tube.
tube_radius	defines the radius of the torus tube.
radial_resolution	defines the number of segments along the radial direction.
tubular_resolution	defines the number of segments along the tubular direction.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in.

Definition at line 167 of file TriangleMeshFactory.cpp.

References ccMesh::CreateTorus(), and FromLegacy().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ ExtrudeLinear()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::ExtrudeLinear	(	const core::Tensor &	vector,
		double	scale = `1.0`,
		bool	capping = `true`
	)		const

Sweeps the triangle mesh along a direction vector.

Parameters

vector	The direction vector.
scale	Scalar factor which essentially scales the direction vector.
capping	If true adds caps to the mesh.

Returns: A triangle mesh with the result of the sweep operation.

Definition at line 1105 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::vtkutils::ExtrudeLinearTriangleMesh().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ ExtrudeRotation()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::ExtrudeRotation	(	double	angle,
		const core::Tensor &	axis,
		int	resolution = `16`,
		double	translation = `0.0`,
		bool	capping = `true`
	)		const

Sweeps the triangle mesh rotationally about an axis.

Parameters

angle	The rotation angle in degree.
axis	The rotation axis.
resolution	The resolution defines the number of intermediate sweeps about the rotation axis.
translation	The translation along the rotation axis.
capping	If true adds caps to the mesh.

Returns: A triangle mesh with the result of the sweep operation.

Definition at line 1095 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::vtkutils::ExtrudeRotationTriangleMesh().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ FillHoles()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::FillHoles ( double hole_size = 1e6 ) const

Fill holes by triangulating boundary edges.

This function always uses the CPU device.

Parameters

hole_size This is the approximate threshold for filling holes. The value describes the maximum radius of holes to be filled.

Returns: New mesh after filling holes.

Definition at line 789 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), cloudViewer::t::geometry::vtkutils::CreateVtkPolyDataFromGeometry(), GetVertexAttr(), and result.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ FromLegacy()

geometry::TriangleMesh cloudViewer::t::geometry::TriangleMesh::FromLegacy	(	const ccMesh &	mesh_legacy,
		core::Dtype	float_dtype = `core::Float32`,
		core::Dtype	int_dtype = `core::Int64`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

static

Create a TriangleMesh from a legacy CloudViewer TriangleMesh.

Parameters

mesh_legacy	Legacy CloudViewer TriangleMesh.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in (default CPU:0).

Definition at line 379 of file TriangleMesh.cpp.

Referenced by CreateArrow(), CreateCone(), CreateCoordinateFrame(), CreateCylinder(), CreateIcosahedron(), CreateMobius(), CreateOctahedron(), CreateSphere(), CreateTetrahedron(), CreateTorus(), FromTriangleMeshModel(), cloudViewer::t::geometry::pybind_trianglemesh(), and cloudViewer::t::io::ReadTriangleMesh().

◆ FromTriangleMeshModel()

std::unordered_map< std::string, geometry::TriangleMesh > cloudViewer::t::geometry::TriangleMesh::FromTriangleMeshModel	(	const cloudViewer::visualization::rendering::TriangleMeshModel &	model,
		core::Dtype	float_dtype = `core::Float32`,
		core::Dtype	int_dtype = `core::Int64`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

static

Convert a TriangleMeshModel (e.g. as read from a file with cloudViewer::io::ReadTriangleMeshModel) to an unordered map of mesh names to TriangleMeshes. Only one material is supported per mesh. Materials common to multiple meshes will be dupicated. Textures (as t::geometry::Image) will use shared storage.

Parameters

model	TriangleMeshModel to convert.
float_dtype	Float32 or Float64, used to store floating point values, e.g. vertices, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. triangles.
device	The device where the resulting TriangleMesh resides in (default CPU:0). Material textures use CPU storage - GPU resident texture images are not yet supported.

Returns: unordered map of constituent mesh names to TriangleMeshes, with materials.

Definition at line 602 of file TriangleMesh.cpp.

References FromLegacy(), cloudViewer::visualization::rendering::Material::FromMaterialRecord(), cloudViewer::visualization::rendering::TriangleMeshModel::materials_, and cloudViewer::visualization::rendering::TriangleMeshModel::meshes_.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ GetAxisAlignedBoundingBox()

AxisAlignedBoundingBox cloudViewer::t::geometry::TriangleMesh::GetAxisAlignedBoundingBox ( ) const

Create an axis-aligned bounding box from vertex attribute "positions".

Definition at line 781 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::AxisAlignedBoundingBox::CreateFromPoints(), and GetVertexPositions().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ GetCenter()

core::Tensor cloudViewer::t::geometry::TriangleMesh::GetCenter ( ) const

inline

Definition at line 632 of file TriangleMesh.h.

References GetVertexPositions(), and cloudViewer::core::Tensor::Mean().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh(), and Translate().

◆ GetDevice()

core::Device cloudViewer::t::geometry::TriangleMesh::GetDevice ( ) const

inlineoverridevirtual

Returns the device of the geometry.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 721 of file TriangleMesh.h.

References device_.

Referenced by Clone(), ComputeTriangleAreas(), cloudViewer::t::geometry::ComputeTriangleAreasHelper(), ComputeTriangleNormals(), cloudViewer::t::geometry::kernel::uvunwrapping::ComputeUVAtlas(), ComputeVertexNormals(), PCAPartition(), ProjectImagesToAlbedo(), cloudViewer::t::geometry::pybind_trianglemesh(), RemoveUnreferencedVertices(), SamplePointsUniformly(), Scale(), To(), ToString(), and Translate().

◆ GetMaxBound()

core::Tensor cloudViewer::t::geometry::TriangleMesh::GetMaxBound ( ) const

inline

Definition at line 630 of file TriangleMesh.h.

References GetVertexPositions(), and cloudViewer::core::Tensor::Max().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ComputeAABB(), and cloudViewer::t::geometry::pybind_trianglemesh().

◆ GetMinBound()

core::Tensor cloudViewer::t::geometry::TriangleMesh::GetMinBound ( ) const

inline

Definition at line 628 of file TriangleMesh.h.

References GetVertexPositions(), and cloudViewer::core::Tensor::Min().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ComputeAABB(), and cloudViewer::t::geometry::pybind_trianglemesh().

◆ GetNonManifoldEdges()

core::Tensor cloudViewer::t::geometry::TriangleMesh::GetNonManifoldEdges ( bool allow_boundary_edges = true ) const

Returns the non-manifold edges of the triangle mesh. If

Parameters

allow_boundary_edges is set to false, then also boundary edges are returned.

Returns: 2d integer tensor with shape {n,2} encoding ordered edges. If mesh is empty or has no triangles, returns an empty tensor.

Definition at line 1781 of file TriangleMesh.cpp.

References cloudViewer::core::Tensor::Contiguous(), DISPATCH_INT_DTYPE_PREFIX_TO_TEMPLATE, cloudViewer::core::Tensor::GetDevice(), cloudViewer::core::Tensor::GetDtype(), GetTriangleIndices(), HasTriangleIndices(), HasVertexPositions(), LogWarning, result, and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ GetOrientedBoundingBox()

OrientedBoundingBox cloudViewer::t::geometry::TriangleMesh::GetOrientedBoundingBox ( ) const

Create an oriented bounding box from vertex attribute "positions".

Definition at line 785 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::OrientedBoundingBox::CreateFromPoints(), and GetVertexPositions().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ GetSurfaceArea()

double cloudViewer::t::geometry::TriangleMesh::GetSurfaceArea ( ) const

Function that computes the surface area of the mesh, i.e. the sum of the individual triangle surfaces.

Definition at line 361 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::ComputeTriangleAreasHelper(), cloudViewer::core::Float64, HasTriangleIndices(), IsEmpty(), LogWarning, cloudViewer::core::Tensor::Sum(), and To().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ GetTriangleAttr() [1/4]

TensorMap& cloudViewer::t::geometry::TriangleMesh::GetTriangleAttr ( )

inline

Getter for triangle_attr_ TensorMap.

Definition at line 162 of file TriangleMesh.h.

References triangle_attr_.

◆ GetTriangleAttr() [2/4]

const TensorMap& cloudViewer::t::geometry::TriangleMesh::GetTriangleAttr ( ) const

inline

◆ GetTriangleAttr() [3/4]

core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetTriangleAttr ( const std::string & key )

inline

Get triangle attributes in triangle_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

Definition at line 168 of file TriangleMesh.h.

References triangle_attr_.

◆ GetTriangleAttr() [4/4]

const core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetTriangleAttr ( const std::string & key ) const

inline

Get triangle attributes in triangle_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

Definition at line 219 of file TriangleMesh.h.

References triangle_attr_.

◆ GetTriangleColors() [1/2]

core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetTriangleColors ( )

inline

Get the value of the "colors" attribute in triangle_attr_. Convenience function.

Definition at line 182 of file TriangleMesh.h.

References GetTriangleAttr().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers().

◆ GetTriangleColors() [2/2]

const core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetTriangleColors ( ) const

inline

Get the value of the "colors" attribute in triangle_attr_. Convenience function.

Definition at line 245 of file TriangleMesh.h.

References GetTriangleAttr().

◆ GetTriangleIndices() [1/2]

core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetTriangleIndices ( )

inline

Get the value of the "indices" attribute in triangle_attr_. Convenience function.

Definition at line 174 of file TriangleMesh.h.

References GetTriangleAttr().

Referenced by cloudViewer::t::geometry::RaycastingScene::AddTriangles(), BakeTriangleAttrTextures(), BakeVertexAttrTextures(), cloudViewer::t::geometry::ComputeTriangleAreasHelper(), ComputeTriangleNormals(), cloudViewer::t::geometry::kernel::uvunwrapping::ComputeUVAtlas(), ComputeVertexNormals(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), GetNonManifoldEdges(), HasTriangleAttr(), PCAPartition(), cloudViewer::t::io::ReadTriangleMesh(), RemoveNonManifoldEdges(), RemoveUnreferencedVertices(), SamplePointsUniformly(), SelectByIndex(), SelectFacesByMask(), cloudViewer::io::rpc::SetTriangleMesh(), ToLegacy(), and ToString().

◆ GetTriangleIndices() [2/2]

const core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetTriangleIndices ( ) const

inline

Get the value of the "indices" attribute in triangle_attr_. Convenience function.

Definition at line 233 of file TriangleMesh.h.

References GetTriangleAttr().

◆ GetTriangleNormals() [1/2]

core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetTriangleNormals ( )

inline

Get the value of the "normals" attribute in triangle_attr_. Convenience function.

Definition at line 178 of file TriangleMesh.h.

References GetTriangleAttr().

Referenced by ComputeVertexNormals(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), NormalizeNormals(), Rotate(), SamplePointsUniformly(), and Transform().

◆ GetTriangleNormals() [2/2]

const core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetTriangleNormals ( ) const

inline

Get the value of the "normals" attribute in triangle_attr_. Convenience function.

Definition at line 239 of file TriangleMesh.h.

References GetTriangleAttr().

◆ GetVertexAttr() [1/4]

TensorMap& cloudViewer::t::geometry::TriangleMesh::GetVertexAttr ( )

inline

Getter for vertex_attr_ TensorMap.

Definition at line 136 of file TriangleMesh.h.

References vertex_attr_.

◆ GetVertexAttr() [2/4]

const TensorMap& cloudViewer::t::geometry::TriangleMesh::GetVertexAttr ( ) const

inline

◆ GetVertexAttr() [3/4]

core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetVertexAttr ( const std::string & key )

inline

Get vertex attributes in vertex_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

Definition at line 142 of file TriangleMesh.h.

References vertex_attr_.

◆ GetVertexAttr() [4/4]

const core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetVertexAttr ( const std::string & key ) const

inline

Get vertex attributes. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

Definition at line 187 of file TriangleMesh.h.

References vertex_attr_.

◆ GetVertexColors() [1/2]

core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetVertexColors ( )

inline

Get the value of the "colors" attribute in vertex_attr_. Convenience function.

Definition at line 152 of file TriangleMesh.h.

References GetVertexAttr().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), SamplePointsUniformly(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::TMeshBuffersBuilder(), and ToLegacy().

◆ GetVertexColors() [2/2]

const core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetVertexColors ( ) const

inline

Get the value of the "colors" attribute in vertex_attr_. Convenience function.

Definition at line 205 of file TriangleMesh.h.

References GetVertexAttr().

◆ GetVertexNormals() [1/2]

core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetVertexNormals ( )

inline

Get the value of the "normals" attribute in vertex_attr_. Convenience function.

Definition at line 156 of file TriangleMesh.h.

References GetVertexAttr().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), NormalizeNormals(), Rotate(), SamplePointsUniformly(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::TMeshBuffersBuilder(), ToLegacy(), and Transform().

◆ GetVertexNormals() [2/2]

const core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetVertexNormals ( ) const

inline

Get the value of the "normals" attribute in vertex_attr_. Convenience function.

Definition at line 211 of file TriangleMesh.h.

References GetVertexAttr().

◆ GetVertexPositions() [1/2]

core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetVertexPositions ( )

inline

Get the value of the "positions" attribute in vertex_attr_. Convenience function.

Definition at line 148 of file TriangleMesh.h.

References GetVertexAttr().

Referenced by cloudViewer::t::geometry::RaycastingScene::AddTriangles(), ComputeConvexHull(), ComputeTriangleAreas(), cloudViewer::t::geometry::ComputeTriangleAreasHelper(), ComputeTriangleNormals(), cloudViewer::t::geometry::kernel::uvunwrapping::ComputeUVAtlas(), ComputeVertexNormals(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), GetAxisAlignedBoundingBox(), GetCenter(), GetMaxBound(), GetMinBound(), GetOrientedBoundingBox(), HasVertexAttr(), PCAPartition(), ProjectImagesToAlbedo(), cloudViewer::t::io::ReadTriangleMesh(), RemoveNonManifoldEdges(), RemoveUnreferencedVertices(), Rotate(), SamplePointsUniformly(), Scale(), SelectByIndex(), SelectFacesByMask(), cloudViewer::io::rpc::SetTriangleMesh(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::TMeshBuffersBuilder(), ToLegacy(), ToString(), Transform(), and Translate().

◆ GetVertexPositions() [2/2]

const core::Tensor& cloudViewer::t::geometry::TriangleMesh::GetVertexPositions ( ) const

inline

Get the value of the "positions" attribute in vertex_attr_. Convenience function.

Definition at line 199 of file TriangleMesh.h.

References GetVertexAttr().

◆ HasTriangleAttr()

bool cloudViewer::t::geometry::TriangleMesh::HasTriangleAttr ( const std::string & key ) const

inline

Returns true if all of the following are true in triangle_attr_: 1) attribute key exist 2) attribute's length as triangles' length 3) attribute's length > 0

Definition at line 343 of file TriangleMesh.h.

References cloudViewer::t::geometry::TensorMap::Contains(), cloudViewer::core::Tensor::GetLength(), GetTriangleAttr(), GetTriangleIndices(), and triangle_attr_.

Referenced by ComputeTriangleAreas(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), cloudViewer::t::geometry::CopyAttributesByMasks(), cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), HasTriangleColors(), HasTriangleIndices(), HasTriangleNormals(), ProjectImagesToAlbedo(), RemoveNonManifoldEdges(), SamplePointsUniformly(), and ToLegacy().

◆ HasTriangleColors()

bool cloudViewer::t::geometry::TriangleMesh::HasTriangleColors ( ) const

inline

Returns true if all of the following are true in triangle_attr_: 1) attribute "colors" exist 2) attribute "colors"'s length as vertices' length 3) attribute "colors"'s length > 0 Convenience function.

Definition at line 367 of file TriangleMesh.h.

References HasTriangleAttr().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers().

◆ HasTriangleIndices()

bool cloudViewer::t::geometry::TriangleMesh::HasTriangleIndices ( ) const

inline

Check if the "indices" attribute's value in triangle_attr_ has length

0.

Convenience function.

Definition at line 353 of file TriangleMesh.h.

References HasTriangleAttr().

Referenced by ComputeTriangleAreas(), ComputeTriangleNormals(), ComputeVertexNormals(), cloudViewer::t::geometry::CopyAttributesByMasks(), GetNonManifoldEdges(), GetSurfaceArea(), cloudViewer::t::io::ReadTriangleMesh(), RemoveNonManifoldEdges(), RemoveUnreferencedVertices(), SamplePointsUniformly(), SelectByIndex(), SelectFacesByMask(), and ToLegacy().

◆ HasTriangleNormals()

bool cloudViewer::t::geometry::TriangleMesh::HasTriangleNormals ( ) const

inline

Returns true if all of the following are true in triangle_attr_: 1) attribute "normals" exist 2) attribute "normals"'s length as vertices' length 3) attribute "normals"'s length > 0 Convenience function.

Definition at line 360 of file TriangleMesh.h.

References HasTriangleAttr().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), NormalizeNormals(), Rotate(), SamplePointsUniformly(), and Transform().

◆ HasVertexAttr()

bool cloudViewer::t::geometry::TriangleMesh::HasVertexAttr ( const std::string & key ) const

inline

Returns true if all of the following are true in vertex_attr_: 1) attribute key exist 2) attribute's length as vertices' length 3) attribute's length > 0

Definition at line 314 of file TriangleMesh.h.

References cloudViewer::t::geometry::TensorMap::Contains(), cloudViewer::core::Tensor::GetLength(), GetVertexAttr(), GetVertexPositions(), and vertex_attr_.

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), cloudViewer::t::geometry::CopyAttributesByMasks(), cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), HasVertexColors(), HasVertexNormals(), HasVertexPositions(), and ToLegacy().

◆ HasVertexColors()

bool cloudViewer::t::geometry::TriangleMesh::HasVertexColors ( ) const

inline

Returns true if all of the following are true in vertex_attr_: 1) attribute "colors" exist 2) attribute "colors"'s length as vertices' length 3) attribute "colors"'s length > 0 Convenience function.

Definition at line 330 of file TriangleMesh.h.

References HasVertexAttr().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), SamplePointsUniformly(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::TMeshBuffersBuilder(), and ToLegacy().

◆ HasVertexNormals()

bool cloudViewer::t::geometry::TriangleMesh::HasVertexNormals ( ) const

inline

Returns true if all of the following are true in vertex_attr_: 1) attribute "normals" exist 2) attribute "normals"'s length as vertices' length 3) attribute "normals"'s length > 0 Convenience function.

Definition at line 337 of file TriangleMesh.h.

References HasVertexAttr().

Referenced by cloudViewer::visualization::rendering::TMeshBuffersBuilder::ConstructBuffers(), NormalizeNormals(), Rotate(), SamplePointsUniformly(), cloudViewer::visualization::rendering::TMeshBuffersBuilder::TMeshBuffersBuilder(), ToLegacy(), and Transform().

◆ HasVertexPositions()

bool cloudViewer::t::geometry::TriangleMesh::HasVertexPositions ( ) const

inline

Check if the "positions" attribute's value in vertex_attr_ has length > 0. Convenience function.

Definition at line 323 of file TriangleMesh.h.

References HasVertexAttr().

Referenced by cloudViewer::t::geometry::CopyAttributesByMasks(), GetNonManifoldEdges(), IsEmpty(), cloudViewer::t::io::ReadTriangleMesh(), RemoveNonManifoldEdges(), RemoveUnreferencedVertices(), SelectByIndex(), SelectFacesByMask(), and ToLegacy().

◆ IsEmpty()

bool cloudViewer::t::geometry::TriangleMesh::IsEmpty ( ) const

inlineoverridevirtual

Returns !HasVertexPositions(), triangles are ignored.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 626 of file TriangleMesh.h.

References HasVertexPositions().

Referenced by ComputeMetrics(), ComputeTriangleAreas(), ComputeTriangleNormals(), ComputeVertexNormals(), GetSurfaceArea(), and SamplePointsUniformly().

◆ NormalizeNormals()

TriangleMesh & cloudViewer::t::geometry::TriangleMesh::NormalizeNormals ( )

Normalize both triangle normals and vertex normals to length 1.

Definition at line 207 of file TriangleMesh.cpp.

References CUDA_CALL, GetTriangleNormals(), GetVertexNormals(), HasTriangleNormals(), HasVertexNormals(), cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, LogWarning, cloudViewer::t::geometry::kernel::trianglemesh::NormalizeNormalsCPU(), SetTriangleNormals(), and SetVertexNormals().

Referenced by ComputeTriangleNormals(), ComputeVertexNormals(), and cloudViewer::t::geometry::pybind_trianglemesh().

◆ PCAPartition()

int cloudViewer::t::geometry::TriangleMesh::PCAPartition ( int max_faces )

Partition the mesh by recursively doing PCA. This function creates a new triangle attribute with the name "partition_ids".

Parameters

max_faces The maximum allowed number of faces in a partition.

Returns: The number of partitions.

Definition at line 1112 of file TriangleMesh.cpp.

References GetDevice(), cloudViewer::core::Tensor::GetLength(), GetTriangleIndices(), GetVertexPositions(), cloudViewer::core::Tensor::IndexGet(), LogError, cloudViewer::t::geometry::kernel::pcapartition::PCAPartition(), SetTriangleAttr(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::kernel::uvunwrapping::ComputeUVAtlas(), and cloudViewer::t::geometry::pybind_trianglemesh().

◆ ProjectImagesToAlbedo()

Image cloudViewer::t::geometry::TriangleMesh::ProjectImagesToAlbedo	(	const std::vector< Image > &	images,
		const std::vector< core::Tensor > &	intrinsic_matrices,
		const std::vector< core::Tensor > &	extrinsic_matrices,
		int	tex_size = `1024`,
		bool	update_material = `true`
	)

Create an albedo for the triangle mesh using calibrated images. The triangle mesh must have texture coordinates ("texture_uvs" triangle attribute). This works by back projecting the images onto the texture surface. Overlapping images are blended together in the resulting albedo. For best results, use images captured with exposure and white balance lock to reduce the chance of seams in the output texture.

This function is only supported on the CPU device.

Parameters

images	vector of images.
intrinsic_matrices	vector of {3,3} intrinsic matrices describing the pinhole camera.
extrinsic_matrices	vector of {4,4} extrinsic matrices describing the position and orientation of the camera.
tex_size	Output albedo texture size. This is a square image, so only one side is needed.
update_material	Whether to update the material of the triangle mesh, possibly overwriting an existing albedo texture.

Returns: Image with albedo texture

Definition at line 1471 of file TriangleMesh.cpp.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ RemoveNonManifoldEdges()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::RemoveNonManifoldEdges ( )

Removes all non-manifold edges, by successively deleting triangles with the smallest surface area adjacent to the non-manifold edge until the number of adjacent triangles to the edge is <= 2. If mesh is empty or has no triangles, prints a warning and returns immediately.

Returns: The reference to itself.

Definition at line 1697 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::TensorMap::AssertSizeSynchronized(), ComputeTriangleAreas(), cloudViewer::core::Tensor::Contiguous(), cloudViewer::t::geometry::TensorMap::Contiguous(), DISPATCH_FLOAT_INT_DTYPE_TO_TEMPLATE, cloudViewer::core::Tensor::GetDtype(), GetTriangleAttr(), GetTriangleIndices(), GetVertexAttr(), GetVertexPositions(), HasTriangleAttr(), HasTriangleIndices(), HasVertexPositions(), LogWarning, and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ RemoveTriangleAttr()

void cloudViewer::t::geometry::TriangleMesh::RemoveTriangleAttr ( const std::string & key )

inline

Removes triangle attribute by key value. Primary attribute "indices" cannot be removed. Throws warning if attribute key does not exists.

Parameters

key	Attribute name.

Definition at line 227 of file TriangleMesh.h.

References cloudViewer::t::geometry::TensorMap::Erase(), and triangle_attr_.

Referenced by cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData().

◆ RemoveUnreferencedVertices()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::RemoveUnreferencedVertices ( )

Removes unreferenced vertices from the mesh.

Returns: The reference to itself.

Definition at line 1354 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::TensorMap::AssertSizeSynchronized(), cloudViewer::core::Bool, cloudViewer::core::Tensor::Contiguous(), DISPATCH_INT_DTYPE_PREFIX_TO_TEMPLATE, cloudViewer::core::Tensor::GetDataPtr(), GetDevice(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::GetLength(), GetTriangleAttr(), GetTriangleIndices(), GetVertexAttr(), GetVertexPositions(), HasTriangleIndices(), HasVertexPositions(), cloudViewer::core::Int64, LogDebug, LogWarning, SetTriangleIndices(), SetVertexAttr(), cloudViewer::core::Tensor::To(), and cloudViewer::core::Tensor::Zeros().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ RemoveVertexAttr()

void cloudViewer::t::geometry::TriangleMesh::RemoveVertexAttr ( const std::string & key )

inline

Removes vertex attribute by key value. Primary attribute "positions" cannot be removed. Throws warning if attribute key does not exists.

Parameters

key	Attribute name.

Definition at line 195 of file TriangleMesh.h.

References cloudViewer::t::geometry::TensorMap::Erase(), and vertex_attr_.

Referenced by cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData().

◆ Rotate()

TriangleMesh & cloudViewer::t::geometry::TriangleMesh::Rotate	(	const core::Tensor &	R,
		const core::Tensor &	center
	)

Rotates the VertexPositions, VertexNormals and TriangleNormals (if exists).

Parameters

R	Rotation [Tensor of dim {3,3}].
center	Center [Tensor of dim {3}] about which the TriangleMesh is to be scaled.

Returns: Rotated TriangleMesh

Definition at line 192 of file TriangleMesh.cpp.

References AssertTensorShape, GetTriangleNormals(), GetVertexNormals(), GetVertexPositions(), HasTriangleNormals(), HasVertexNormals(), cloudViewer::t::geometry::kernel::transform::RotateNormals(), and cloudViewer::t::geometry::kernel::transform::RotatePoints().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ SamplePointsUniformly()

PointCloud cloudViewer::t::geometry::TriangleMesh::SamplePointsUniformly	(	size_t	number_of_points,
		bool	use_triangle_normal = `false`
	)

Sample points uniformly from the triangle mesh surface and return as a PointCloud. Normals and colors are interpolated from the triangle mesh. If texture_uvs and albedo are present, these are used to estimate the sampled point color, otherwise vertex colors are used, if present. During sampling, triangle areas are computed and saved in the "areas" attribute.

Parameters

number_of_points	The number of points to sample.
use_triangle_normal	If true, use the triangle normal as the normal of the sampled point. Otherwise, interpolate the vertex normals.

Definition at line 1821 of file TriangleMesh.cpp.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ Scale()

TriangleMesh & cloudViewer::t::geometry::TriangleMesh::Scale	(	double	scale,
		const core::Tensor &	center
	)

Scales the VertexPositions of the TriangleMesh.

Parameters

scale	Scale [double] of dimension
center	Center [Tensor of dim {3}] about which the TriangleMesh is to be scaled.

Returns: Scaled TriangleMesh

Definition at line 181 of file TriangleMesh.cpp.

References cloudViewer::core::Tensor::Add_(), AssertTensorDevice, AssertTensorShape, device_, GetDevice(), GetVertexPositions(), cloudViewer::core::Tensor::Mul_(), cloudViewer::core::Tensor::Sub_(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ SelectByIndex()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::SelectByIndex	(	const core::Tensor &	indices,
		bool	copy_attributes = `true`
	)		const

Returns a new mesh with the vertices selected by a vector of indices. If an item from the indices list exceeds the max vertex number of the mesh or has a negative value, it is ignored.

Parameters

indices	An integer list of indices. Duplicates are allowed, but ignored. Signed and unsigned integral types are allowed.
copy_attributes	Indicates if vertex attributes (other than positions) and triangle attributes (other than indices) should be copied to the returned mesh.

Returns: A new mesh with the selected vertices and faces built from the selected vertices. If the original mesh is empty, return an empty mesh.

Definition at line 1247 of file TriangleMesh.cpp.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ SelectFacesByMask()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::SelectFacesByMask ( const core::Tensor & mask ) const

Returns a new mesh with the faces selected by a boolean mask.

Parameters

mask	A boolean mask with the shape (N) with N as the number of faces in the mesh.

Returns: A new mesh with the selected faces. If the original mesh is empty, return an empty mesh.

Definition at line 1176 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::TensorMap::AssertSizeSynchronized(), AssertTensorDtype, AssertTensorShape, cloudViewer::core::Bool, cloudViewer::core::Tensor::Contiguous(), DISPATCH_INT_DTYPE_PREFIX_TO_TEMPLATE, cloudViewer::core::Tensor::GetDataPtr(), cloudViewer::core::Tensor::GetDtype(), cloudViewer::core::Tensor::GetLength(), GetTriangleAttr(), GetTriangleIndices(), GetVertexAttr(), GetVertexPositions(), HasTriangleIndices(), HasVertexPositions(), cloudViewer::core::Tensor::IndexGet(), LogWarning, and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::kernel::uvunwrapping::ComputeUVAtlas(), and cloudViewer::t::geometry::pybind_trianglemesh().

◆ SetTriangleAttr()

void cloudViewer::t::geometry::TriangleMesh::SetTriangleAttr	(	const std::string &	key,
		const core::Tensor &	value
	)

inline

Set triangle attributes. If the attribute key already exists, its value will be overwritten, otherwise, the new key will be created.

Parameters

key	Attribute name.
value	A tensor.

Definition at line 285 of file TriangleMesh.h.

References AssertTensorDevice, device_, and triangle_attr_.

Referenced by ComputeTriangleAreas(), cloudViewer::t::geometry::kernel::uvunwrapping::ComputeUVAtlas(), cloudViewer::t::geometry::CopyAttributesByMasks(), cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), FromLegacy(), PCAPartition(), cloudViewer::t::io::ReadTriangleMeshFromNPZ(), cloudViewer::t::io::ReadTriangleMeshUsingASSIMP(), SetTriangleColors(), SetTriangleIndices(), SetTriangleNormals(), and To().

◆ SetTriangleColors()

void cloudViewer::t::geometry::TriangleMesh::SetTriangleColors ( const core::Tensor & value )

inline

Set the value of the "colors" attribute in triangle_attr_. This is a convenience function.

Definition at line 305 of file TriangleMesh.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetTriangleAttr().

Referenced by cloudViewer::t::io::ReadTriangleMeshFromNPZ().

◆ SetTriangleIndices()

void cloudViewer::t::geometry::TriangleMesh::SetTriangleIndices ( const core::Tensor & value )

inline

Set the value of the "indices" attribute in triangle_attr_.

Definition at line 291 of file TriangleMesh.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetTriangleAttr().

Referenced by ComputeTriangleNormals(), ComputeVertexNormals(), FromLegacy(), cloudViewer::t::io::ReadTriangleMeshFromNPZ(), cloudViewer::t::io::ReadTriangleMeshUsingASSIMP(), and RemoveUnreferencedVertices().

◆ SetTriangleNormals()

void cloudViewer::t::geometry::TriangleMesh::SetTriangleNormals ( const core::Tensor & value )

inline

Set the value of the "normals" attribute in triangle_attr_. This is a convenience function.

Definition at line 298 of file TriangleMesh.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetTriangleAttr().

Referenced by ComputeTriangleNormals(), ComputeVertexNormals(), NormalizeNormals(), and cloudViewer::t::io::ReadTriangleMeshFromNPZ().

◆ SetVertexAttr()

void cloudViewer::t::geometry::TriangleMesh::SetVertexAttr	(	const std::string &	key,
		const core::Tensor &	value
	)

inline

Set vertex attributes. If the attribute key already exists, its value will be overwritten, otherwise, the new key will be created.

Parameters

key	Attribute name.
value	A tensor.

Definition at line 254 of file TriangleMesh.h.

References AssertTensorDevice, device_, and vertex_attr_.

Referenced by cloudViewer::t::geometry::PointCloud::ComputeConvexHull(), cloudViewer::t::geometry::CopyAttributesByMasks(), cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), cloudViewer::t::io::ReadTriangleMeshFromNPZ(), RemoveUnreferencedVertices(), SetVertexColors(), SetVertexNormals(), SetVertexPositions(), and To().

◆ SetVertexColors()

void cloudViewer::t::geometry::TriangleMesh::SetVertexColors ( const core::Tensor & value )

inline

Set the value of the "colors" attribute in vertex_attr_. Convenience function.

Definition at line 268 of file TriangleMesh.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetVertexAttr().

Referenced by cloudViewer::t::geometry::VoxelBlockGrid::ExtractTriangleMesh(), FromLegacy(), cloudViewer::t::io::ReadTriangleMeshFromNPZ(), and cloudViewer::t::io::ReadTriangleMeshUsingASSIMP().

◆ SetVertexNormals()

void cloudViewer::t::geometry::TriangleMesh::SetVertexNormals ( const core::Tensor & value )

inline

Set the value of the "normals" attribute in vertex_attr_. This is a convenience function.

Definition at line 275 of file TriangleMesh.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetVertexAttr().

Referenced by ComputeVertexNormals(), cloudViewer::t::geometry::VoxelBlockGrid::ExtractTriangleMesh(), FromLegacy(), NormalizeNormals(), cloudViewer::t::io::ReadTriangleMeshFromNPZ(), and cloudViewer::t::io::ReadTriangleMeshUsingASSIMP().

◆ SetVertexPositions()

void cloudViewer::t::geometry::TriangleMesh::SetVertexPositions ( const core::Tensor & value )

inline

Set the value of the "positions" attribute in vertex_attr_. Convenience function.

Definition at line 261 of file TriangleMesh.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetVertexAttr().

Referenced by ComputeTriangleNormals(), FromLegacy(), cloudViewer::t::io::ReadTriangleMeshFromNPZ(), and cloudViewer::t::io::ReadTriangleMeshUsingASSIMP().

◆ SimplifyQuadricDecimation()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::SimplifyQuadricDecimation	(	double	target_reduction,
		bool	preserve_volume = `true`
	)		const

Function to simplify mesh using Quadric Error Metric Decimation by Garland and Heckbert.

This function always uses the CPU device.

Parameters

target_reduction	The factor of triangles to delete, i.e., setting this to 0.9 will return a mesh with about 10% of the original triangle count. It is not guaranteed that the target reduction factor will be reached.
preserve_volume	If set to true this enables volume preservation which reduces the error in triangle normal direction.

Returns: Simplified TriangleMesh.

Definition at line 709 of file TriangleMesh.cpp.

References cloudViewer::t::geometry::vtkutils::CreateTriangleMeshFromVtkPolyData(), cloudViewer::t::geometry::vtkutils::CreateVtkPolyDataFromGeometry(), and LogError.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ SlicePlane()

LineSet cloudViewer::t::geometry::TriangleMesh::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 specific contour values defined by the specified plane.

Parameters

point	A point on the plane as [Tensor of dim {3}].
normal	The normal of the plane as [Tensor of dim {3}].
contour_values	Contour values at which slices will be generated. The value describes the signed distance to the plane.

Returns: LineSet with the extracted contours.

Definition at line 671 of file TriangleMesh.cpp.

References AssertTensorDtypes, AssertTensorShape, cloudViewer::t::geometry::vtkutils::CreateLineSetFromVtkPolyData(), cloudViewer::t::geometry::vtkutils::CreateVtkPolyDataFromGeometry(), cloudViewer::core::Float32, cloudViewer::core::Float64, GetVertexAttr(), cloudViewer::core::Int32, cloudViewer::core::Int64, and normal.

◆ To()

TriangleMesh cloudViewer::t::geometry::TriangleMesh::To	(	const core::Device &	device,
		bool	copy = `false`
	)		const

Transfer the triangle mesh to a specified device.

Parameters

device	The targeted device to convert to.
copy	If true, a new triangle mesh is always created; if false, the copy is avoided when the original triangle mesh is already on the targeted device.

Definition at line 621 of file TriangleMesh.cpp.

References copy, GetDevice(), SetTriangleAttr(), SetVertexAttr(), triangle_attr_, and vertex_attr_.

Referenced by Clone(), cloudViewer::t::geometry::PointCloud::ComputeConvexHull(), ComputeMetrics(), GetSurfaceArea(), cloudViewer::t::geometry::pybind_trianglemesh(), and cloudViewer::visualization::rendering::TMeshBuffersBuilder::TMeshBuffersBuilder().

◆ ToLegacy()

ccMesh cloudViewer::t::geometry::TriangleMesh::ToLegacy ( ) const

Convert to a legacy CloudViewer TriangleMesh.

Definition at line 479 of file TriangleMesh.cpp.

References ccMesh::addEigenVertices(), ccMesh::addTriangle(), ccMesh::addVertexColors(), ccMesh::addVertexNormals(), cloudViewer::t::geometry::DrawableGeometry::GetMaterial(), GetTriangleAttr(), GetTriangleIndices(), GetVertexColors(), GetVertexNormals(), GetVertexPositions(), HasTriangleAttr(), HasTriangleIndices(), HasVertexAttr(), HasVertexColors(), HasVertexNormals(), HasVertexPositions(), LogWarning, ccMesh::materials_, cloudViewer::core::eigen_converter::TensorToEigenVector2dVector(), cloudViewer::core::eigen_converter::TensorToEigenVector3dVector(), cloudViewer::core::eigen_converter::TensorToEigenVector3iVector(), and ccMesh::triangle_uvs_.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh(), and cloudViewer::visualization::visualizer::O3DVisualizer::Impl::UpdateGeometryForWireframeMode().

◆ ToString()

std::string cloudViewer::t::geometry::TriangleMesh::ToString ( ) const

Text description.

Definition at line 96 of file TriangleMesh.cpp.

References format, GetDevice(), cloudViewer::core::Tensor::GetLength(), cloudViewer::t::geometry::TensorMap::GetPrimaryKey(), GetTriangleIndices(), GetVertexPositions(), triangle_attr_, and vertex_attr_.

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ Transform()

TriangleMesh & cloudViewer::t::geometry::TriangleMesh::Transform ( const core::Tensor & transformation )

Transforms the VertexPositions, VertexNormals and TriangleNormals (if exist) of the TriangleMesh.

Transformation matrix is a 4x4 matrix. T (4x4) = [[ R(3x3) t(3x1) ], [ O(1x3) s(1x1) ]] (s = 1 for Transformation without scaling)

It applies the following general transform to each positions and normals. |x'| | R(0,0) R(0,1) R(0,2) t(0)| |x| |y'| = | R(1,0) R(1,1) R(1,2) t(1)| @ |y| |z'| | R(2,0) R(2,1) R(2,2) t(2)| |z| |w'| | O(0,0) O(0,1) O(0,2) s | |1|

[x, y, z] = [x', y', z'] / w'

Parameters

transformation Transformation [Tensor of dim {4,4}].

Returns: Transformed TriangleMesh

Definition at line 152 of file TriangleMesh.cpp.

References AssertTensorShape, GetTriangleNormals(), GetVertexNormals(), GetVertexPositions(), HasTriangleNormals(), HasVertexNormals(), cloudViewer::t::geometry::kernel::transform::TransformNormals(), and cloudViewer::t::geometry::kernel::transform::TransformPoints().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

◆ Translate()

TriangleMesh & cloudViewer::t::geometry::TriangleMesh::Translate	(	const core::Tensor &	translation,
		bool	relative = `true`
	)

Translates the VertexPositions of the TriangleMesh.

Parameters

translation	translation tensor of dimension {3}
relative	if true (default): translates relative to Center

Returns: Translated TriangleMesh

Definition at line 167 of file TriangleMesh.cpp.

References AssertTensorShape, GetCenter(), GetDevice(), GetVertexPositions(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_trianglemesh().

Member Data Documentation

◆ device_

core::Device cloudViewer::t::geometry::TriangleMesh::device_ = core::Device("CPU:0")

protected

Definition at line 1099 of file TriangleMesh.h.

Referenced by GetDevice(), Scale(), SetTriangleAttr(), and SetVertexAttr().

◆ triangle_attr_

TensorMap cloudViewer::t::geometry::TriangleMesh::triangle_attr_

protected

Definition at line 1101 of file TriangleMesh.h.

Referenced by BakeTriangleAttrTextures(), BakeVertexAttrTextures(), Clear(), GetTriangleAttr(), HasTriangleAttr(), RemoveTriangleAttr(), SetTriangleAttr(), To(), and ToString().

◆ vertex_attr_

TensorMap cloudViewer::t::geometry::TriangleMesh::vertex_attr_

protected

Definition at line 1100 of file TriangleMesh.h.

Referenced by BakeVertexAttrTextures(), Clear(), GetVertexAttr(), HasVertexAttr(), RemoveVertexAttr(), SetVertexAttr(), To(), and ToString().

The documentation for this class was generated from the following files:

/root/ACloudViewer/libs/cloudViewer/t/geometry/TriangleMesh.h
/root/ACloudViewer/libs/cloudViewer/t/geometry/TriangleMesh.cpp
/root/ACloudViewer/libs/cloudViewer/t/geometry/TriangleMeshFactory.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TriangleMesh() [1/2]

◆ TriangleMesh() [2/2]

◆ ~TriangleMesh()

Member Function Documentation

◆ BakeTriangleAttrTextures()

◆ BakeVertexAttrTextures()

◆ BooleanDifference()

◆ BooleanIntersection()

◆ BooleanUnion()

◆ Clear()

◆ ClipPlane()

◆ Clone()

◆ ComputeConvexHull()

◆ ComputeMetrics()

◆ ComputeTriangleAreas()

◆ ComputeTriangleNormals()

◆ ComputeUVAtlas()

◆ ComputeVertexNormals()

◆ CreateArrow()

◆ CreateBox()

◆ CreateCone()

◆ CreateCoordinateFrame()

◆ CreateCylinder()

◆ CreateIcosahedron()

◆ CreateIsosurfaces()

◆ CreateMobius()

◆ CreateOctahedron()

◆ CreateSphere()

◆ CreateTetrahedron()

◆ CreateText()

◆ CreateTorus()

◆ ExtrudeLinear()

◆ ExtrudeRotation()

◆ FillHoles()

◆ FromLegacy()

◆ FromTriangleMeshModel()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetDevice()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetNonManifoldEdges()

◆ GetOrientedBoundingBox()

◆ GetSurfaceArea()

◆ GetTriangleAttr() [1/4]

◆ GetTriangleAttr() [2/4]

◆ GetTriangleAttr() [3/4]

◆ GetTriangleAttr() [4/4]

◆ GetTriangleColors() [1/2]

◆ GetTriangleColors() [2/2]

◆ GetTriangleIndices() [1/2]

◆ GetTriangleIndices() [2/2]

◆ GetTriangleNormals() [1/2]

◆ GetTriangleNormals() [2/2]

◆ GetVertexAttr() [1/4]

◆ GetVertexAttr() [2/4]

◆ GetVertexAttr() [3/4]

◆ GetVertexAttr() [4/4]

◆ GetVertexColors() [1/2]

◆ GetVertexColors() [2/2]

◆ GetVertexNormals() [1/2]

◆ GetVertexNormals() [2/2]

◆ GetVertexPositions() [1/2]

◆ GetVertexPositions() [2/2]

◆ HasTriangleAttr()

◆ HasTriangleColors()

◆ HasTriangleIndices()

◆ HasTriangleNormals()

◆ HasVertexAttr()

◆ HasVertexColors()

◆ HasVertexNormals()

◆ HasVertexPositions()

◆ IsEmpty()

◆ NormalizeNormals()