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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 
37 #include "open3d/geometry/Image.h"
39 #include "open3d/utility/Helper.h"
40 
41 namespace open3d {
42 namespace geometry {
43 
44 class PointCloud;
45 class TetraMesh;
46 
54 class TriangleMesh : public MeshBase {
55 public:
62  TriangleMesh(const std::vector<Eigen::Vector3d> &vertices,
63  const std::vector<Eigen::Vector3i> &triangles)
65  triangles_(triangles) {}
66  ~TriangleMesh() override {}
67 
68 public:
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 
75 public:
76  TriangleMesh &operator+=(const TriangleMesh &mesh);
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 
109  bool HasTriangleMaterialIds() const {
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,
211  FilterScope scope = FilterScope::All) const;
212 
223  std::shared_ptr<TriangleMesh> FilterSmoothTaubin(
224  int number_of_iterations,
225  double lambda = 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 
336  static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0,
337  const Eigen::Vector3d &p1,
338  const Eigen::Vector3d &p2);
339 
342  Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const;
343 
345  static inline Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1) {
346  return Eigen::Vector2i(std::min(vidx0, vidx1), std::max(vidx0, vidx1));
347  }
348 
351  std::shared_ptr<PointCloud> SamplePointsUniformlyImpl(
352  size_t number_of_points,
353  std::vector<double> &triangle_areas,
354  double surface_area,
355  bool use_triangle_normal,
356  int seed);
357 
364  std::shared_ptr<PointCloud> SamplePointsUniformly(
365  size_t number_of_points,
366  bool use_triangle_normal = false,
367  int seed = -1);
368 
380  std::shared_ptr<PointCloud> SamplePointsPoissonDisk(
381  size_t number_of_points,
382  double init_factor = 5,
383  const std::shared_ptr<PointCloud> pcl_init = nullptr,
384  bool use_triangle_normal = false,
385  int seed = -1);
386 
392  std::shared_ptr<TriangleMesh> SubdivideMidpoint(
393  int number_of_iterations) const;
394 
400  std::shared_ptr<TriangleMesh> SubdivideLoop(int number_of_iterations) const;
401 
408  std::shared_ptr<TriangleMesh> SimplifyVertexClustering(
409  double voxel_size,
410  SimplificationContraction contraction =
412 
418  std::shared_ptr<TriangleMesh> SimplifyQuadricDecimation(
419  int target_number_of_triangles) const;
420 
430  std::shared_ptr<TriangleMesh> SelectByIndex(
431  const std::vector<size_t> &indices, bool cleanup = true) const;
432 
437  std::shared_ptr<TriangleMesh> Crop(
438  const AxisAlignedBoundingBox &bbox) const;
439 
444  std::shared_ptr<TriangleMesh> Crop(const OrientedBoundingBox &bbox) const;
445 
452  std::tuple<std::vector<int>, std::vector<size_t>, std::vector<double>>
454 
461  void RemoveTrianglesByIndex(const std::vector<size_t> &triangle_indices);
462 
469  void RemoveTrianglesByMask(const std::vector<bool> &triangle_mask);
470 
477  void RemoveVerticesByIndex(const std::vector<size_t> &vertex_indices);
478 
485  void RemoveVerticesByMask(const std::vector<bool> &vertex_mask);
486 
500  std::shared_ptr<TriangleMesh> DeformAsRigidAsPossible(
501  const std::vector<int> &constraint_vertex_indices,
502  const std::vector<Eigen::Vector3d> &constraint_vertex_positions,
503  size_t max_iter,
506  double smoothed_alpha = 0.01) const;
507 
519  static std::shared_ptr<TriangleMesh> CreateFromPointCloudAlphaShape(
520  const PointCloud &pcd,
521  double alpha,
522  std::shared_ptr<TetraMesh> tetra_mesh = nullptr,
523  std::vector<size_t> *pt_map = nullptr);
524 
538  static std::shared_ptr<TriangleMesh> CreateFromPointCloudBallPivoting(
539  const PointCloud &pcd, const std::vector<double> &radii);
540 
564  static std::tuple<std::shared_ptr<TriangleMesh>, std::vector<double>>
566  size_t depth = 8,
567  size_t width = 0,
568  float scale = 1.1f,
569  bool linear_fit = false,
570  int n_threads = -1);
571 
576  static std::shared_ptr<TriangleMesh> CreateTetrahedron(double radius = 1.0);
577 
582  static std::shared_ptr<TriangleMesh> CreateOctahedron(double radius = 1.0);
583 
587  static std::shared_ptr<TriangleMesh> CreateIcosahedron(double radius = 1.0);
588 
594  static std::shared_ptr<TriangleMesh> CreateBox(double width = 1.0,
595  double height = 1.0,
596  double depth = 1.0);
597 
607  static std::shared_ptr<TriangleMesh> CreateSphere(double radius = 1.0,
608  int resolution = 20);
609 
620  static std::shared_ptr<TriangleMesh> CreateCylinder(double radius = 1.0,
621  double height = 2.0,
622  int resolution = 20,
623  int split = 4);
624 
634  static std::shared_ptr<TriangleMesh> CreateCone(double radius = 1.0,
635  double height = 2.0,
636  int resolution = 20,
637  int split = 1);
638 
649  static std::shared_ptr<TriangleMesh> CreateTorus(
650  double torus_radius = 1.0,
651  double tube_radius = 0.5,
652  int radial_resolution = 30,
653  int tubular_resolution = 20);
654 
675  static std::shared_ptr<TriangleMesh> CreateArrow(
676  double cylinder_radius = 1.0,
677  double cone_radius = 1.5,
678  double cylinder_height = 5.0,
679  double cone_height = 4.0,
680  int resolution = 20,
681  int cylinder_split = 4,
682  int cone_split = 1);
683 
689  static std::shared_ptr<TriangleMesh> CreateCoordinateFrame(
690  double size = 1.0,
691  const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0));
692 
702  static std::shared_ptr<TriangleMesh> CreateMoebius(int length_split = 70,
703  int width_split = 15,
704  int twists = 1,
705  double radius = 1,
706  double flatness = 1,
707  double width = 1,
708  double scale = 1);
709 
710 protected:
711  // Forward child class type to avoid indirect nonvirtual base
713 
715  std::shared_ptr<TriangleMesh> &mesh,
716  const std::vector<Eigen::Vector3d> &prev_vertices,
717  const std::vector<Eigen::Vector3d> &prev_vertex_normals,
718  const std::vector<Eigen::Vector3d> &prev_vertex_colors,
719  const std::vector<std::unordered_set<int>> &adjacency_list,
720  double lambda,
721  bool filter_vertex,
722  bool filter_normal,
723  bool filter_color) const;
724 
733  std::unordered_map<Eigen::Vector2i,
734  double,
737  const std::unordered_map<Eigen::Vector2i,
738  std::vector<int>,
740  &edges_to_vertices,
741  double min_weight = std::numeric_limits<double>::lowest()) const;
742 
743 public:
745  std::vector<Eigen::Vector3i> triangles_;
747  std::vector<Eigen::Vector3d> triangle_normals_;
750  std::vector<std::unordered_set<int>> adjacency_list_;
752  std::vector<Eigen::Vector2d> triangle_uvs_;
753 
754  struct Material {
756  float f4[4] = {0};
757 
759  f4[0] = 0;
760  f4[1] = 0;
761  f4[2] = 0;
762  f4[3] = 0;
763  }
764 
765  MaterialParameter(const float v1,
766  const float v2,
767  const float v3,
768  const float v4) {
769  f4[0] = v1;
770  f4[1] = v2;
771  f4[2] = v3;
772  f4[3] = v4;
773  }
774 
775  MaterialParameter(const float v1, const float v2, const float v3) {
776  f4[0] = v1;
777  f4[1] = v2;
778  f4[2] = v3;
779  f4[3] = 1;
780  }
781 
782  MaterialParameter(const float v1, const float v2) {
783  f4[0] = v1;
784  f4[1] = v2;
785  f4[2] = 0;
786  f4[3] = 0;
787  }
788 
789  explicit MaterialParameter(const float v1) {
790  f4[0] = v1;
791  f4[1] = 0;
792  f4[2] = 0;
793  f4[3] = 0;
794  }
795 
796  static MaterialParameter CreateRGB(const float r,
797  const float g,
798  const float b) {
799  return {r, g, b, 1.f};
800  }
801 
802  float r() const { return f4[0]; }
803  float g() const { return f4[1]; }
804  float b() const { return f4[2]; }
805  float a() const { return f4[3]; }
806  };
807 
809  float baseMetallic = 0.f;
810  float baseRoughness = 1.f;
811  float baseReflectance = 0.5f;
812  float baseClearCoat = 0.f;
814  float baseAnisotropy = 0.f;
815 
816  std::shared_ptr<Image> albedo;
817  std::shared_ptr<Image> normalMap;
818  std::shared_ptr<Image> ambientOcclusion;
819  std::shared_ptr<Image> metallic;
820  std::shared_ptr<Image> roughness;
821  std::shared_ptr<Image> reflectance;
822  std::shared_ptr<Image> clearCoat;
823  std::shared_ptr<Image> clearCoatRoughness;
824  std::shared_ptr<Image> anisotropy;
825 
826  std::unordered_map<std::string, MaterialParameter> floatParameters;
827  std::unordered_map<std::string, Image> additionalMaps;
828  };
829 
830  std::unordered_map<std::string, Material> materials_;
831 
833  std::vector<int> triangle_material_ids_;
835  std::vector<Image> textures_;
836 };
837 
838 } // namespace geometry
839 } // namespace open3d
std::shared_ptr< Image > anisotropy
Definition: TriangleMesh.h:824
float baseRoughness
Definition: TriangleMesh.h:810
static std::shared_ptr< TriangleMesh > CreateFromPointCloudBallPivoting(const PointCloud &pcd, const std::vector< double > &radii)
Definition: SurfaceReconstructionBallPivoting.cpp:749
bool HasTriangleMaterialIds() const
Definition: TriangleMesh.h:109
bool IsSelfIntersecting() const
Definition: TriangleMesh.cpp:1349
std::shared_ptr< PointCloud > SamplePointsUniformlyImpl(size_t number_of_points, std::vector< double > &triangle_areas, double surface_area, bool use_triangle_normal, int seed)
Definition: TriangleMesh.cpp:433
std::vector< Eigen::Vector3i > triangles_
List of triangles denoted by the index of points forming the triangle.
Definition: TriangleMesh.h:745
bool HasMaterials() const
Definition: TriangleMesh.h:107
TriangleMesh & RemoveDuplicatedTriangles()
Function that removes duplicated triangles, i.e., removes triangles that reference the same three ver...
Definition: TriangleMesh.cpp:710
bool IsOrientable() const
Definition: TriangleMesh.cpp:1100
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:1488
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:1505
float baseClearCoatRoughness
Definition: TriangleMesh.h:813
std::shared_ptr< TriangleMesh > SubdivideLoop(int number_of_iterations) const
Definition: TriangleMeshSubdivide.cpp:115
MaterialParameter baseColor
Definition: TriangleMesh.h:808
float baseClearCoat
Definition: TriangleMesh.h:812
The base geometry class.
Definition: Geometry.h:37
std::vector< int > GetNonManifoldVertices() const
Definition: TriangleMesh.cpp:1257
MaterialParameter(const float v1, const float v2, const float v3, const float v4)
Definition: TriangleMesh.h:765
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:230
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:915
std::shared_ptr< TriangleMesh > SelectByIndex(const std::vector< size_t > &indices, bool cleanup=true) const
Definition: TriangleMesh.cpp:1549
static std::shared_ptr< TriangleMesh > CreateMoebius(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:441
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:149
std::shared_ptr< Image > roughness
Definition: TriangleMesh.h:820
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToVerticesMap() const
Definition: TriangleMesh.cpp:1138
bool HasTextures() const
Returns true if the mesh has texture.
Definition: TriangleMesh.h:100
std::shared_ptr< Image > normalMap
Definition: TriangleMesh.h:817
bool IsBoundingBoxIntersecting(const TriangleMesh &other) const
Definition: TriangleMesh.cpp:1353
TriangleMesh()
Default Constructor.
Definition: TriangleMesh.h:57
Definition: TriangleMesh.h:754
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:1448
std::shared_ptr< TriangleMesh > FilterSharpen(int number_of_iterations, double strength, FilterScope scope=FilterScope::All) const
Function to sharpen triangle mesh.
Definition: TriangleMesh.cpp:159
MeshBash Class.
Definition: MeshBase.h:51
MeshBase & NormalizeNormals()
Normalize vertex normals to length 1.
Definition: MeshBase.h:117
A bounding box oriented along an arbitrary frame of reference.
Definition: BoundingVolume.h:44
std::unordered_map< std::string, MaterialParameter > floatParameters
Definition: TriangleMesh.h:826
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:54
bool IsEdgeManifold(bool allow_boundary_edges=true) const
Definition: TriangleMesh.cpp:1244
float b() const
Definition: TriangleMesh.h:804
TriangleMesh & ComputeVertexNormals(bool normalized=true)
Function to compute vertex normals, usually called before rendering.
Definition: TriangleMesh.cpp:128
static std::shared_ptr< TriangleMesh > CreateSphere(double radius=1.0, int resolution=20)
Definition: TriangleMeshFactory.cpp:157
bool HasTriangleUvs() const
Definition: TriangleMesh.h:95
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:1154
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToTrianglesMap() const
Definition: TriangleMesh.cpp:1119
static Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1)
Helper function to get an edge with ordered vertex indices.
Definition: TriangleMesh.h:345
static std::shared_ptr< TriangleMesh > CreateBox(double width=1.0, double height=1.0, double depth=1.0)
Definition: TriangleMeshFactory.cpp:120
Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const
Definition: TriangleMesh.cpp:1207
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:1381
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:402
std::vector< Eigen::Vector2i > GetSelfIntersectingTriangles() const
Definition: TriangleMesh.cpp:1317
TriangleMesh & operator+=(const TriangleMesh &mesh)
Definition: TriangleMesh.cpp:76
std::shared_ptr< TriangleMesh > FilterSmoothLaplacian(int number_of_iterations, double lambda, FilterScope scope=FilterScope::All) const
Function to smooth triangle mesh using Laplacian.
Definition: TriangleMesh.cpp:346
float g() const
Definition: TriangleMesh.h:803
static std::shared_ptr< TriangleMesh > CreateCylinder(double radius=1.0, double height=2.0, int resolution=20, int split=4)
Definition: TriangleMeshFactory.cpp:202
int size
Definition: FilePCD.cpp:59
TriangleMesh & RemoveDegenerateTriangles()
Function that removes degenerate triangles, i.e., triangles that reference a single vertex multiple t...
Definition: TriangleMesh.cpp:805
std::unordered_map< std::string, Material > materials_
Definition: TriangleMesh.h:830
std::shared_ptr< TriangleMesh > Crop(const AxisAlignedBoundingBox &bbox) const
Definition: TriangleMesh.cpp:1609
static std::shared_ptr< TriangleMesh > CreateTetrahedron(double radius=1.0)
Definition: TriangleMeshFactory.cpp:33
bool IsVertexManifold() const
Definition: TriangleMesh.cpp:1313
Definition: Helper.h:86
bool IsIntersecting(const TriangleMesh &other) const
Definition: TriangleMesh.cpp:1358
TriangleMesh & ComputeAdjacencyList()
Function to compute adjacency list, call before adjacency list is needed.
Definition: TriangleMesh.cpp:145
bool IsWatertight() const
Definition: TriangleMesh.cpp:1105
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:37
TriangleMesh & NormalizeNormals()
Normalize both triangle normals and vertex normals to length 1.
Definition: TriangleMesh.h:115
TriangleMesh(const std::vector< Eigen::Vector3d > &vertices, const std::vector< Eigen::Vector3i > &triangles)
Parameterized Constructor.
Definition: TriangleMesh.h:62
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:69
virtual TriangleMesh & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: TriangleMesh.cpp:63
static std::tuple< std::shared_ptr< TriangleMesh >, std::vector< double > > CreateFromPointCloudPoisson(const PointCloud &pcd, size_t depth=8, size_t width=0, 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:729
FilterScope
Indicates the scope of filter operations.
Definition: MeshBase.h:70
SimplificationContraction
Indicates the method that is used for mesh simplification if multiple vertices are combined to a sing...
Definition: MeshBase.h:61
DeformAsRigidAsPossibleEnergy
Definition: MeshBase.h:76
virtual TriangleMesh & Clear() override
Clear all elements in the geometry.
Definition: TriangleMesh.cpp:50
std::vector< Image > textures_
Textures of the image.
Definition: TriangleMesh.h:835
std::shared_ptr< Image > albedo
Definition: TriangleMesh.h:816
void RemoveTrianglesByMask(const std::vector< bool > &triangle_mask)
This function removes the triangles that are masked in triangle_mask. Call RemoveUnreferencedVertices...
Definition: TriangleMesh.cpp:1465
bool HasTriangles() const
Returns true if the mesh contains triangles.
Definition: TriangleMesh.h:80
TriangleMesh operator+(const TriangleMesh &mesh) const
Definition: TriangleMesh.cpp:109
static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
Definition: TriangleMesh.cpp:1191
std::shared_ptr< Image > clearCoat
Definition: TriangleMesh.h:822
bool OrientTriangles()
Definition: TriangleMesh.cpp:1109
TriangleMesh & RemoveNonManifoldEdges()
Function that removes all non-manifold edges, by successively deleting triangles with the smallest su...
Definition: TriangleMesh.cpp:835
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:307
float r() const
Definition: TriangleMesh.h:802
char type
Definition: FilePCD.cpp:60
std::shared_ptr< TriangleMesh > SubdivideMidpoint(int number_of_iterations) const
Definition: TriangleMeshSubdivide.cpp:37
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
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, bool filter_vertex, bool filter_normal, bool filter_color) const
Definition: TriangleMesh.cpp:296
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:359
bool HasAdjacencyList() const
Returns true if the mesh contains adjacency normals.
Definition: TriangleMesh.h:90
std::shared_ptr< Image > ambientOcclusion
Definition: TriangleMesh.h:818
static std::shared_ptr< TriangleMesh > CreateOctahedron(double radius=1.0)
Definition: TriangleMeshFactory.cpp:55
Definition: PinholeCameraIntrinsic.cpp:35
double GetTriangleArea(size_t triangle_idx) const
Definition: TriangleMesh.cpp:1163
std::vector< Eigen::Vector2i > GetNonManifoldEdges(bool allow_boundary_edges=true) const
Definition: TriangleMesh.cpp:1230
std::shared_ptr< Image > reflectance
Definition: TriangleMesh.h:821
std::shared_ptr< PointCloud > SamplePointsUniformly(size_t number_of_points, bool use_triangle_normal=false, int seed=-1)
Definition: TriangleMesh.cpp:501
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:42
~TriangleMesh() override
Definition: TriangleMesh.h:66
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, int seed=-1)
Definition: TriangleMesh.cpp:521
std::unordered_map< std::string, Image > additionalMaps
Definition: TriangleMesh.h:827
static std::shared_ptr< TriangleMesh > CreateIcosahedron(double radius=1.0)
Definition: TriangleMeshFactory.cpp:78
int height
Definition: FilePCD.cpp:72
int EulerPoincareCharacteristic() const
Definition: TriangleMesh.cpp:1215
std::vector< std::unordered_set< int > > adjacency_list_
Definition: TriangleMesh.h:750
std::vector< Eigen::Vector3d > triangle_normals_
Triangle normals.
Definition: TriangleMesh.h:747
MaterialParameter(const float v1, const float v2)
Definition: TriangleMesh.h:782
TriangleMesh(Geometry::GeometryType type)
Definition: TriangleMesh.h:712
TriangleMesh & RemoveUnreferencedVertices()
This function removes vertices from the triangle mesh that are not referenced in any triangle of the ...
Definition: TriangleMesh.cpp:762
bool HasTriangleNormals() const
Returns true if the mesh contains triangle normals.
Definition: TriangleMesh.h:85
std::vector< Eigen::Vector3d > vertices_
Vertex coordinates.
Definition: MeshBase.h:148
Triangle mesh contains vertices and triangles represented by the indices to the vertices.
Definition: TriangleMesh.h:54
MaterialParameter(const float v1)
Definition: TriangleMesh.h:789
TriangleMesh & ComputeTriangleNormals(bool normalized=true)
Function to compute triangle normals, usually called before rendering.
Definition: TriangleMesh.cpp:113
std::vector< int > triangle_material_ids_
List of material ids.
Definition: TriangleMesh.h:833
TriangleMesh & RemoveDuplicatedVertices()
Function that removes duplicated verties, i.e., vertices that have identical coordinates.
Definition: TriangleMesh.cpp:667
double GetSurfaceArea() const
Definition: TriangleMesh.cpp:1171
static MaterialParameter CreateRGB(const float r, const float g, const float b)
Definition: TriangleMesh.h:796
float baseMetallic
Definition: TriangleMesh.h:809
float baseReflectance
Definition: TriangleMesh.h:811
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:1633
static Eigen::Vector3i GetOrderedTriangle(int vidx0, int vidx1, int vidx2)
Definition: TriangleMesh.h:310
float a() const
Definition: TriangleMesh.h:805
std::shared_ptr< Image > clearCoatRoughness
Definition: TriangleMesh.h:823
static std::shared_ptr< TriangleMesh > CreateCone(double radius=1.0, double height=2.0, int resolution=20, int split=1)
Definition: TriangleMeshFactory.cpp:254
std::shared_ptr< TriangleMesh > SimplifyVertexClustering(double voxel_size, SimplificationContraction contraction=SimplificationContraction::Average) const
Definition: TriangleMeshSimplification.cpp:91
std::shared_ptr< TriangleMesh > SimplifyQuadricDecimation(int target_number_of_triangles) const
Definition: TriangleMeshSimplification.cpp:265
std::vector< Eigen::Vector2d > triangle_uvs_
List of uv coordinates per triangle.
Definition: TriangleMesh.h:752
The Image class stores image with customizable width, height, num of channels and bytes per channel...
Definition: Image.h:53
float baseAnisotropy
Definition: TriangleMesh.h:814
std::shared_ptr< TriangleMesh > FilterSmoothTaubin(int number_of_iterations, double lambda=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:385
MaterialParameter(const float v1, const float v2, const float v3)
Definition: TriangleMesh.h:775
std::shared_ptr< Image > metallic
Definition: TriangleMesh.h:819
int width
Definition: FilePCD.cpp:71