14 #include <unordered_map>
15 #include <unordered_set>
44 const std::vector<Eigen::Vector3i> &triangles)
52 const Eigen::Matrix4d &transformation)
override;
54 const Eigen::Vector3d ¢er)
override;
82 bool is_all_texture_valid = std::accumulate(
84 [](
bool a,
const Image &b) { return a && !b.IsEmpty(); });
85 return !
textures_.empty() && is_all_texture_valid;
162 int number_of_iterations,
175 int number_of_iterations,
190 int number_of_iterations,
191 double lambda_filter,
205 int number_of_iterations,
206 double lambda_filter = 0.5,
219 bool allow_boundary_edges =
true)
const;
270 std::unordered_map<Eigen::Vector2i,
277 std::unordered_map<Eigen::Vector2i,
284 const Eigen::Vector3d &p1,
285 const Eigen::Vector3d &p2);
303 return Eigen::Vector3i(vidx0, vidx1, vidx2);
324 const Eigen::Vector3d &p1,
325 const Eigen::Vector3d &p2);
333 return Eigen::Vector2i(std::min(vidx0, vidx1), std::max(vidx0, vidx1));
339 size_t number_of_points,
340 const std::vector<double> &triangle_areas,
341 bool use_triangle_normal);
350 size_t number_of_points,
bool use_triangle_normal =
false);
365 size_t number_of_points,
366 double init_factor = 5,
367 const std::shared_ptr<PointCloud> pcl_init =
nullptr,
368 bool use_triangle_normal =
false);
376 int number_of_iterations)
const;
383 std::shared_ptr<TriangleMesh>
SubdivideLoop(
int number_of_iterations)
const;
406 int target_number_of_triangles,
407 double maximum_error,
408 double boundary_weight)
const;
420 const std::vector<size_t> &indices,
bool cleanup =
true)
const;
426 std::shared_ptr<TriangleMesh>
Crop(
441 std::tuple<std::vector<int>, std::vector<size_t>, std::vector<double>>
490 const std::vector<int> &constraint_vertex_indices,
491 const std::vector<Eigen::Vector3d> &constraint_vertex_positions,
495 double smoothed_alpha = 0.01)
const;
511 std::shared_ptr<TetraMesh> tetra_mesh =
nullptr,
512 std::vector<size_t> *pt_map =
nullptr);
528 const PointCloud &pcd,
const std::vector<double> &radii);
552 static std::tuple<std::shared_ptr<TriangleMesh>, std::vector<double>>
557 bool linear_fit =
false,
566 double radius = 1.0,
bool create_uv_map =
false);
574 double radius = 1.0,
bool create_uv_map =
false);
581 double radius = 1.0,
bool create_uv_map =
false);
589 const Eigen::Vector3d &scale = Eigen::Vector3d::Ones(),
590 bool create_uv_map =
false);
600 static std::shared_ptr<TriangleMesh>
CreateBox(
604 bool create_uv_map =
false,
605 bool map_texture_to_each_face =
false);
620 bool create_uv_map =
false);
638 bool create_uv_map =
false);
650 static std::shared_ptr<TriangleMesh>
CreateCone(
double radius = 1.0,
654 bool create_uv_map =
false);
670 double torus_radius = 1.0,
671 double tube_radius = 0.5,
672 int radial_resolution = 30,
673 int tubular_resolution = 20);
700 double cylinder_radius = 1.0,
701 double cone_radius = 1.5,
702 double cylinder_height = 5.0,
703 double cone_height = 4.0,
705 int cylinder_split = 4,
715 const Eigen::Vector3d &origin = Eigen::Vector3d(0.0, 0.0, 0.0));
727 static std::shared_ptr<TriangleMesh>
CreateMobius(
int length_split = 70,
728 int width_split = 15,
740 std::shared_ptr<TriangleMesh> &mesh,
741 const std::vector<Eigen::Vector3d> &prev_vertices,
742 const std::vector<Eigen::Vector3d> &prev_vertex_normals,
743 const std::vector<Eigen::Vector3d> &prev_vertex_colors,
744 const std::vector<std::unordered_set<int>> &adjacency_list,
745 double lambda_filter,
748 bool filter_color)
const;
758 std::unordered_map<Eigen::Vector2i,
762 const std::unordered_map<Eigen::Vector2i,
766 double min_weight = std::numeric_limits<double>::lowest())
const;
824 return {
r,
g,
b, 1.f};
827 float r()
const {
return f4[0]; }
828 float g()
const {
return f4[1]; }
829 float b()
const {
return f4[2]; }
830 float a()
const {
return f4[3]; }
A bounding box that is aligned along the coordinate axes and defined by the min_bound and max_bound.
Definition: BoundingVolume.h:160
The base geometry class.
Definition: Geometry.h:18
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:23
The Image class stores image with customizable width, height, num of channels and bytes per channel.
Definition: Image.h:34
MeshBash Class.
Definition: MeshBase.h:32
std::vector< Eigen::Vector3d > vertices_
Vertex coordinates.
Definition: MeshBase.h:149
DeformAsRigidAsPossibleEnergy
Definition: MeshBase.h:57
SimplificationContraction
Indicates the method that is used for mesh simplification if multiple vertices are combined to a sing...
Definition: MeshBase.h:42
MeshBase & NormalizeNormals()
Normalize vertex normals to length 1.
Definition: MeshBase.h:118
FilterScope
Indicates the scope of filter operations.
Definition: MeshBase.h:51
A bounding box oriented along an arbitrary frame of reference.
Definition: BoundingVolume.h:25
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:36
Triangle mesh contains vertices and triangles represented by the indices to the vertices.
Definition: TriangleMesh.h:35
virtual TriangleMesh & Rotate(const Eigen::Matrix3d &R, const Eigen::Vector3d ¢er) override
Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center ,...
Definition: TriangleMesh.cpp:46
bool IsBoundingBoxIntersecting(const TriangleMesh &other) const
Definition: TriangleMesh.cpp:1408
TriangleMesh(Geometry::GeometryType type)
Definition: TriangleMesh.h:737
TriangleMesh & RemoveNonManifoldEdges()
Function that removes all non-manifold edges, by successively deleting triangles with the smallest su...
Definition: TriangleMesh.cpp:845
std::vector< Image > textures_
Textures of the image.
Definition: TriangleMesh.h:860
static double ComputeTriangleArea(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
Function that computes the area of a mesh triangle.
Definition: TriangleMesh.cpp:1163
std::vector< std::pair< std::string, Material > > materials_
Definition: TriangleMesh.h:855
std::shared_ptr< TriangleMesh > SubdivideMidpoint(int number_of_iterations) const
Definition: TriangleMeshSubdivide.cpp:18
std::tuple< std::vector< int >, std::vector< size_t >, std::vector< double > > ClusterConnectedTriangles() const
Function that clusters connected triangles, i.e., triangles that are connected via edges are assigned...
Definition: TriangleMesh.cpp:1436
double GetVolume() const
Definition: TriangleMesh.cpp:1200
std::shared_ptr< TriangleMesh > SubdivideLoop(int number_of_iterations) const
Definition: TriangleMeshSubdivide.cpp:96
static std::shared_ptr< TriangleMesh > CreateIcosahedron(double radius=1.0, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:85
TriangleMesh & operator+=(const TriangleMesh &mesh)
Definition: TriangleMesh.cpp:53
std::shared_ptr< TriangleMesh > FilterSmoothTaubin(int number_of_iterations, double lambda_filter=0.5, double mu=-0.53, FilterScope scope=FilterScope::All) const
Function to smooth triangle mesh using method of Taubin, "Curve and Surface Smoothing Without Shrinka...
Definition: TriangleMesh.cpp:392
std::shared_ptr< PointCloud > SamplePointsUniformly(size_t number_of_points, bool use_triangle_normal=false)
Definition: TriangleMesh.cpp:515
std::vector< Eigen::Vector2i > GetSelfIntersectingTriangles() const
Definition: TriangleMesh.cpp:1359
std::shared_ptr< PointCloud > SamplePointsPoissonDisk(size_t number_of_points, double init_factor=5, const std::shared_ptr< PointCloud > pcl_init=nullptr, bool use_triangle_normal=false)
Definition: TriangleMesh.cpp:532
bool IsVertexManifold() const
Definition: TriangleMesh.cpp:1355
TriangleMesh & RemoveDuplicatedVertices()
Function that removes duplicated verties, i.e., vertices that have identical coordinates.
Definition: TriangleMesh.cpp:677
std::vector< std::unordered_set< int > > adjacency_list_
Definition: TriangleMesh.h:775
static std::shared_ptr< TriangleMesh > CreateMobius(int length_split=70, int width_split=15, int twists=1, double radius=1, double flatness=1, double width=1, double scale=1)
Definition: TriangleMeshFactory.cpp:800
bool IsEdgeManifold(bool allow_boundary_edges=true) const
Definition: TriangleMesh.cpp:1286
void RemoveTrianglesByIndex(const std::vector< size_t > &triangle_indices)
This function removes the triangles with index in triangle_indices. Call RemoveUnreferencedVertices t...
Definition: TriangleMesh.cpp:1502
static Eigen::Vector4d ComputeTrianglePlane(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
Definition: TriangleMesh.cpp:1233
bool HasTriangles() const
Returns true if the mesh contains triangles.
Definition: TriangleMesh.h:61
TriangleMesh & ComputeVertexNormals(bool normalized=true)
Function to compute vertex normals, usually called before rendering.
Definition: TriangleMesh.cpp:131
void RemoveVerticesByIndex(const std::vector< size_t > &vertex_indices)
This function removes the vertices with index in vertex_indices. Note that also all triangles associa...
Definition: TriangleMesh.cpp:1553
static std::shared_ptr< TriangleMesh > CreateCone(double radius=1.0, double height=2.0, int resolution=20, int split=1, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:539
static std::tuple< std::shared_ptr< TriangleMesh >, std::vector< double > > CreateFromPointCloudPoisson(const PointCloud &pcd, size_t depth=8, float width=0.0f, float scale=1.1f, bool linear_fit=false, int n_threads=-1)
Function that computes a triangle mesh from an oriented PointCloud pcd. This implements the Screened ...
Definition: SurfaceReconstructionPoisson.cpp:719
virtual TriangleMesh & Clear() override
Clear all elements in the geometry.
Definition: TriangleMesh.cpp:27
TriangleMesh & MergeCloseVertices(double eps)
Function that will merge close by vertices to a single one. The vertex position, normal and color wil...
Definition: TriangleMesh.cpp:925
static Eigen::Vector2i GetOrderedEdge(int vidx0, int vidx1)
Helper function to get an edge with ordered vertex indices.
Definition: TriangleMesh.h:332
std::shared_ptr< PointCloud > SamplePointsUniformlyImpl(size_t number_of_points, const std::vector< double > &triangle_areas, bool use_triangle_normal)
Definition: TriangleMesh.cpp:440
static std::shared_ptr< TriangleMesh > CreateFromPointCloudAlphaShape(const PointCloud &pcd, double alpha, std::shared_ptr< TetraMesh > tetra_mesh=nullptr, std::vector< size_t > *pt_map=nullptr)
Alpha shapes are a generalization of the convex hull. With decreasing alpha value the shape schrinks ...
Definition: SurfaceReconstructionAlphaShape.cpp:25
std::shared_ptr< TriangleMesh > SimplifyVertexClustering(double voxel_size, SimplificationContraction contraction=SimplificationContraction::Average) const
Definition: TriangleMeshSimplification.cpp:72
int EulerPoincareCharacteristic() const
Definition: TriangleMesh.cpp:1257
std::shared_ptr< TriangleMesh > SelectByIndex(const std::vector< size_t > &indices, bool cleanup=true) const
Definition: TriangleMesh.cpp:1614
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToTrianglesMap() const
Definition: TriangleMesh.cpp:1128
bool HasTriangleMaterialIds() const
Definition: TriangleMesh.h:90
void RemoveVerticesByMask(const std::vector< bool > &vertex_mask)
This function removes the vertices that are masked in vertex_mask. Note that also all triangles assoc...
Definition: TriangleMesh.cpp:1570
static std::shared_ptr< TriangleMesh > CreateFromPointCloudBallPivoting(const PointCloud &pcd, const std::vector< double > &radii)
Definition: SurfaceReconstructionBallPivoting.cpp:737
std::vector< Eigen::Vector2d > triangle_uvs_
List of uv coordinates per triangle.
Definition: TriangleMesh.h:777
void FilterSmoothLaplacianHelper(std::shared_ptr< TriangleMesh > &mesh, const std::vector< Eigen::Vector3d > &prev_vertices, const std::vector< Eigen::Vector3d > &prev_vertex_normals, const std::vector< Eigen::Vector3d > &prev_vertex_colors, const std::vector< std::unordered_set< int >> &adjacency_list, double lambda_filter, bool filter_vertex, bool filter_normal, bool filter_color) const
Definition: TriangleMesh.cpp:299
~TriangleMesh() override
Definition: TriangleMesh.h:47
virtual TriangleMesh & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition: TriangleMesh.cpp:40
static std::shared_ptr< TriangleMesh > CreateTetrahedron(double radius=1.0, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:15
bool IsOrientable() const
Definition: TriangleMesh.cpp:1109
std::unordered_map< Eigen::Vector2i, double, utility::hash_eigen< Eigen::Vector2i > > ComputeEdgeWeightsCot(const std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i >> &edges_to_vertices, double min_weight=std::numeric_limits< double >::lowest()) const
Function that computes for each edge in the triangle mesh and passed as parameter edges_to_vertices t...
Definition: TriangleMesh.cpp:1704
std::vector< Eigen::Vector3i > triangles_
List of triangles denoted by the index of points forming the triangle.
Definition: TriangleMesh.h:770
bool HasTextures() const
Returns true if the mesh has texture.
Definition: TriangleMesh.h:81
bool OrientTriangles()
Definition: TriangleMesh.cpp:1118
bool HasTriangleUvs() const
Definition: TriangleMesh.h:76
std::shared_ptr< TriangleMesh > Crop(const AxisAlignedBoundingBox &bbox) const
Definition: TriangleMesh.cpp:1680
std::vector< Eigen::Vector3d > triangle_normals_
Triangle normals.
Definition: TriangleMesh.h:772
static std::shared_ptr< TriangleMesh > CreateOctahedron(double radius=1.0, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:52
TriangleMesh & RemoveDuplicatedTriangles()
Function that removes duplicated triangles, i.e., removes triangles that reference the same three ver...
Definition: TriangleMesh.cpp:720
static std::shared_ptr< TriangleMesh > CreateFromOrientedBoundingBox(const OrientedBoundingBox &obox, const Eigen::Vector3d &scale=Eigen::Vector3d::Ones(), bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:142
std::vector< Eigen::Vector2i > GetNonManifoldEdges(bool allow_boundary_edges=true) const
Definition: TriangleMesh.cpp:1272
TriangleMesh & RemoveDegenerateTriangles()
Function that removes degenerate triangles, i.e., triangles that reference a single vertex multiple t...
Definition: TriangleMesh.cpp:815
std::shared_ptr< TriangleMesh > DeformAsRigidAsPossible(const std::vector< int > &constraint_vertex_indices, const std::vector< Eigen::Vector3d > &constraint_vertex_positions, size_t max_iter, DeformAsRigidAsPossibleEnergy energy=DeformAsRigidAsPossibleEnergy::Spokes, double smoothed_alpha=0.01) const
This function deforms the mesh using the method by Sorkine and Alexa, "As-Rigid-As-Possible Surface M...
Definition: TriangleMeshDeformation.cpp:19
static std::shared_ptr< TriangleMesh > CreateArrow(double cylinder_radius=1.0, double cone_radius=1.5, double cylinder_height=5.0, double cone_height=4.0, int resolution=20, int cylinder_split=4, int cone_split=1)
Definition: TriangleMeshFactory.cpp:718
TriangleMesh & RemoveUnreferencedVertices()
This function removes vertices from the triangle mesh that are not referenced in any triangle of the ...
Definition: TriangleMesh.cpp:772
std::shared_ptr< TriangleMesh > SimplifyQuadricDecimation(int target_number_of_triangles, double maximum_error, double boundary_weight) const
Definition: TriangleMeshSimplification.cpp:246
bool HasTriangleNormals() const
Returns true if the mesh contains triangle normals.
Definition: TriangleMesh.h:66
static std::shared_ptr< TriangleMesh > CreateCylinder(double radius=1.0, double height=2.0, int resolution=20, int split=4, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:383
bool IsWatertight() const
Definition: TriangleMesh.cpp:1114
bool HasAdjacencyList() const
Returns true if the mesh contains adjacency normals.
Definition: TriangleMesh.h:71
bool IsIntersecting(const TriangleMesh &other) const
Definition: TriangleMesh.cpp:1413
TriangleMesh & NormalizeNormals()
Normalize both triangle normals and vertex normals to length 1.
Definition: TriangleMesh.h:96
double GetTriangleArea(size_t triangle_idx) const
Definition: TriangleMesh.cpp:1172
static std::shared_ptr< TriangleMesh > CreateTorus(double torus_radius=1.0, double tube_radius=0.5, int radial_resolution=30, int tubular_resolution=20)
Definition: TriangleMeshFactory.cpp:666
TriangleMesh & ComputeAdjacencyList()
Function to compute adjacency list, call before adjacency list is needed.
Definition: TriangleMesh.cpp:148
TriangleMesh(const std::vector< Eigen::Vector3d > &vertices, const std::vector< Eigen::Vector3i > &triangles)
Parameterized Constructor.
Definition: TriangleMesh.h:43
static Eigen::Vector3i GetOrderedTriangle(int vidx0, int vidx1, int vidx2)
Definition: TriangleMesh.h:291
std::shared_ptr< TriangleMesh > FilterSharpen(int number_of_iterations, double strength, FilterScope scope=FilterScope::All) const
Function to sharpen triangle mesh.
Definition: TriangleMesh.cpp:162
std::vector< int > triangle_material_ids_
List of material ids.
Definition: TriangleMesh.h:858
std::unordered_map< Eigen::Vector2i, std::vector< int >, utility::hash_eigen< Eigen::Vector2i > > GetEdgeToVerticesMap() const
Definition: TriangleMesh.cpp:1147
Eigen::Vector4d GetTrianglePlane(size_t triangle_idx) const
Definition: TriangleMesh.cpp:1249
std::shared_ptr< TriangleMesh > FilterSmoothSimple(int number_of_iterations, FilterScope scope=FilterScope::All) const
Function to smooth triangle mesh with simple neighbour average.
Definition: TriangleMesh.cpp:233
TriangleMesh operator+(const TriangleMesh &mesh) const
Definition: TriangleMesh.cpp:112
TriangleMesh()
Default Constructor.
Definition: TriangleMesh.h:38
bool IsSelfIntersecting() const
Definition: TriangleMesh.cpp:1404
static std::shared_ptr< TriangleMesh > CreateBox(double width=1.0, double height=1.0, double depth=1.0, bool create_uv_map=false, bool map_texture_to_each_face=false)
Definition: TriangleMeshFactory.cpp:154
std::shared_ptr< TriangleMesh > FilterSmoothLaplacian(int number_of_iterations, double lambda_filter, FilterScope scope=FilterScope::All) const
Function to smooth triangle mesh using Laplacian.
Definition: TriangleMesh.cpp:351
TriangleMesh & ComputeTriangleNormals(bool normalized=true)
Function to compute triangle normals, usually called before rendering.
Definition: TriangleMesh.cpp:116
double GetSurfaceArea() const
Definition: TriangleMesh.cpp:1180
std::vector< int > GetNonManifoldVertices() const
Definition: TriangleMesh.cpp:1299
void RemoveTrianglesByMask(const std::vector< bool > &triangle_mask)
This function removes the triangles that are masked in triangle_mask. Call RemoveUnreferencedVertices...
Definition: TriangleMesh.cpp:1519
static std::shared_ptr< TriangleMesh > CreateCoordinateFrame(double size=1.0, const Eigen::Vector3d &origin=Eigen::Vector3d(0.0, 0.0, 0.0))
Definition: TriangleMeshFactory.cpp:761
static std::shared_ptr< TriangleMesh > CreateSphere(double radius=1.0, int resolution=20, bool create_uv_map=false)
Definition: TriangleMeshFactory.cpp:216
bool HasMaterials() const
Definition: TriangleMesh.h:88
Definition: PinholeCameraIntrinsic.cpp:16
void swap(open3d::core::SmallVectorImpl< T > &LHS, open3d::core::SmallVectorImpl< T > &RHS)
Implement std::swap in terms of SmallVector swap.
Definition: SmallVector.h:1370
Definition: TriangleMesh.h:780
float b() const
Definition: TriangleMesh.h:829
float g() const
Definition: TriangleMesh.h:828
float f4[4]
Definition: TriangleMesh.h:781
float r() const
Definition: TriangleMesh.h:827
MaterialParameter(const float v1, const float v2, const float v3, const float v4)
Definition: TriangleMesh.h:790
static MaterialParameter CreateRGB(const float r, const float g, const float b)
Definition: TriangleMesh.h:821
MaterialParameter(const float v1, const float v2, const float v3)
Definition: TriangleMesh.h:800
MaterialParameter(const float v1, const float v2)
Definition: TriangleMesh.h:807
MaterialParameter(const float v1)
Definition: TriangleMesh.h:814
MaterialParameter()
Definition: TriangleMesh.h:783
float a() const
Definition: TriangleMesh.h:830
Definition: TriangleMesh.h:779
std::shared_ptr< Image > anisotropy
Definition: TriangleMesh.h:849
std::shared_ptr< Image > normalMap
Definition: TriangleMesh.h:842
std::shared_ptr< Image > clearCoatRoughness
Definition: TriangleMesh.h:848
std::shared_ptr< Image > roughness
Definition: TriangleMesh.h:845
float baseAnisotropy
Definition: TriangleMesh.h:839
std::unordered_map< std::string, Image > additionalMaps
Definition: TriangleMesh.h:852
float baseClearCoat
Definition: TriangleMesh.h:837
float baseRoughness
Definition: TriangleMesh.h:835
std::unordered_map< std::string, MaterialParameter > floatParameters
Definition: TriangleMesh.h:851
std::shared_ptr< Image > reflectance
Definition: TriangleMesh.h:846
MaterialParameter baseColor
Definition: TriangleMesh.h:833
std::shared_ptr< Image > metallic
Definition: TriangleMesh.h:844
std::shared_ptr< Image > ambientOcclusion
Definition: TriangleMesh.h:843
std::shared_ptr< Image > albedo
Definition: TriangleMesh.h:841
float baseReflectance
Definition: TriangleMesh.h:836
float baseMetallic
Definition: TriangleMesh.h:834
std::shared_ptr< Image > clearCoat
Definition: TriangleMesh.h:847
float baseClearCoatRoughness
Definition: TriangleMesh.h:838