Open3D (C++ API)  0.17.0
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MeshBase.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <Eigen/Core>
11#include <memory>
12#include <tuple>
13#include <unordered_map>
14#include <unordered_set>
15#include <vector>
16
19
20namespace open3d {
21namespace geometry {
22
23class PointCloud;
24class TriangleMesh;
25
32class MeshBase : public Geometry3D {
33public:
43
51 enum class FilterScope { All, Color, Normal, Vertex };
52
58
61 ~MeshBase() override {}
62
63public:
64 virtual MeshBase &Clear() override;
65 virtual bool IsEmpty() const override;
66 virtual Eigen::Vector3d GetMinBound() const override;
67 virtual Eigen::Vector3d GetMaxBound() const override;
68 virtual Eigen::Vector3d GetCenter() const override;
69
73
80 bool robust = false) const override;
81
89 bool robust = false) const override;
90
91 virtual MeshBase &Transform(const Eigen::Matrix4d &transformation) override;
92 virtual MeshBase &Translate(const Eigen::Vector3d &translation,
93 bool relative = true) override;
94 virtual MeshBase &Scale(const double scale,
95 const Eigen::Vector3d &center) override;
96 virtual MeshBase &Rotate(const Eigen::Matrix3d &R,
97 const Eigen::Vector3d &center) override;
98
99 MeshBase &operator+=(const MeshBase &mesh);
100 MeshBase operator+(const MeshBase &mesh) const;
101
103 bool HasVertices() const { return vertices_.size() > 0; }
104
106 bool HasVertexNormals() const {
107 return vertices_.size() > 0 &&
108 vertex_normals_.size() == vertices_.size();
109 }
110
112 bool HasVertexColors() const {
113 return vertices_.size() > 0 &&
114 vertex_colors_.size() == vertices_.size();
115 }
116
119 for (size_t i = 0; i < vertex_normals_.size(); i++) {
120 vertex_normals_[i].normalize();
121 if (std::isnan(vertex_normals_[i](0))) {
122 vertex_normals_[i] = Eigen::Vector3d(0.0, 0.0, 1.0);
123 }
124 }
125 return *this;
126 }
127
131 MeshBase &PaintUniformColor(const Eigen::Vector3d &color) {
133 return *this;
134 }
135
137 std::tuple<std::shared_ptr<TriangleMesh>, std::vector<size_t>>
138 ComputeConvexHull() const;
139
140protected:
141 // Forward child class type to avoid indirect nonvirtual base
144 const std::vector<Eigen::Vector3d> &vertices)
145 : Geometry3D(type), vertices_(vertices) {}
146
147public:
149 std::vector<Eigen::Vector3d> vertices_;
151 std::vector<Eigen::Vector3d> vertex_normals_;
153 std::vector<Eigen::Vector3d> vertex_colors_;
154};
155
156} // namespace geometry
157} // namespace open3d
math::float4 color
Definition LineSetBuffers.cpp:45
A bounding box that is aligned along the coordinate axes.
Definition BoundingVolume.h:159
The base geometry class for 3D geometries.
Definition Geometry3D.h:28
void ResizeAndPaintUniformColor(std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const
Resizes the colors vector and paints a uniform color.
Definition Geometry3D.cpp:56
The base geometry class.
Definition Geometry.h:18
GeometryType
Specifies possible geometry types.
Definition Geometry.h:23
MeshBash Class.
Definition MeshBase.h:32
std::vector< Eigen::Vector3d > vertices_
Vertex coordinates.
Definition MeshBase.h:149
MeshBase & NormalizeNormals()
Normalize vertex normals to length 1.
Definition MeshBase.h:118
MeshBase(Geometry::GeometryType type)
Definition MeshBase.h:142
virtual bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition MeshBase.cpp:33
MeshBase & PaintUniformColor(const Eigen::Vector3d &color)
Assigns each vertex in the TriangleMesh the same color.
Definition MeshBase.h:131
virtual Eigen::Vector3d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition MeshBase.cpp:39
virtual OrientedBoundingBox GetMinimalOrientedBoundingBox(bool robust=false) const override
Definition MeshBase.cpp:53
bool HasVertexNormals() const
Returns True if the mesh contains vertex normals.
Definition MeshBase.h:106
virtual MeshBase & 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 MeshBase.cpp:74
std::vector< Eigen::Vector3d > vertex_colors_
RGB colors of vertices.
Definition MeshBase.h:153
MeshBase(Geometry::GeometryType type, const std::vector< Eigen::Vector3d > &vertices)
Definition MeshBase.h:143
MeshBase & operator+=(const MeshBase &mesh)
Definition MeshBase.cpp:81
virtual MeshBase & Transform(const Eigen::Matrix4d &transformation) override
Apply transformation (4x4 matrix) to the geometry coordinates.
Definition MeshBase.cpp:57
DeformAsRigidAsPossibleEnergy
Definition MeshBase.h:57
~MeshBase() override
Definition MeshBase.h:61
bool HasVertexColors() const
Returns True if the mesh contains vertex colors.
Definition MeshBase.h:112
MeshBase()
Default Constructor.
Definition MeshBase.h:60
virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const override
Definition MeshBase.cpp:45
SimplificationContraction
Indicates the method that is used for mesh simplification if multiple vertices are combined to a sing...
Definition MeshBase.h:42
std::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > > ComputeConvexHull() const
Function that computes the convex hull of the triangle mesh using qhull.
Definition MeshBase.cpp:111
virtual MeshBase & Translate(const Eigen::Vector3d &translation, bool relative=true) override
Apply translation to the geometry coordinates.
Definition MeshBase.cpp:63
bool HasVertices() const
Returns True if the mesh contains vertices.
Definition MeshBase.h:103
virtual MeshBase & Clear() override
Clear all elements in the geometry.
Definition MeshBase.cpp:26
virtual Eigen::Vector3d GetCenter() const override
Returns the center of the geometry coordinates.
Definition MeshBase.cpp:43
MeshBase operator+(const MeshBase &mesh) const
Definition MeshBase.cpp:106
virtual MeshBase & Scale(const double scale, const Eigen::Vector3d &center) override
Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is tr...
Definition MeshBase.cpp:69
std::vector< Eigen::Vector3d > vertex_normals_
Vertex normals.
Definition MeshBase.h:151
virtual Eigen::Vector3d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition MeshBase.cpp:35
virtual OrientedBoundingBox GetOrientedBoundingBox(bool robust=false) const override
Definition MeshBase.cpp:49
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
Definition TriangleMeshSimplification.cpp:22
char type
Definition FilePCD.cpp:41
Definition PinholeCameraIntrinsic.cpp:16