trimesh¶
 trimesh.exchange
 trimesh.exchange.assimp
 trimesh.exchange.binvox
 trimesh.exchange.dae
 trimesh.exchange.export
 trimesh.exchange.gltf
 trimesh.exchange.load
 trimesh.exchange.misc
 trimesh.exchange.obj
 trimesh.exchange.off
 trimesh.exchange.openctm
 trimesh.exchange.ply
 trimesh.exchange.stl
 trimesh.exchange.threemf
 trimesh.exchange.urdf
 trimesh.exchange.xml_based
 trimesh.exchange.xyz
 trimesh/exchange
 trimesh.interfaces
 trimesh.path
 trimesh.path.exchange
 trimesh.path.arc
 trimesh.path.creation
 trimesh.path.curve
 trimesh.path.entities
 trimesh.path.intersections
 trimesh.path.packing
 trimesh.path.path
 trimesh.path.polygons
 trimesh.path.raster
 trimesh.path.repair
 trimesh.path.segments
 trimesh.path.simplify
 trimesh.path.traversal
 trimesh.path.util
 trimesh.path
 trimesh.ray
 trimesh.resources
 trimesh.scene
 trimesh.viewer
 trimesh.visual
 trimesh.voxel
 trimesh.base
 trimesh.boolean
 trimesh.bounds
 trimesh.caching
 trimesh.collision
 trimesh.comparison
 trimesh.constants
 trimesh.convex
 trimesh.creation
 trimesh.curvature
 trimesh.decomposition
 trimesh.exceptions
 trimesh.geometry
 trimesh.graph
 trimesh.grouping
 trimesh.inertia
 trimesh.integrate
 trimesh.intersections
 trimesh.interval
 trimesh.nsphere
 trimesh.parent
 trimesh.permutate
 trimesh.points
 trimesh.poses
 trimesh.primitives
 trimesh.proximity
 trimesh.registration
 trimesh.remesh
 trimesh.rendering
 trimesh.repair
 trimesh.resolvers
 trimesh.sample
 trimesh.schemas
 trimesh.smoothing
 trimesh.transformations
 trimesh.triangles
 trimesh.units
 trimesh.unwrap
 trimesh.util
 trimesh.version
https://github.com/mikedh/trimesh¶
Trimesh is a pure Python (2.7 3.3+) library for loading and using triangular meshes with an emphasis on watertight meshes. The goal of the library is to provide a fully featured Trimesh object which allows for easy manipulation and analysis, in the style of the Polygon object in the Shapely library.

class
trimesh.
PointCloud
(vertices, colors=None, metadata=None, **kwargs)¶ Bases:
trimesh.parent.Geometry3D
Hold 3D points in an object which can be visualized in a scene.

apply_transform
(transform)¶ Apply a homogeneous transformation to the PointCloud object in place.
 Parameters
transform ((4, 4) float) – Homogeneous transformation to apply to PointCloud

property
bounds
¶ The axis aligned bounds of the PointCloud
 Returns
bounds – Minimum, Maximum verteex
 Return type
(2, 3) float

property
centroid
¶ The mean vertex position
 Returns
centroid – Mean vertex position
 Return type
(3,) float

property
colors
¶ Stored per point color
 Returns
colors – Per point RGBA color
 Return type
(len(self.vertices), 4) np.uint8

property
convex_hull
¶ A convex hull of every point.
 Returns
convex_hull – A watertight mesh of the hull of the points
 Return type

copy
()¶ Safely get a copy of the current point cloud.
Copied objects will have emptied caches to avoid memory issues and so may be slow on initial operations until caches are regenerated.
Current object will not have its cache cleared.
 Returns
copied – Copy of current point cloud
 Return type

crc
()¶ Get a CRC hash of the current vertices.
 Returns
crc – Hash of self.vertices
 Return type
int

export
(file_obj=None, file_type=None, **kwargs)¶ Export the current pointcloud to a file object. If file_obj is a filename, file will be written there. Supported formats are xyz :param file_obj: str, file name where to save the pointcloud
None, if you would like this function to return the export blob
 Parameters
file_type (str) – Which file type to export as. If file name is passed this is not required

property
extents
¶ The size of the axis aligned bounds
 Returns
extents – Edge length of axis aligned bounding box
 Return type
(3,) float

property
is_empty
¶ Are there any vertices defined or not.
 Returns
empty – True if no vertices defined
 Return type
bool

md5
()¶ Get an MD5 hash of the current vertices.
 Returns
md5 – Hash of self.vertices
 Return type
str

merge_vertices
()¶ Merge vertices closer than tol.merge (default: 1e8)

scene
()¶ A scene containing just the PointCloud
 Returns
scene – Scene object containing this PointCloud
 Return type

property
shape
¶ Get the shape of the pointcloud
 Returns
shape – Shape of vertex array
 Return type
(2,) int

show
(**kwargs)¶ Open a viewer window displaying the current PointCloud

property
vertices
¶ Vertices of the PointCloud
 Returns
vertices – Points in the PointCloud
 Return type
(n, 3) float


class
trimesh.
Scene
(geometry=None, base_frame='world', metadata={}, graph=None, camera=None, lights=None, camera_transform=None)¶ Bases:
trimesh.parent.Geometry3D
A simple scene graph which can be rendered directly via pyglet/openGL or through other endpoints such as a raytracer. Meshes are added by name, which can then be moved by updating transform in the transform tree.

add_geometry
(geometry, node_name=None, geom_name=None, parent_node_name=None, transform=None, extras=None)¶ Add a geometry to the scene.
If the mesh has multiple transforms defined in its metadata, they will all be copied into the TransformForest of the current scene automatically.
 Parameters
geometry (Trimesh, Path2D, Path3D PointCloud or list) – Geometry to initially add to the scene
node_name (Name of the added node.) –
geom_name (Name of the added geometry.) –
parent_node_name (Name of the parent node in the graph.) –
transform (Transform that applies to the added node.) –
extras (Optional metadata for the node.) –
 Returns
node_name – Name of single node in self.graph (passed in) or None if node was not added (eg. geometry was null or a Scene).
 Return type
str

apply_transform
(transform)¶ Apply a transform to every geometry in the scene.
 Parameters
transform ((4, 4)) – Homogeneous transformation matrix

property
area
¶ What is the summed area of every geometry which has area.
 Returns
area – Summed area of every instanced geometry
 Return type
float

property
bounds
¶ Return the overall bounding box of the scene.
 Returns
bounds – Position of [min, max] bounding box Returns None if no valid bounds exist
 Return type
(2, 3) float or None

property
bounds_corners
¶ A list of points that represent the corners of the AABB of every geometry in the scene.
This can be useful if you want to take the AABB in a specific frame.
 Returns
corners
 Return type
(n, 3) float, points in space

property
camera
¶ Get the single camera for the scene. If not manually set one will abe automatically generated.
 Returns
camera – Camera object defined for the scene
 Return type

camera_rays
()¶ Calculate the trimesh.scene.Camera origin and ray direction vectors. Returns one ray per pixel as set in camera.resolution
 Returns
origin ((n, 3) float) – Ray origins in space
vectors ((n, 3) float) – Ray direction unit vectors in world coordinates
pixels ((n, 2) int) – Which pixel does each ray correspond to in an image

property
camera_transform
¶ Get camera transform in the base frame
 Returns
camera_transform – Camera transform in the base frame
 Return type
(4, 4) float

property
centroid
¶ Return the center of the bounding box for the scene.
 Returns
centroid – Point for center of bounding box
 Return type
float

convert_units
(desired, guess=False)¶ If geometry has units defined convert them to new units.
Returns a new scene with geometries and transforms scaled.
 Parameters
desired (str) – Desired final unit system: ‘inches’, ‘mm’, etc.
guess (bool) – Is the converter allowed to guess scale when models don’t have it specified in their metadata.
 Returns
scaled – Copy of scene with scaling applied and units set for every model
 Return type

property
convex_hull
¶ The convex hull of the whole scene
 Returns
hull
 Return type
Trimesh object, convex hull of all meshes in scene

copy
()¶ Return a deep copy of the current scene
 Returns
copied – Copy of the current scene
 Return type

crc
()¶

deduplicated
()¶ Return a new scene where each unique geometry is only included once and transforms are discarded.
 Returns
dedupe – One copy of each unique geometry from scene
 Return type

delete_geometry
(names)¶ Delete one more multiple geometries from the scene and also remove any node in the transform graph which references it.
 Parameters
name (hashable) – Name that references self.geometry

dump
(concatenate=False)¶ Append all meshes in scene freezing transforms.

property
duplicate_nodes
¶ Return a sequence of node keys of identical meshes.
Will include meshes with different geometry but identical spatial hashes as well as meshes repeated by self.nodes.
 Returns
duplicates – Keys of self.nodes that represent identical geometry
 Return type
sequenc

explode
(vector=None, origin=None)¶ Explode a scene around a point and vector.
 Parameters
vector ((3,) float or float) – Explode radially around a direction vector or spherically
origin ((3,) float) – Point to explode around

export
(file_obj=None, file_type=None, **kwargs)¶ Export a snapshot of the current scene.
 Parameters
file_obj (str, filelike, or None) – File object to export to
file_type (str or None) – What encoding to use for meshes IE: dict, dict64, stl
 Returns
export – Only returned if file_obj is None
 Return type
bytes

property
extents
¶ Return the axis aligned box size of the current scene.
 Returns
extents – Bounding box sides length
 Return type
(3,) float

property
geometry_identifiers
¶ Look up geometries by identifier MD5
 Returns
identifiers – {Identifier MD5: key in self.geometry}
 Return type
dict

property
has_camera
¶

property
is_empty
¶ Does the scene have anything in it.
 Returns
is_empty
 Return type
bool, True if nothing is in the scene

property
is_valid
¶ Is every geometry connected to the root node.
 Returns
is_valid – Does every geometry have a transform
 Return type
bool

property
lights
¶ Get a list of the lights in the scene. If nothing is set it will generate some automatically.
 Returns
lights – Lights in the scene.
 Return type

md5
()¶ MD5 of scene which will change when meshes or transforms are changed
 Returns
hashed – MD5 hash of scene
 Return type
str

rezero
()¶ Move the current scene so that the AABB of the whole scene is centered at the origin.
Does this by changing the base frame to a new, offset base frame.

save_image
(resolution=None, **kwargs)¶ Get a PNG image of a scene.
 Parameters
resolution ((2,) int) – Resolution to render image
**kwargs – Passed to SceneViewer constructor
 Returns
png – Render of scene as a PNG
 Return type
bytes

property
scale
¶ The approximate scale of the mesh
 Returns
scale – The mean of the bounding box edge lengths
 Return type
float

scaled
(scale)¶ Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor.
 Parameters
scale (float) – Factor to scale meshes and transforms
 Returns
scaled – A copy of the current scene but scaled
 Return type

set_camera
(angles=None, distance=None, center=None, resolution=None, fov=None)¶ Create a camera object for self.camera, and add a transform to self.graph for it.
If arguments are not passed sane defaults will be figured out which show the mesh roughly centered.
 Parameters
angles ((3,) float) – Initial euler angles in radians
distance (float) – Distance from centroid
center ((3,) float) – Point camera should be center on
camera (Camera object) – Object that stores camera parameters

show
(viewer=None, **kwargs)¶ Display the current scene.
 Parameters
viewer (str) – What kind of viewer to open, including ‘gl’ to open a pyglet window, ‘notebook’ for a jupyter notebook or None
kwargs (dict) – Includes smooth, which will turn on or off automatic smooth shading

property
triangles
¶ Return a correctly transformed polygon soup of the current scene.
 Returns
triangles – Triangles in space
 Return type
(n, 3, 3) float

property
triangles_node
¶ Which node of self.graph does each triangle come from.
 Returns
triangles_index – Node name for each triangle
 Return type
(len(self.triangles),)

property
units
¶ Get the units for every model in the scene, and raise a ValueError if there are mixed units.
 Returns
units – Units for every model in the scene
 Return type
str


class
trimesh.
Trimesh
(vertices=None, faces=None, face_normals=None, vertex_normals=None, face_colors=None, vertex_colors=None, face_attributes=None, vertex_attributes=None, metadata=None, process=True, validate=False, use_embree=True, initial_cache=None, visual=None, **kwargs)¶ Bases:
trimesh.parent.Geometry3D

apply_transform
(matrix)¶ Transform mesh by a homogeneous transformation matrix.
Does the bookkeeping to avoid recomputing things so this function should be used rather than directly modifying self.vertices if possible.
 Parameters
matrix ((4, 4) float) – Homogeneous transformation matrix

property
area
¶ Summed area of all triangles in the current mesh.
 Returns
area – Surface area of mesh
 Return type
float

property
area_faces
¶ The area of each face in the mesh.
 Returns
area_faces – Area of each face
 Return type
(n, ) float

property
as_open3d
¶ Return an open3d.geometry.TriangleMesh version of the current mesh.
 Returns
open3d – Current mesh as an open3d object.
 Return type
open3d.geometry.TriangleMesh

property
body_count
¶ How many connected groups of vertices exist in this mesh. Note that this number may differ from result in mesh.split, which is calculated from FACE rather than vertex adjacency.
 Returns
count – Number of connected vertex groups
 Return type
int

property
bounds
¶ The axis aligned bounds of the faces of the mesh.
 Returns
bounds – Bounding box with [min, max] coordinates If mesh is empty will return None
 Return type
(2, 3) float or None

property
center_mass
¶ The point in space which is the center of mass/volume.
If the current mesh is not watertight this is meaningless garbage unless it was explicitly set.
 Returns
center_mass – Volumetric center of mass of the mesh
 Return type
(3, ) float

property
centroid
¶ The point in space which is the average of the triangle centroids weighted by the area of each triangle.
This will be valid even for nonwatertight meshes, unlike self.center_mass
 Returns
centroid – The average vertex weighted by face area
 Return type
(3, ) float

compute_stable_poses
(center_mass=None, sigma=0.0, n_samples=1, threshold=0.0)¶ Computes stable orientations of a mesh and their quasistatic probabilities.
This method samples the location of the center of mass from a multivariate gaussian (mean at com, cov equal to identity times sigma) over n_samples. For each sample, it computes the stable resting poses of the mesh on a a planar workspace and evaluates the probabilities of landing in each pose if the object is dropped onto the table randomly.
This method returns the 4x4 homogeneous transform matrices that place the shape against the planar surface with the zaxis pointing upwards and a list of the probabilities for each pose. The transforms and probabilties that are returned are sorted, with the most probable pose first.
 Parameters
center_mass ((3, ) float) – The object center of mass (if None, this method assumes uniform density and watertightness and computes a center of mass explicitly)
sigma (float) – The covariance for the multivariate gaussian used to sample center of mass locations
n_samples (int) – The number of samples of the center of mass location
threshold (float) – The probability value at which to threshold returned stable poses
 Returns
transforms ((n, 4, 4) float) – The homogeneous matrices that transform the object to rest in a stable pose, with the new zaxis pointing upwards from the table and the object just touching the table.
probs ((n, ) float) – A probability ranging from 0.0 to 1.0 for each pose

contains
(points)¶ Given an array of points determine whether or not they are inside the mesh. This raises an error if called on a nonwatertight mesh.
 Parameters
points ((n, 3) float) – Points in cartesian space
 Returns
contains – Whether or not each point is inside the mesh
 Return type
(n, ) bool

convert_units
(desired, guess=False)¶ Convert the units of the mesh into a specified unit.
 Parameters
desired (string) – Units to convert to (eg ‘inches’)
guess (boolean) – If self.units are not defined should we guess the current units of the document and then convert?

convex_decomposition
(maxhulls=20, **kwargs)¶ Compute an approximate convex decomposition of a mesh.
testVHACD Parameters which can be passed as kwargs:
resolution 100000 max. concavity 0.001 plane downsampling 4 convexhull downsampling 4 alpha 0.05 beta 0.05 maxhulls 10 pca 0 mode 0 max. vertices per convexhull 64 min. volume to add vertices to convexhulls 0.0001 convexhull approximation 1 OpenCL acceleration 1 OpenCL platform ID 0 OpenCL device ID 0 output output.wrl log log.txt
 Parameters
maxhulls (int) – Maximum number of convex hulls to return
**kwargs (testVHACD keyword arguments) –
 Returns
meshes – List of convex meshes that approximate the original
 Return type
list of trimesh.Trimesh

property
convex_hull
¶ Returns a Trimesh object representing the convex hull of the current mesh.
 Returns
convex – Mesh of convex hull of current mesh
 Return type

copy
(include_cache=False)¶ Safely return a copy of the current mesh.
By default, copied meshes will have emptied cache to avoid memory issues and so may be slow on initial operations until caches are regenerated.
Current object will never have its cache cleared.
 Parameters
include_cache (bool) – If True, will shallow copy cached data to new mesh
 Returns
copied – Copy of current mesh
 Return type

crc
()¶ A zlib.adler32 checksum for the current mesh data.
This is about 5x faster than an MD5, and the checksum is checked every time something is requested from the cache so it gets called a lot.
 Returns
crc – Checksum of current mesh data
 Return type
int

property
density
¶ The density of the mesh.
 Returns
density – The density of the mesh.
 Return type
float

difference
(other, engine=None, **kwargs)¶ Boolean difference between this mesh and n other meshes
 Parameters
other (trimesh.Trimesh, or list of trimesh.Trimesh objects) – Meshes to difference
 Returns
difference – Difference between self and other Trimesh objects
 Return type

property
edges
¶ Edges of the mesh (derived from faces).
 Returns
edges – List of vertex indices making up edges
 Return type
(n, 2) int

property
edges_face
¶ Which face does each edge belong to.
 Returns
edges_face – Index of self.faces
 Return type
(n, ) int

property
edges_sorted
¶ Edges sorted along axis 1
 Returns
edges_sorted – Same as self.edges but sorted along axis 1
 Return type
(n, 2)

property
edges_sorted_tree
¶ A KDTree for mapping edges back to edge index.
 Returns
tree – Tree when queried with edges will return their index in mesh.edges_sorted
 Return type
scipy.spatial.cKDTree

property
edges_sparse
¶ Edges in sparse bool COO graph format where connected vertices are True.
 Returns
sparse – Sparse graph in COO format
 Return type
(len(self.vertices), len(self.vertices)) bool

property
edges_unique
¶ The unique edges of the mesh.
 Returns
edges_unique – Vertex indices for unique edges
 Return type
(n, 2) int

property
edges_unique_inverse
¶ Return the inverse required to reproduce self.edges_sorted from self.edges_unique.
Useful for referencing edge properties: mesh.edges_unique[mesh.edges_unique_inverse] == m.edges_sorted
 Returns
inverse – Indexes of self.edges_unique
 Return type
(len(self.edges), ) int

property
edges_unique_length
¶ How long is each unique edge.
 Returns
length – Length of each unique edge
 Return type
(len(self.edges_unique), ) float

property
euler_number
¶ Return the Euler characteristic (a topological invariant) for the mesh In order to guarantee correctness, this should be called after remove_unreferenced_vertices
 Returns
euler_number – Topological invariant
 Return type
int

eval_cached
(statement, *args)¶ Evaluate a statement and cache the result before returning.
Statements are evaluated inside the Trimesh object, and
 Parameters
statement (str) – Statement of valid python code
*args (list) – Available inside statement as args[0], etc
 Returns
result
 Return type
result of running eval on statement with args
Examples
r = mesh.eval_cached(‘np.dot(self.vertices, args[0])’, [0, 0, 1])

export
(file_obj=None, file_type=None, **kwargs)¶ Export the current mesh to a file object. If file_obj is a filename, file will be written there.
Supported formats are stl, off, ply, collada, json, dict, glb, dict64, msgpack.
 Parameters
file_obj (open writeable file object) – str, file name where to save the mesh None, if you would like this function to return the export blob
file_type (str) – Which file type to export as. If file name is passed this is not required

property
extents
¶ The length, width, and height of the axis aligned bounding box of the mesh.
 Returns
extents – Array containing axis aligned [length, width, height] If mesh is empty returns None
 Return type
(3, ) float or None

property
face_adjacency
¶ Find faces that share an edge, which we call here ‘adjacent’.
 Returns
adjacency – Pairs of faces which share an edge
 Return type
(n, 2) int
Examples
In [1]: mesh = trimesh.load(‘models/featuretype.STL’)
In [2]: mesh.face_adjacency Out[2]: array([[ 0, 1],
[ 2, 3], [ 0, 3], …, [1112, 949], [3467, 3475], [1113, 3475]])
In [3]: mesh.faces[mesh.face_adjacency[0]] Out[3]: TrackedArray([[ 1, 0, 408],
[1239, 0, 1]], dtype=int64)
In [4]: import networkx as nx
In [5]: graph = nx.from_edgelist(mesh.face_adjacency)
In [6]: groups = nx.connected_components(graph)

property
face_adjacency_angles
¶ Return the angle between adjacent faces
 Returns
adjacency_angle – Angle between adjacent faces Each value corresponds with self.face_adjacency
 Return type
(n, ) float

property
face_adjacency_convex
¶ Return faces which are adjacent and locally convex.
What this means is that given faces A and B, the one vertex in B that is not shared with A, projected onto the plane of A has a projection that is zero or negative.
 Returns
are_convex – Face pairs that are locally convex
 Return type
(len(self.face_adjacency), ) bool

property
face_adjacency_edges
¶ Returns the edges that are shared by the adjacent faces.
 Returns
edges – Vertex indices which correspond to face_adjacency
 Return type
(n, 2) int

property
face_adjacency_edges_tree
¶ A KDTree for mapping edges back face adjacency index.
 Returns
tree – Tree when queried with SORTED edges will return their index in mesh.face_adjacency
 Return type
scipy.spatial.cKDTree

property
face_adjacency_projections
¶ The projection of the nonshared vertex of a triangle onto its adjacent face
 Returns
projections – Dot product of vertex onto plane of adjacent triangle.
 Return type
(len(self.face_adjacency), ) float

property
face_adjacency_radius
¶ The approximate radius of a cylinder that fits inside adjacent faces.
 Returns
radii – Approximate radius formed by triangle pair
 Return type
(len(self.face_adjacency), ) float

property
face_adjacency_span
¶ The approximate perpendicular projection of the nonshared vertices in a pair of adjacent faces onto the shared edge of the two faces.
 Returns
span – Approximate span between the nonshared vertices
 Return type
(len(self.face_adjacency), ) float

property
face_adjacency_tree
¶ An Rtree of face adjacencies.
 Returns
tree – Where each edge in self.face_adjacency has a rectangular cell
 Return type
rtree.index
Return the vertex index of the two vertices not in the shared edge between two adjacent faces
 Returns
vid_unshared – Indexes of mesh.vertices
 Return type
(len(mesh.face_adjacency), 2) int

property
face_angles
¶ Returns the angle at each vertex of a face.
 Returns
angles – Angle at each vertex of a face
 Return type
(len(self.faces), 3) float

property
face_angles_sparse
¶ A sparse matrix representation of the face angles.
 Returns
sparse – Float sparse matrix with with shape: (len(self.vertices), len(self.faces))
 Return type
scipy.sparse.coo_matrix

property
face_normals
¶ Return the unit normal vector for each face.
If a face is degenerate and a normal can’t be generated a zero magnitude unit vector will be returned for that face.
 Returns
normals – Normal vectors of each face
 Return type
(len(self.faces), 3) np.float64

property
faces
¶ The faces of the mesh.
This is regarded as core information which cannot be regenerated from cache, and as such is stored in self._data which tracks the array for changes and clears cached values of the mesh if this is altered.
 Returns
faces – Representing triangles which reference self.vertices
 Return type
(n, 3) int

property
faces_sparse
¶ A sparse matrix representation of the faces.
 Returns
sparse – Has properties: dtype : bool shape : (len(self.vertices), len(self.faces))
 Return type
scipy.sparse.coo_matrix

property
faces_unique_edges
¶ For each face return which indexes in mesh.unique_edges constructs that face.
 Returns
faces_unique_edges – Indexes of self.edges_unique that construct self.faces
 Return type
(len(self.faces), 3) int
Examples
In [0]: mesh.faces[:2] Out[0]: TrackedArray([[ 1, 6946, 24224],
[ 6946, 1727, 24225]])
In [1]: mesh.edges_unique[mesh.faces_unique_edges[:2]] Out[1]: array([[[ 1, 6946],
[ 6946, 24224], [ 1, 24224]],
 [[ 1727, 6946],
[ 1727, 24225], [ 6946, 24225]]])

property
facets
¶ Return a list of face indices for coplanar adjacent faces.
 Returns
facets – Groups of indexes of self.faces
 Return type
(n, ) sequence of (m, ) int

property
facets_area
¶ Return an array containing the area of each facet.
 Returns
area – Total area of each facet (group of faces)
 Return type
(len(self.facets), ) float

property
facets_boundary
¶ Return the edges which represent the boundary of each facet
 Returns
edges_boundary – Indices of self.vertices
 Return type
sequence of (n, 2) int

property
facets_normal
¶ Return the normal of each facet
 Returns
normals – A unit normal vector for each facet
 Return type
(len(self.facets), 3) float

property
facets_on_hull
¶ Find which facets of the mesh are on the convex hull.
 Returns
on_hull – is A facet on the meshes convex hull or not
 Return type
(len(mesh.facets), ) bool

property
facets_origin
¶ Return a point on the facet plane.
 Returns
origins – A point on each facet plane
 Return type
(len(self.facets), 3) float

fill_holes
()¶ Fill single triangle and single quad holes in the current mesh.
 Returns
watertight – Is the mesh watertight after the function completes
 Return type
bool

fix_normals
(**kwargs)¶ Find and fix problems with self.face_normals and self.faces winding direction.
For face normals ensure that vectors are consistently pointed outwards, and that self.faces is wound in the correct direction for all connected components.
 Parameters
multibody (None or bool) – Fix normals across multiple bodies if None automatically pick from body_count

property
identifier
¶ Return a float vector which is unique to the mesh and is robust to rotation and translation.
 Returns
identifier – Identifying properties of the current mesh
 Return type
(6, ) float

property
identifier_md5
¶ An MD5 of the rotation invariant identifier vector
 Returns
hashed – MD5 hash of the identifier vector
 Return type
str

intersection
(other, engine=None, **kwargs)¶ Boolean intersection between this mesh and n other meshes
 Parameters
other (trimesh.Trimesh, or list of trimesh.Trimesh objects) – Meshes to calculate intersections with
 Returns
intersection – Mesh of the volume contained by all passed meshes
 Return type

invert
()¶ Invert the mesh inplace by reversing the winding of every face and negating normals without dumping the cache.
Alters self.faces by reversing columns, and negating self.face_normals and self.vertex_normals.

property
is_convex
¶ Check if a mesh is convex or not.
 Returns
is_convex – Is mesh convex or not
 Return type
bool

property
is_empty
¶ Does the current mesh have data defined.
 Returns
empty – If True, no data is set on the current mesh
 Return type
bool

property
is_volume
¶ Check if a mesh has all the properties required to represent a valid volume, rather than just a surface.
These properties include being watertight, having consistent winding and outward facing normals.
 Returns
valid – Does the mesh represent a volume
 Return type
bool

property
is_watertight
¶ Check if a mesh is watertight by making sure every edge is included in two faces.
 Returns
is_watertight – Is mesh watertight or not
 Return type
bool

property
is_winding_consistent
¶ Does the mesh have consistent winding or not. A mesh with consistent winding has each shared edge going in an opposite direction from the other in the pair.
 Returns
consistent – Is winding is consistent or not
 Return type
bool

property
kdtree
¶ Return a scipy.spatial.cKDTree of the vertices of the mesh. Not cached as this lead to observed memory issues and segfaults.
 Returns
tree – Contains mesh.vertices
 Return type
scipy.spatial.cKDTree

property
mass
¶ Mass of the current mesh, based on specified density and volume. If the current mesh isn’t watertight this is garbage.
 Returns
mass – Mass of the current mesh
 Return type
float

property
mass_properties
¶ Returns the mass properties of the current mesh.
Assumes uniform density, and result is probably garbage if mesh isn’t watertight.
 Returns
properties – With keys: ‘volume’ : in global units^3 ‘mass’ : From specified density ‘density’ : Included again for convenience (same as kwarg density) ‘inertia’ : Taken at the center of mass and aligned with global
coordinate system
’center_mass’ : Center of mass location, in global coordinate system
 Return type
dict

md5
()¶ An MD5 of the core geometry information for the mesh, faces and vertices.
Generated from TrackedArray which subclasses np.ndarray to monitor array for changes and returns a correct lazily evaluated md5 so it only has to recalculate the hash occasionally, rather than on every call.
 Returns
md5 – MD5 of everything in the DataStore
 Return type
string

merge_vertices
(**kwargs)¶ Removes duplicate vertices, grouped by position and optionally texture coordinate and normal.
 Parameters
mesh (Trimesh object) – Mesh to merge vertices on
merge_tex (bool) – If True textured meshes with UV coordinates will have vertices merged regardless of UV coordinates
merge_norm (bool) – If True, meshes with vertex normals will have vertices merged ignoring different normals
digits_vertex (None or int) – Number of digits to consider for vertex position
digits_norm (int) – Number of digits to consider for unit normals
digits_uv (int) – Number of digits to consider for UV coordinates

property
moment_inertia
¶ Return the moment of inertia matrix of the current mesh. If mesh isn’t watertight this is garbage.
 Returns
inertia – Moment of inertia of the current mesh
 Return type
(3, 3) float

outline
(face_ids=None, **kwargs)¶ Given a list of face indexes find the outline of those faces and return it as a Path3D.
The outline is defined here as every edge which is only included by a single triangle.
Note that this implies a nonwatertight mesh as the outline of a watertight mesh is an empty path.
 Parameters
face_ids ((n, ) int) – Indices to compute the outline of. If None, outline of full mesh will be computed.
**kwargs (passed to Path3D constructor) –
 Returns
path – Curve in 3D of the outline
 Return type

property
principal_inertia_components
¶ Return the principal components of inertia
Ordering corresponds to mesh.principal_inertia_vectors
 Returns
components – Principal components of inertia
 Return type
(3, ) float

property
principal_inertia_transform
¶ A transform which moves the current mesh so the principal inertia vectors are on the X,Y, and Z axis, and the centroid is at the origin.
 Returns
transform – Homogeneous transformation matrix
 Return type
(4, 4) float

property
principal_inertia_vectors
¶ Return the principal axis of inertia as unit vectors. The order corresponds to mesh.principal_inertia_components.
 Returns
vectors – Three vectors pointing along the principal axis of inertia directions
 Return type
(3, 3) float

process
(validate=False, **kwargs)¶ Do processing to make a mesh useful.
 Does this by:
removing NaN and Inf values
merging duplicate vertices
 If validate:
Remove triangles which have one edge of their rectangular 2D oriented bounding box shorter than tol.merge
remove duplicated triangles
ensure triangles are consistently wound and normals face outwards
 Parameters
validate (bool) – If True, remove degenerate and duplicate faces
 Returns
self – Current mesh
 Return type

property
referenced_vertices
¶ Which vertices in the current mesh are referenced by a face.
 Returns
referenced – Which vertices are referenced by a face
 Return type
(len(self.vertices), ) bool

register
(other, **kwargs)¶ Align a mesh with another mesh or a PointCloud using the principal axes of inertia as a starting point which is refined by iterative closest point.
 Parameters
mesh (trimesh.Trimesh object) – Mesh to align with other
other (trimesh.Trimesh or (n, 3) float) – Mesh or points in space
samples (int) – Number of samples from mesh surface to align
icp_first (int) – How many ICP iterations for the 9 possible combinations of
icp_final (int) – How many ICP itertations for the closest candidate from the wider search
 Returns
mesh_to_other ((4, 4) float) – Transform to align mesh to the other object
cost (float) – Average square distance per point

remove_degenerate_faces
(height=1e08)¶ Remove degenerate faces (faces without 3 unique vertex indices) from the current mesh.
If a height is specified, it will remove any face with a 2D oriented bounding box with one edge shorter than that height.
If not specified, it will remove any face with a zero normal.
 Parameters
height (float) – If specified removes faces with an oriented bounding box shorter than this on one side.
 Returns
nondegenerate – Mask used to remove faces
 Return type
(len(self.faces), ) bool

remove_duplicate_faces
()¶ On the current mesh remove any faces which are duplicates.
Alters self.faces to remove duplicate faces

remove_infinite_values
()¶ Ensure that every vertex and face consists of finite numbers. This will remove vertices or faces containing np.nan and np.inf
Alters self.faces and self.vertices

remove_unreferenced_vertices
()¶ Remove all vertices in the current mesh which are not referenced by a face.

rezero
()¶ Translate the mesh so that all vertex vertices are positive.
Alters self.vertices.

sample
(count, return_index=False)¶ Return random samples distributed across the surface of the mesh
 Parameters
count (int) – Number of points to sample
return_index (bool) – If True will also return the index of which face each sample was taken from.
 Returns
samples ((count, 3) float) – Points on surface of mesh
face_index ((count, ) int) – Index of self.faces

property
scale
¶ A metric for the overall scale of the mesh, the length of the diagonal of the axis aligned bounding box of the mesh.
 Returns
scale – The length of the meshes AABB diagonal
 Return type
float

scene
(**kwargs)¶ Returns a Scene object containing the current mesh.
 Returns
scene – Contains just the current mesh
 Return type

section
(plane_normal, plane_origin, **kwargs)¶ Returns a 3D cross section of the current mesh and a plane defined by origin and normal.
 Parameters
plane_normal – Normal vector of section plane
plane_origin ((3, ) float) – Point on the cross section plane
 Returns
intersections – Curve of intersection
 Return type
Path3D or None

section_multiplane
(plane_origin, plane_normal, heights)¶ Return multiple parallel cross sections of the current mesh in 2D.
 Parameters
plane_origin ((3, ) float) – Point on the cross section plane
plane_normal – Normal vector of section plane
heights ((n, ) float) – Each section is offset by height along the plane normal.
 Returns
paths – 2D cross sections at specified heights. path.metadata[‘to_3D’] contains transform to return 2D section back into 3D space.
 Return type
(n, ) Path2D or None

show
(**kwargs)¶ Render the mesh in an opengl window. Requires pyglet.
 Parameters
smooth (bool) – Run smooth shading on mesh or not, large meshes will be slow
 Returns
scene – Scene with current mesh in it
 Return type

simplify_quadratic_decimation
(face_count)¶ A thin wrapper around the open3d implementation of this: open3d.geometry.TriangleMesh.simplify_quadric_decimation
 Parameters
face_count (int) – Number of faces desired in the resulting mesh.
 Returns
simple – Simplified version of mesh.
 Return type

slice_plane
(plane_origin, plane_normal, cap=False, **kwargs)¶ Slice the mesh with a plane, returning a new mesh that is the portion of the original mesh to the positive normal side of the plane
 plane_origin(3,) float
Point on plane to intersect with mesh
 plane_normal(3,) float
Normal vector of plane to intersect with mesh
 capbool
If True, cap the result with a triangulated polygon
 cached_dots(n, 3) float
If an external function has stored dot products pass them here to avoid recomputing
 Returns
new_mesh – Subset of current mesh that intersects the half plane to the positive normal side of the plane
 Return type
trimesh.Trimesh or None

smoothed
(**kwargs)¶ Return a version of the current mesh which will render nicely, without changing source mesh.
 Parameters
angle (float or None) – Angle in radians face pairs with angles smaller than this will appear smoothed
facet_minarea (float or None) – Minimum area fraction to consider IE for facets_minarea=25 only facets larger than mesh.area / 25 will be considered.
 Returns
smoothed – Non watertight version of current mesh which will render nicely with smooth shading
 Return type

split
(**kwargs)¶ Returns a list of Trimesh objects, based on face connectivity. Splits into individual components, sometimes referred to as ‘bodies’
 Parameters
only_watertight (bool) – Only return watertight meshes and discard remainder
adjacency (None or (n, 2) int) – Override face adjacency with custom values
 Returns
meshes – Separate bodies from original mesh
 Return type
(n, ) trimesh.Trimesh

subdivide
(face_index=None)¶ Subdivide a mesh, with each subdivided face replaced with four smaller faces.
 Parameters
face_index ((m, ) int or None) – If None all faces of mesh will be subdivided If (m, ) int array of indices: only specified faces will be subdivided. Note that in this case the mesh will generally no longer be manifold, as the additional vertex on the midpoint will not be used by the adjacent faces to the faces specified, and an additional postprocessing step will be required to make resulting mesh watertight

submesh
(faces_sequence, **kwargs)¶ Return a subset of the mesh.
 Parameters
faces_sequence (sequence (m, ) int) – Face indices of mesh
only_watertight (bool) – Only return submeshes which are watertight
append (bool) – Return a single mesh which has the faces appended. if this flag is set, only_watertight is ignored
 Returns
if append (trimesh.Trimesh object)
else (list of trimesh.Trimesh objects)

property
symmetry
¶ Check whether a mesh has rotational symmetry around an axis (radial) or point (spherical).
 Returns
symmetry – What kind of symmetry does the mesh have.
 Return type
None, ‘radial’, ‘spherical’

property
symmetry_axis
¶ If a mesh has rotational symmetry, return the axis.
 Returns
axis – Axis around which a 2D profile was revolved to create this mesh.
 Return type
(3, ) float

property
symmetry_section
¶ If a mesh has rotational symmetry return the two vectors which make up a section coordinate frame.
 Returns
section – Vectors to take a section along
 Return type
(2, 3) float

to_dict
()¶ Return a dictionary representation of the current mesh, with keys that can be used as the kwargs for the Trimesh constructor, eg:
a = Trimesh(**other_mesh.to_dict())
 Returns
result – With keys that match trimesh constructor
 Return type
dict

property
triangles
¶ Actual triangles of the mesh (points, not indexes)
 Returns
triangles – Points of triangle vertices
 Return type
(n, 3, 3) float

property
triangles_center
¶ The center of each triangle (barycentric [1/3, 1/3, 1/3])
 Returns
triangles_center – Center of each triangular face
 Return type
(len(self.faces), 3) float

property
triangles_cross
¶ The cross product of two edges of each triangle.
 Returns
crosses – Cross product of each triangle
 Return type
(n, 3) float

property
triangles_tree
¶ An Rtree containing each face of the mesh.
 Returns
tree – Each triangle in self.faces has a rectangular cell
 Return type
rtree.index

union
(other, engine=None, **kwargs)¶ Boolean union between this mesh and n other meshes
 Parameters
 Returns
union – Union of self and other Trimesh objects
 Return type

property
units
¶ Definition of units for the mesh.
 Returns
units – Unit system mesh is in, or None if not defined
 Return type
str

unmerge_vertices
()¶ Removes all face references so that every face contains three unique vertex indices and no faces are adjacent.

unwrap
(**kwargs)¶ Returns a Trimesh object equivalent to the current mesh where the vertices have been assigned uv texture coordinates.
The vertices may be split into as many as necessary by the unwrapping algorithm, depending on how many uv maps they appear in.
Requires blender.
 Returns
unwrapped – Mesh with unwrapped uv coordinates
 Return type

update_faces
(mask)¶ In many cases, we will want to remove specific faces. However, there is additional bookkeeping to do this cleanly. This function updates the set of faces with a validity mask, as well as keeping track of normals and colors.
 Parameters
valid – Mask to remove faces

update_vertices
(mask, inverse=None)¶ Update vertices with a mask.
 Parameters
vertex_mask ((len(self.vertices)) bool) – Array of which vertices to keep
inverse ((len(self.vertices)) int) – Array to reconstruct vertex references such as output by np.unique

property
vertex_adjacency_graph
¶ Returns a networkx graph representing the vertices and their connections in the mesh.
 Returns
graph – Graph representing vertices and edges between them where vertices are nodes and edges are edges
 Return type
networkx.Graph
Examples
This is useful for getting nearby vertices for a given vertex, potentially for some simple smoothing techniques.
mesh = trimesh.primitives.Box() graph = mesh.vertex_adjacency_graph graph.neighbors(0) > [1, 2, 3, 4]

property
vertex_defects
¶ Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex.
If a vertex is only included by coplanar triangles, this will be zero. For convex regions this is positive, and concave negative.
 Returns
vertex_defect – Vertex defect at the every vertex
 Return type
(len(self.vertices), ) float

property
vertex_degree
¶ Return the number of faces each vertex is included in.
 Returns
degree – Number of faces each vertex is included in
 Return type
(len(self.vertices), ) int

property
vertex_faces
¶ A representation of the face indices that correspond to each vertex.
 Returns
vertex_faces – Each row contains the face indices that correspond to the given vertex, padded with 1 up to the max number of faces corresponding to any one vertex Where n == len(self.vertices), m == max number of faces for a single vertex
 Return type
(n,m) int

property
vertex_neighbors
¶ The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent.
 Returns
vertex_neighbors – Represents immediate neighbors of each vertex along the edge of a triangle
 Return type
(len(self.vertices), ) int
Examples
This is useful for getting nearby vertices for a given vertex, potentially for some simple smoothing techniques.
>>> mesh = trimesh.primitives.Box() >>> mesh.vertex_neighbors[0] [1, 2, 3, 4]

property
vertex_normals
¶ The vertex normals of the mesh. If the normals were loaded we check to make sure we have the same number of vertex normals and vertices before returning them. If there are no vertex normals defined or a shape mismatch we calculate the vertex normals from the mean normals of the faces the vertex is used in.
 Returns
vertex_normals – Represents the surface normal at each vertex. Where n == len(self.vertices)
 Return type
(n, 3) float

property
vertices
¶ The vertices of the mesh.
This is regarded as core information which cannot be generated from cache and as such is stored in self._data which tracks the array for changes and clears cached values of the mesh if this is altered.
 Returns
vertices – Points in cartesian space referenced by self.faces
 Return type
(n, 3) float

property
visual
¶ Get the stored visuals for the current mesh.
 Returns
visual – Contains visual information about the mesh
 Return type

property
volume
¶ Volume of the current mesh calculated using a surface integral. If the current mesh isn’t watertight this is garbage.
 Returns
volume – Volume of the current mesh
 Return type
float

voxelized
(pitch, method='subdivide', **kwargs)¶ Return a VoxelGrid object representing the current mesh discretized into voxels at the specified pitch
 Parameters
pitch (float) – The edge length of a single voxel
method (implementation key. See trimesh.voxel.creation.voxelizers) –
**kwargs (additional kwargs passed to the specified implementation.) –
 Returns
voxelized – Representing the current mesh
 Return type
VoxelGrid object


trimesh.
available_formats
()¶ Get a list of all available loaders
 Returns
loaders – Extensions of available loaders i.e. ‘stl’, ‘ply’, ‘dxf’, etc.
 Return type
list

trimesh.
load
(file_obj, file_type=None, resolver=None, force=None, **kwargs)¶ Load a mesh or vectorized path into objects like Trimesh, Path2D, Path3D, Scene
 Parameters
file_obj (str, or file like object) – The source of the data to be loadeded
file_type (str) – What kind of file type do we have (eg: ‘stl’)
resolver (trimesh.visual.Resolver) – Object to load referenced assets like materials and textures
force (None or str) – For ‘mesh’: try to coerce scenes into a single mesh For ‘scene’: try to coerce everything into a scene
kwargs (dict) – Passed to geometry __init__
 Returns
geometry – Loaded geometry as trimesh classes
 Return type

trimesh.
load_mesh
(*args, **kwargs)¶ Load a mesh file into a Trimesh object
 Parameters
file_obj (str or file object) – File name or file with mesh data
file_type (str or None) – Which file type, e.g. ‘stl’
kwargs (dict) – Passed to Trimesh constructor
 Returns
mesh – Loaded geometry data
 Return type

trimesh.
load_path
(obj, file_type=None, **kwargs)¶ Load a file to a Path object.
 Parameters
obj (One of the following:) –
Path, Path2D, or Path3D objects
open file object (dxf or svg)
file name (dxf or svg)
shapely.geometry.Polygon
shapely.geometry.MultiLineString
dict with kwargs for Path constructor
(n,2,(23)) float, line segments
file_type (str) – Type of file is required if file object passed.
 Returns
path – Data as a native trimesh Path object
 Return type

trimesh.
load_remote
(url, **kwargs)¶ Load a mesh at a remote URL into a local trimesh object.
This must be called explicitly rather than automatically from trimesh.load to ensure users don’t accidentally make network requests.

trimesh.
transform_points
(points, matrix, translate=True)¶ Returns points rotated by a homogeneous transformation matrix.
If points are (n, 2) matrix must be (3, 3) If points are (n, 3) matrix must be (4, 4)
 Parameters
points ((n, D) float) – Points where D is 2 or 3
matrix ((3, 3) or (4, 4) float) – Homogeneous rotation matrix
translate (bool) – Apply translation from matrix or not
 Returns
transformed – Transformed points
 Return type
(n, d) float

trimesh.
unitize
(vectors, check_valid=False, threshold=None)¶ Unitize a vector or an array or rowvectors.
 Parameters
vectors ((n,m) or (j) float) – Vector or vectors to be unitized
check_valid (bool) – If set, will return mask of nonzero vectors
threshold (float) – Cutoff for a value to be considered zero.
 Returns
unit ((n,m) or (j) float) – Input vectors but unitized
valid ((n,) bool or bool) – Mask of nonzero vectors returned if check_valid