trimesh package¶
Subpackages¶
 trimesh.interfaces package
 trimesh.io package
 Submodules
 trimesh.io.assimp module
 trimesh.io.export module
 trimesh.io.gltf module
 trimesh.io.load module
 trimesh.io.misc module
 trimesh.io.openctm module
 trimesh.io.ply module
 trimesh.io.stl module
 trimesh.io.threemf module
 trimesh.io.urdf module
 trimesh.io.wavefront module
 trimesh.io.xml_based module
 Module contents
 trimesh.path package
 Subpackages
 Submodules
 trimesh.path.arc module
 trimesh.path.creation module
 trimesh.path.curve module
 trimesh.path.entities module
 trimesh.path.intersections module
 trimesh.path.packing module
 trimesh.path.path module
 trimesh.path.polygons module
 trimesh.path.raster module
 trimesh.path.segments module
 trimesh.path.simplify module
 trimesh.path.traversal module
 trimesh.path.util module
 Module contents
 trimesh.ray package
 trimesh.resources package
 trimesh.scene package
Submodules¶
trimesh.base module¶
github.com/mikedh/trimesh¶
Library for importing, exporting and doing simple operations on triangular meshes.

class
trimesh.base.
Trimesh
(vertices=None, faces=None, face_normals=None, vertex_normals=None, face_colors=None, vertex_colors=None, metadata=None, process=True, validate=False, use_embree=True, initial_cache={}, **kwargs)¶ Bases:
trimesh.parent.Geometry
Attributes: area
Summed area of all triangles in the current mesh.
area_faces
The area of each face in the mesh.
body_count
How many connected groups of vertices exist in this mesh.
bounding_box
An axis aligned bounding box for the current mesh.
bounding_box_oriented
An oriented bounding box for the current mesh.
bounding_cylinder
A minimum volume bounding cylinder for the current mesh.
bounding_primitive
The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
bounding_sphere
A minimum volume bounding sphere for the current mesh.
bounds
The axis aligned bounds of the mesh.
center_mass
The point in space which is the center of mass/volume.
centroid
The point in space which is the average of the triangle centroids weighted by the area of each triangle.
convex_hull
Get a new Trimesh object representing the convex hull of the current mesh.
density
The density of the mesh.
edges
Edges of the mesh (derived from faces).
edges_face
Which face does each edge belong to.
edges_sorted
Edges sorted along axis 1
edges_sparse
Edges in sparse bool COO graph format where connected vertices are True.
edges_unique
The unique edges of the mesh.
edges_unique_length
How long is each unique edge.
euler_number
Return the Euler characteristic (a topological invariant) for the mesh
extents
The length, width, and height of the bounding box of the mesh.
face_adjacency
Find faces that share an edge, which we call here ‘adjacent’.
face_adjacency_angles
Return the angle between adjacent faces
face_adjacency_convex
Return faces which are adjacent and locally convex.
face_adjacency_edges
Returns the edges that are shared by the adjacent faces.
face_adjacency_projections
The projection of the non shared vertex of a triangle onto
face_adjacency_radius
The approximate radius of a cylinder that fits inside adjacent faces.
face_adjacency_span
The approximate perpendicular projection of the non shared vertices in a pair of adjacent faces onto the shared edge of the two faces.
face_adjacency_tree
An Rtree of face adjacencies.
face_adjacency_unshared
Return the vertex index of the two vertices not in the shared
face_angles
Returns the angle at each vertex of a face.
face_angles_sparse
A sparse matrix representation of the face angles.
face_normals
Return the unit normal vector for each face.
faces
The faces of the mesh.
faces_sparse
A sparse matrix representation of the faces.
faces_unique_edges
For each face return which indexes in mesh.unique_edges constructs that face.
facets
Return a list of face indices for coplanar adjacent faces.
facets_area
Return an array containing the area of each facet.
facets_boundary
Return the edges which represent the boundary of each facet
facets_normal
Return the normal of each facet
facets_on_hull
Find which facets of the mesh are on the convex hull.
facets_origin
Return a point on the facet plane.
identifier
Return a float vector which is unique to the mesh and is robust to rotation and translation.
identifier_md5
An MD5 of the rotation invariant identifier vector
is_convex
Check if a mesh is convex or not.
is_empty
Does the current mesh have data defined.
is_volume
Check if a mesh has all the properties required to represent a valid volume, rather than just a surface.
is_watertight
Check if a mesh is watertight by making sure every edge is included in two faces.
is_winding_consistent
Does the mesh have consistent winding or not.
kdtree
Return a scipy.spatial.cKDTree of the vertices of the mesh.
mass
Mass of the current mesh, based on specified density and volume.
mass_properties
Returns the mass properties of the current mesh.
moment_inertia
Return the moment of inertia matrix of the current mesh.
principal_inertia_components
Return the principal components of inertia
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.
principal_inertia_vectors
Return the principal axis of inertia.
scale
A metric for the overall scale of the mesh, the length of the diagonal of the axis aligned bounding box of the mesh.
symmetry
Check whether a mesh has rotational symmetry.
symmetry_axis
If a mesh has rotational symmetry, return the axis.
symmetry_section
If a mesh has rotational symmetry, return the two vectors which make up a section coordinate frame.
triangles
Actual triangles of the mesh (points, not indexes)
triangles_center
The center of each triangle (barycentric [1/3, 1/3, 1/3])
triangles_cross
The cross product of two edges of each triangle.
triangles_tree
An Rtree containing each face of the mesh.
units
Definition of units for the mesh.
vertex_adjacency_graph
Returns a networkx graph representing the vertices and their connections in the mesh.
vertex_defects
Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex.
vertex_neighbors
The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent.
vertex_normals
The vertex normals of the mesh.
vertices
The vertices of the mesh.
volume
Volume of the current mesh calculated using a surface integral.
Methods
apply_obb
()Apply the oriented bounding box transform to the current mesh. apply_scale
(scaling)Scale the mesh equally on all axis. apply_transform
(matrix)Transform mesh by a homogenous transformation matrix. apply_translation
(translation)Translate the current mesh. compute_stable_poses
([center_mass, sigma, …])Computes stable orientations of a mesh and their quasistatic probabilites. contains
(points)Given a set of points, determine whether or not they are inside the mesh. convert_units
(desired[, guess])Convert the units of the mesh into a specified unit. convex_decomposition
([engine, maxhulls])Compute an approximate convex decomposition of a mesh. copy
()Safely get a copy of the current mesh. crc
()A zlib.adler32 checksum for the current mesh data. difference
(other[, engine])Boolean difference between this mesh and n other meshes eval_cached
(statement, *args)Evaluate a statement and cache the result before returning. export
([file_obj, file_type])Export the current mesh to a file object. fill_holes
()Fill single triangle and single quad holes in the current mesh. fix_normals
(**kwargs)Find and fix problems with self.face_normals and self.faces winding direction. intersection
(other[, engine])Boolean intersection between this mesh and n other meshes invert
()Invert the mesh in place by reversing the winding of every face and negating normals without dumping the cache. md5
()An MD5 of the core geometry information for the mesh, faces and vertices. merge_vertices
([distance])If a mesh has vertices that are closer than trimesh.constants.tol.merge reindex faces to reference the same index for both vertices. outline
([face_ids])Given a set of face ids, find the outline of the faces, and return it as a Path3D. process
()Do the bare minimum processing to make a mesh useful. 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. remove_degenerate_faces
([height])Remove degenerate faces (faces without 3 unique vertex indices) from the current mesh. remove_duplicate_faces
()On the current mesh remove any faces which are duplicates. remove_infinite_values
()Ensure that every vertex and face consists of finite numbers. 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. sample
(count[, return_index])Return random samples distributed normally across the surface of the mesh scene
(**kwargs)Get a Scene object containing the current mesh. section
(plane_normal, plane_origin)Returns a 3D cross section of the current mesh and a plane defined by origin and normal. section_multiplane
(plane_origin, …)Return multiple parallel cross sections of the current mesh in 2D. show
(**kwargs)Render the mesh in an opengl window. slice_plane
(plane_origin, plane_normal)Returns another mesh that is the current mesh sliced by the plane defined by origin and normal. smoothed
(**kwargs)Return a version of the current mesh which will render nicely. split
(**kwargs)Returns a list of Trimesh objects, based on face connectivity. subdivide
([face_index])Subdivide a mesh, with each subdivided face replaced with four smaller faces. submesh
(faces_sequence, **kwargs)Return a subset of the mesh. to_dict
()Return a dictionary representation of the current mesh, with keys that can be used as the kwargs for the Trimesh constructor, eg: union
(other[, engine])Boolean union between this mesh and n other meshes unmerge_vertices
()Removes all face references so that every face contains three unique vertex indices and no faces are adjacent. update_faces
(mask)In many cases, we will want to remove specific faces. update_vertices
(mask[, inverse])Update vertices with a mask. voxelized
(pitch, **kwargs)Return a Voxel object representing the current mesh discretized into voxels at the specified pitch 
apply_obb
()¶ Apply the oriented bounding box transform to the current mesh.
This will result in a mesh with an AABB centered at the origin and the same dimensions as the OBB.
Returns:  matrix : (4, 4) float
Transformation matrix that was applied to mesh to move it into OBB frame

apply_scale
(scaling)¶ Scale the mesh equally on all axis.
Parameters:  scaling : float
Scale factor to apply to the mesh

apply_transform
(matrix)¶ Transform mesh by a homogenous 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
Homogenous transformation matrix

apply_translation
(translation)¶ Translate the current mesh.
Parameters:  translation : (3,) float
Translation in XYZ

area
¶ Summed area of all triangles in the current mesh.
Returns:  area : float
Surface area of mesh

area_faces
¶ The area of each face in the mesh.
Returns:  area_faces : (n,) float
Area of each face

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 : int
Number of connected vertex groups

bounds
¶ The axis aligned bounds of the mesh.
Returns:  bounds : (2, 3) float
Bounding box with [min, max] coordinates

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 : (3,) float
Volumetric center of mass of the mesh

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 non watertight meshes, unlike self.center_mass
Returns:  centroid : (3,) float
The average vertex weighted by face area

compute_stable_poses
(center_mass=None, sigma=0.0, n_samples=1, threshold=0.0)¶ Computes stable orientations of a mesh and their quasistatic probabilites.
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 evaulates the probabilities of landing in each pose if the object is dropped onto the table randomly.
This method returns the 4x4 homogenous 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 homogenous 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 a set of points, determine whether or not they are inside the mesh. This raises an error if called on a non watertight mesh.
 points : (n, 3) float
 Points in cartesian space
Returns:  contains : (n, ) bool
Whether or not each point is inside the mesh

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
(engine=None, maxhulls=20, **kwargs)¶ Compute an approximate convex decomposition of a mesh.
testVHACD Parameters which can be passed as kwargs:
Parameters:  maxhulls : int
Maximum number of convex hulls to return
 engine : string
Which backend to use. Valid choice is ‘vhacd’.
 **kwargs : testVHACD keyword arguments
Returns:  meshes : list of trimesh.Trimesh
List of convex meshes that approximate the original

convex_hull
¶ Get a new Trimesh object representing the convex hull of the current mesh.
Returns:  convex : trimesh.Trimesh
Mesh of convex hull of current mesh

copy
()¶ Safely get a copy of the current mesh.
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 : trimesh.Trimesh
Copy of current mesh

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 : int
Checksum of current mesh data

density
¶ The density of the mesh.
Returns:  density : float
The density of the mesh.

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

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

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

edges_sorted
¶ Edges sorted along axis 1
Returns:  edges_sorted : (n, 2)
Same as self.edges but sorted along axis 1

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

edges_unique
¶ The unique edges of the mesh.
Returns:  edges_unique : (n, 2) int
Vertex indices for unique edges

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

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 : int
Topological invariant

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 : 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.
 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

extents
¶ The length, width, and height of the bounding box of the mesh.
Returns:  extents : (3,) float
Array containing axis aligned [length, width, height]

face_adjacency
¶ Find faces that share an edge, which we call here ‘adjacent’.
Returns:  adjacency : (n,2) int
Pairs of faces which share an edge
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)

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

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 : (len(self.face_adjacency),) bool
Face pairs that are locally convex

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

face_adjacency_projections
¶ The projection of the non shared vertex of a triangle onto its adjacent face
Returns:  projections : (len(self.face_adjacency),) float
Dot product of vertex onto plane of adjacent triangle.

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

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

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

face_angles
¶ Returns the angle at each vertex of a face.
Returns:  angles : (n, 3) float
Angle at each vertex of a face

face_angles_sparse
¶ A sparse matrix representation of the face angles.
Returns:  sparse: scipy.sparse.coo_matrix with:
dtype: float shape: (len(self.vertices), len(self.faces))

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 : (len(self.faces), 3) np.float64
Normal vectors of each face

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 : (n,3) int
Representing triangles which reference self.vertices

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

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

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

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

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

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

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

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

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

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

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

identifier_md5
¶ An MD5 of the rotation invariant identifier vector
Returns:  hashed : str
MD5 hash of the identifier vector

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

invert
()¶ Invert the mesh in place by reversing the winding of every face and negating normals without dumping the cache.

is_convex
¶ Check if a mesh is convex or not.
Returns:  is_convex: bool
Is mesh convex or not

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

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 : bool
Does the mesh represent a volume

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

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 : bool
Is winding is consistent or not

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 : scipy.spatial.cKDTree
Contains mesh.vertices

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

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 : dict
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

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

merge_vertices
(distance=None)¶ If a mesh has vertices that are closer than trimesh.constants.tol.merge reindex faces to reference the same index for both vertices.
Parameters:  distance : float or None
If specified overrides tol.merge

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

outline
(face_ids=None, **kwargs)¶ Given a set of face ids, find the outline of the 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 section, and 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 : Path3D
Curve in 3D of the outline

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

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 : (4, 4) float
Homogenous transformation matrix

principal_inertia_vectors
¶ Return the principal axis of inertia.
Ordering corresponds to mesh.principal_inertia_components
Returns:  vectors : (3, 3) float
Three vectors pointing along the principal axis of inertia directions

process
()¶ Do the bare minimum processing to make a mesh useful.
 Does this by:
 removing NaN and Inf values
 merging duplicate vertices
 If self._validate:
 Remove triangles which have one edge of their rectangular 2D oriented bounding box shorter than tol.merge
 remove duplicated triangles
Returns:  self: trimesh.Trimesh
Current mesh

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 : (len(self.faces),) bool
Mask used to remove faces

remove_duplicate_faces
()¶ On the current mesh remove any faces which are duplicates.

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

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.

sample
(count, return_index=False)¶ Return random samples distributed normally across the surface of the mesh
 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

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 : float
The length of the meshes AABB diagonal

scene
(**kwargs)¶ Get a Scene object containing the current mesh.
Returns:  scene : trimesh.scene.scene.Scene
Contains just the current mesh

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

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

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 : trimesh.scene.Scene
Scene with current mesh in it

slice_plane
(plane_origin, plane_normal)¶ Returns another mesh that is the current mesh sliced by the plane defined by origin and normal.
 plane_normal: (3) vector for plane normal
 Normal vector of slicing plane
 plane_origin : (3,) float
 Point on the slicing plane
Returns:  new_mesh: trimesh.Trimesh or None
Subset of current mesh sliced by plane

smoothed
(**kwargs)¶ Return a version of the current mesh which will render nicely. Does not change current mesh in any way.
Parameters:  angle : float
Angle in radians, face pairs with angles smaller than this value will appear smoothed
Returns:  smoothed : trimesh.Trimesh
Non watertight version of current mesh which will render nicely with smooth shading

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

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

symmetry
¶ Check whether a mesh has rotational symmetry.
Returns:  symmetry: None No rotational symmetry
‘radial’ Symmetric around an axis ‘spherical’ Symmetric around a point

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

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

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 : dict
With keys that match trimesh constructor

triangles
¶ Actual triangles of the mesh (points, not indexes)
Returns:  triangles : (n, 3, 3) float
Points of triangle vertices

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

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

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

union
(other, engine=None)¶ Boolean union between this mesh and n other meshes
 other : trimesh.Trimesh, or list of trimesh.Trimesh objects
 Other meshes to union
Returns:  union : trimesh.Trimesh
Union of self and other Trimesh objects

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

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

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.
 valid : (m) int or (len(self.faces)) bool
 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

vertex_adjacency_graph
¶ Returns a networkx graph representing the vertices and their connections in the mesh.
Returns:  graph: networkx.Graph
Graph representing vertices and edges between them where vertices are nodes and edges are edges
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]

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 : (len(self.vertices), ) float
Vertex defect at the every vertex

vertex_neighbors
¶ The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent.
Returns:  vertex_neighbors : (len(self.vertices),) int
Represents immediate neighbors of each vertex along the edge of a triangle
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]

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 : (n,3) float
Represents the surface normal at each vertex. Where n == len(self.vertices)

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 : (n, 3) float
Points in cartesian space referenced by self.faces

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

voxelized
(pitch, **kwargs)¶ Return a Voxel object representing the current mesh discretized into voxels at the specified pitch
Parameters:  pitch : float
The edge length of a single voxel
Returns:  voxelized : Voxel object
Representing the current mesh
trimesh.boolean module¶

trimesh.boolean.
boolean_automatic
(meshes, operation)¶

trimesh.boolean.
difference
(meshes, engine=None)¶ Compute the boolean difference between a mesh an n other meshes.
Parameters:  meshes: list of Trimesh object
 engine: string, which backend to use.
valid choices are ‘blender’ or ‘scad’
Returns:  difference: a  (other meshes), **kwargs for a Trimesh

trimesh.boolean.
intersection
(meshes, engine=None)¶ Compute the boolean intersection between a mesh an n other meshes.
Parameters:  meshes: list of Trimesh object
 engine: string, which backend to use.
valid choices are ‘blender’ or ‘scad’
Returns:  intersection: **kwargs for a Trimesh object of the
volume that is contained by all meshes

trimesh.boolean.
union
(meshes, engine=None)¶ Compute the boolean union between a mesh an n other meshes.
Parameters:  meshes: list of Trimesh object
 engine: string, which backend to use.
valid choices are ‘blender’ or ‘scad’
Returns:  union: a + (other meshes), **kwargs for a Trimesh
trimesh.bounds module¶

trimesh.bounds.
contains
(bounds, points)¶ Do an axis aligned bounding box check on a list of points.
Parameters:  bounds : (2, dimension) float
Axis aligned bounding box
 points : (n, dimension) float
Points in space
Returns:  points_inside : (n,) bool
True if points are inside the AABB

trimesh.bounds.
corners
(bounds)¶ Given a pair of axis aligned bounds, return all 8 corners of the bounding box.
Parameters:  bounds : (2,3) or (2,2) float
Axis aligned bounds
Returns:  corners : (8,3) float
Corner vertices of the cube

trimesh.bounds.
minimum_cylinder
(obj, sample_count=10, angle_tol=0.001)¶ Find the approximate minimum volume cylinder which contains a mesh or a a list of points.
Samples a hemisphere then uses scipy.optimize to pick the final orientation of the cylinder.
A nice discussion about better ways to implement this is here: https://www.staff.unimainz.de/schoemer/publications/ALGO00.pdf
Parameters:  obj : trimesh.Trimesh, or (n, 3) float
Mesh object or points in space
 sample_count : int
How densely should we sample the hemisphere. Angular spacing is 180 degrees / this number
Returns:  result : dict
 With keys:
‘radius’ : float, radius of cylinder ‘height’ : float, height of cylinder ‘transform’ : (4,4) float, transform from the origin
to centered cylinder

trimesh.bounds.
oriented_bounds
(obj, angle_digits=1, ordered=True)¶ Find the oriented bounding box for a Trimesh
Parameters:  obj : trimesh.Trimesh, (n, 2) float, or (n, 3) float
Mesh object or points in 2D or 3D space
 angle_digits : int
How much angular precision do we want on our result. Even with less precision the returned extents will cover the mesh albeit with larger than minimal volume, and may experience substantial speedups.
Returns:  to_origin : (4,4) float
Transformation matrix which will move the center of the bounding box of the input mesh to the origin.
 extents: (3,) float
The extents of the mesh once transformed with to_origin

trimesh.bounds.
oriented_bounds_2D
(points, qhull_options='QbB')¶ Find an oriented bounding box for an array of 2D points.
Parameters:  points : (n,2) float
Points in 2D.
Returns:  transform : (3,3) float
Homogenous 2D transformation matrix to move the input points so that the axis aligned bounding box is CENTERED AT THE ORIGIN.
 rectangle : (2,) float
Size of extents once input points are transformed by transform
trimesh.caching module¶
caching.py¶
Functions and classes that help with tracking changes in ndarrays and clearing cached values based on those changes.

class
trimesh.caching.
Cache
(id_function)¶ Bases:
object
Class to cache values which will be stored until the result of an ID function changes.
Methods
clear
([exclude])Remove all elements in the cache. delete
(key)Remove a key from the cache. id_set
()Set the current ID to the value of the ID function. update
(items)Update the cache with a set of key, value pairs without checking id_function. verify
()Verify that the cached values are still for the same value of id_function and delete all stored items if the value of id_function has changed. 
clear
(exclude=None)¶ Remove all elements in the cache.

delete
(key)¶ Remove a key from the cache.

id_set
()¶ Set the current ID to the value of the ID function.

update
(items)¶ Update the cache with a set of key, value pairs without checking id_function.

verify
()¶ Verify that the cached values are still for the same value of id_function and delete all stored items if the value of id_function has changed.


class
trimesh.caching.
DataStore
¶ Bases:
object
A class to store multiple numpy arrays and track them all for changes.
Operates like a dict that only stores numpy.ndarray
Attributes:  mutable
Methods
clear
()Remove all data from the DataStore. crc
()Get a CRC reflecting everything in the DataStore. fast_hash
()Get a CRC32 or xxhash.xxh64 reflecting the DataStore. is_empty
()Is the current DataStore empty or not. md5
()Get an MD5 reflecting everything in the DataStore. update values 
clear
()¶ Remove all data from the DataStore.

crc
()¶ Get a CRC reflecting everything in the DataStore.
Returns:  crc: int, CRC of data

fast_hash
()¶ Get a CRC32 or xxhash.xxh64 reflecting the DataStore.
Returns:  hashed: int, checksum of data

is_empty
()¶ Is the current DataStore empty or not.
Returns:  empty: bool, False if there are items in the DataStore

md5
()¶ Get an MD5 reflecting everything in the DataStore.
Returns:  md5: str, MD5 in hexadecimal

mutable
¶

update
(values)¶

values
()¶

class
trimesh.caching.
TrackedArray
¶ Bases:
numpy.ndarray
Subclass of numpy.ndarray that provides hash methods to track changes.
General method is to aggressively set ‘modified’ flags on operations which might (but don’t necessarily) alter the array, ideally we sometimes compute hashes when we don’t need to, but we don’t return wrong hashes ever.
We store boolean modified flag for each hash type to make checks fast even for queries of different hashes.
Attributes: T
Same as self.transpose(), except that self is returned if self.ndim < 2.
base
Base object if memory is from some other object.
ctypes
An object to simplify the interaction of the array with the ctypes module.
data
Python buffer object pointing to the start of the array’s data.
dtype
Datatype of the array’s elements.
flags
Information about the memory layout of the array.
flat
A 1D iterator over the array.
imag
The imaginary part of the array.
itemsize
Length of one array element in bytes.
nbytes
Total bytes consumed by the elements of the array.
ndim
Number of array dimensions.
real
The real part of the array.
shape
Tuple of array dimensions.
size
Number of elements in the array.
strides
Tuple of bytes to step in each dimension when traversing an array.
Methods
md5
()Return an MD5 hash of the current array. crc
()A zlib.crc32 or zlib.adler32 checksum of the current data. fast_hash
()An xxhash.b64 hash of the array. 
crc
()¶ A zlib.crc32 or zlib.adler32 checksum of the current data.
Returns:  crc: int, checksum from zlib.crc32 or zlib.adler32

fast_hash
()¶ An xxhash.b64 hash of the array.
Returns:  xx: int, xxhash.xxh64 hash of array.

md5
()¶ Return an MD5 hash of the current array.
Returns:  md5: str, hexadecimal MD5 of the array

trimesh.caching.
cache_decorator
(function)¶ A decorator for class methods, replaces @property but will store and retrieve function return values in object cache.
Parameters:  function : class method
 This is used as a decorator:
@cache_decorator def foo(self, things):
return ‘happy days’

trimesh.caching.
tracked_array
(array, dtype=None)¶ Properly subclass a numpy ndarray to track changes.
Avoids some pitfalls of subclassing by forcing contiguous arrays, and does a view into a TrackedArray.
Parameters:  array: array like object to be turned into a TrackedArray
 dtype: which dtype to use for the array
Returns:  tracked: TrackedArray, of input array data
trimesh.collision module¶

class
trimesh.collision.
CollisionManager
¶ Bases:
object
A meshmesh collision manager.
Methods
add_object
(name, mesh[, transform])Add an object to the collision manager. in_collision_internal
([return_names, …])Check if any pair of objects in the manager collide with one another. in_collision_other
(other_manager[, …])Check if any object from this manager collides with any object from another manager. in_collision_single
(mesh[, transform, …])Check a single object for collisions against all objects in the manager. min_distance_internal
([return_names, …])Get the minimum distance between any pair of objects in the manager. min_distance_other
(other_manager[, …])Get the minimum distance between any pair of objects, one in each manager. min_distance_single
(mesh[, transform, …])Get the minimum distance between a single object and any object in the manager. remove_object
(name)Delete an object from the collision manager. set_transform
(name, transform)Set the transform for one of the manager’s objects. 
add_object
(name, mesh, transform=None)¶ Add an object to the collision manager.
If an object with the given name is already in the manager, replace it.
Parameters:  name : str
An identifier for the object
 mesh : Trimesh object
The geometry of the collision object
 transform : (4,4) float
Homogenous transform matrix for the object

in_collision_internal
(return_names=False, return_data=False)¶ Check if any pair of objects in the manager collide with one another.
Parameters:  return_names : bool
If true, a set is returned containing the names of all pairs of objects in collision.
 return_data : bool
If true, a list of ContactData is returned as well
Returns:  is_collision : bool
True if a collision occurred between any pair of objects and False otherwise
 names : set of 2tup
The set of pairwise collisions. Each tuple contains two names in alphabetical order indicating that the two corresponding objects are in collision.
 contacts : list of ContactData
All contacts detected

in_collision_other
(other_manager, return_names=False, return_data=False)¶ Check if any object from this manager collides with any object from another manager.
Parameters:  other_manager : CollisionManager
Another collision manager object
 return_names : bool
If true, a set is returned containing the names of all pairs of objects in collision.
 return_data : bool
If true, a list of ContactData is returned as well
Returns:  is_collision : bool
True if a collision occurred between any pair of objects and False otherwise
 names : set of 2tup
The set of pairwise collisions. Each tuple contains two names (first from this manager, second from the other_manager) indicating that the two corresponding objects are in collision.
 contacts : list of ContactData
All contacts detected

in_collision_single
(mesh, transform=None, return_names=False, return_data=False)¶ Check a single object for collisions against all objects in the manager.
Parameters:  mesh : Trimesh object
The geometry of the collision object
 transform : (4,4) float
Homogenous transform matrix
 return_names : bool
If true, a set is returned containing the names of all objects in collision with the object
 return_data : bool
If true, a list of ContactData is returned as well
Returns:  is_collision : bool
True if a collision occurs and False otherwise
 names : set of str
The set of names of objects that collided with the provided one
 contacts : list of ContactData
All contacts detected

min_distance_internal
(return_names=False, return_data=False)¶ Get the minimum distance between any pair of objects in the manager.
Parameters:  return_names : bool
If true, a 2tuple is returned containing the names of the closest objects.
 return_data : bool
If true, a DistanceData object is returned as well
Returns:  distance : float
Min distance between any two managed objects
 names : (2,) str
The names of the closest objects
 data : DistanceData
Extra data about the distance query

min_distance_other
(other_manager, return_names=False, return_data=False)¶ Get the minimum distance between any pair of objects, one in each manager.
Parameters:  other_manager : CollisionManager
Another collision manager object
 return_names : bool
If true, a 2tuple is returned containing the names of the closest objects.
 return_data : bool
If true, a DistanceData object is returned as well
Returns:  distance : float
The min distance between a pair of objects, one from each manager.
 names : 2tup of str
A 2tuple containing two names (first from this manager, second from the other_manager) indicating the two closest objects.
 data : DistanceData
Extra data about the distance query

min_distance_single
(mesh, transform=None, return_name=False, return_data=False)¶ Get the minimum distance between a single object and any object in the manager.
Parameters:  mesh : Trimesh object
The geometry of the collision object
 transform : (4,4) float
Homogenous transform matrix for the object
 return_names : bool
If true, return name of the closest object
 return_data : bool
If true, a DistanceData object is returned as well
Returns:  distance : float
Min distance between mesh and any object in the manager
 name : str
The name of the object in the manager that was closest
 data : DistanceData
Extra data about the distance query

remove_object
(name)¶ Delete an object from the collision manager.
Parameters:  name : str
The identifier for the object

set_transform
(name, transform)¶ Set the transform for one of the manager’s objects. This replaces the prior transform.
Parameters:  name : str
An identifier for the object already in the manager
 transform : (4,4) float
A new homogenous transform matrix for the object


class
trimesh.collision.
ContactData
(names, contact)¶ Bases:
object
Data structure for holding information about a collision contact.
Attributes: point
The 3D point of intersection for this contact.
Methods
index
(name)Returns the index of the face in contact for the mesh with the given name. 
index
(name)¶ Returns the index of the face in contact for the mesh with the given name.
Parameters:  name : str
The name of the target object.
Returns:  index : int
The index of the face in collison

point
¶ The 3D point of intersection for this contact.
Returns:  point : (3,) float
The intersection point.

class
trimesh.collision.
DistanceData
(names, result)¶ Bases:
object
Data structure for holding information about a distance query.
Attributes: distance
Returns the distance between the two objects.
Methods
index
(name)Returns the index of the closest face for the mesh with the given name. point
(name)The 3D point of closest distance on the mesh with the given name. 
distance
¶ Returns the distance between the two objects.
Returns:  distance : float
The euclidean distance between the objects.

index
(name)¶ Returns the index of the closest face for the mesh with the given name.
Parameters:  name : str
The name of the target object.
Returns:  index : int
The index of the face in collisoin.

point
(name)¶ The 3D point of closest distance on the mesh with the given name.
Parameters:  name : str
The name of the target object.
Returns:  point : (3,) float
The closest point.

trimesh.collision.
mesh_to_BVH
(mesh)¶ Create a BVHModel object from a Trimesh object
Parameters:  mesh : Trimesh
Input geometry
Returns:  bvh : fcl.BVHModel
BVH of input geometry

trimesh.collision.
scene_to_collision
(scene)¶ Create collision objects from a trimesh.Scene object.
Parameters:  scene : trimesh.Scene
Scene to create collision objects for
Returns:  manager : CollisionManager
CollisionManager for objects in scene
 objects: {node name: CollisionObject}
Collision objects for nodes in scene
trimesh.comparison module¶
comparison.py¶
Provide methods for quickly hashing and comparing meshes.

trimesh.comparison.
identifier_hash
(identifier, sigfig=None)¶ Hash an identifier array to a specified number of significant figures.
Parameters:  identifier: (n,) float
 sigfig: (n,) int
Returns:  md5: str, MD5 hash of identifier

trimesh.comparison.
identifier_simple
(mesh)¶ Return a basic identifier for a mesh, consisting of properties that have been hand tuned to be somewhat robust to rigid transformations and different tesselations.
Parameters:  mesh: Trimesh object
Returns:  identifier: (6,) float, identifying values of the mesh
trimesh.constants module¶

class
trimesh.constants.
NumericalResolutionPath
(**kwargs)¶ Bases:
object
 res.seg_frac: when discretizing curves, what percentage of the drawing
 scale should we aim to make a single segment
res.seg_angle: when discretizing curves, what angle should a section span res.max_sections: when discretizing splines, what is the maximum number
of segments per control point res.min_sections: when discretizing splines, what is the minimum number
 of segments per control point
res.export: format string to use when exporting floating point vertices

class
trimesh.constants.
NumericalToleranceMesh
(**kwargs)¶ Bases:
object
tol.zero: consider floating point numbers less than this zero
 tol.merge: when merging vertices, consider vertices closer than this
 to be the same vertex. Here we use the same value (1e8) as SolidWorks uses, according to their documentation.
 tol.planar: the maximum distance from a plane a point can be and
 still be considered to be on the plane
tol.facet_threshold: threshold for two facets to be considered coplanar

class
trimesh.constants.
NumericalTolerancePath
(**kwargs)¶ Bases:
object
tol.zero: consider floating point numbers less than this zero tol.merge: when merging vertices, consider vertices closer than this
to be the same vertex tol.planar: the maximum distance from a plane a point can be and
 still be considered to be on the plane
 tol.seg_frac: when simplifying line segments what percentage of the drawing
 scale can a segment be and have a curve fitted
 tol.seg_angle: when simplifying line segments to arcs, what angle
 can a segment span to be acceptable.
 tol.aspect_frac: when simplifying line segments to closed arcs (circles)
 what percentage can the aspect ratio differfrom 1:1 before escaping the fit early
 tol.radius_frac: when simplifying line segments to arcs, what percentage
 of the fit radius can vertices deviate to be acceptable
 tol.radius_min: when simplifying line segments to arcs, what is the minimum
 radius multiplied by document scale for an acceptable fit
 tol.radius_max: when simplifying line segments to arcs, what is the maximum
 radius multiplied by document scale for an acceptable fit
 tol.tangent: when simplifying line segments to curves, what is the maximum
 angle the end sections can deviate from tangent that is acceptable.
trimesh.convex module¶
convex.py
Deal with creating and checking convex objects in 2, 3 and N dimensions.
Convex is defined as: 1) “Convex, meaning “curving out” or “extending outward” (compare to concave) 2) having an outline or surface curved like the exterior of a circle or sphere. 3) (of a polygon) having only interior angles measuring less than 180

trimesh.convex.
adjacency_projections
(mesh)¶ Test if a mesh is convex by projecting the vertices of a triangle onto the normal of its adjacent face.
Parameters:  mesh : Trimesh
Input geometry
Returns:  projection : (len(mesh.face_adjacency),) float
Distance of projection of adjacent vertex onto plane

trimesh.convex.
convex_hull
(obj, qhull_options='QbB Pp QJn')¶ Get a new Trimesh object representing the convex hull of the current mesh, with proper normals and watertight. Requires scipy >.12.
 obj : Trimesh, or (n,3) float
 Mesh or cartesian points
Returns:  convex : Trimesh
Mesh of convex hull

trimesh.convex.
hull_points
(obj, qhull_options='QbB Pp')¶ Try to extract a convex set of points from multiple input formats.
 obj: Trimesh object
 (n,d) points (m,) Trimesh objects
Returns:  points: (o,d) convex set of points

trimesh.convex.
is_convex
(mesh)¶ Check if a mesh is convex.
Parameters:  mesh : Trimesh
Input geometry
Returns:  convex : bool
Was passed mesh convex or not
trimesh.creation module¶
creation.py¶
Create meshes from primitives, or with operations.

trimesh.creation.
annulus
(r_min=1.0, r_max=2.0, height=1.0, sections=32, transform=None)¶ Create a mesh of an annular cylinder along Z, centered at the origin.
Parameters:  r_min : float
The inner radius of the annular cylinder
 r_max : float
The outer radius of the annular cylinder
 height : float
The height of the annular cylinder
 sections : int
How many pie wedges should the annular cylinder have
Returns:  annulus : trimesh.Trimesh
Mesh of annular cylinder

trimesh.creation.
box
(extents=None, transform=None)¶ Return a cuboid.
Parameters:  extents: float, or (3,) float edge length
 transform: (4, 4) float, transformation matrix
Returns:  box: Trimesh object

trimesh.creation.
capsule
(height=1.0, radius=1.0, count=[32, 32])¶ Create a mesh of a capsule, or a cylinder with hemispheric ends.
Parameters:  height: float, center to center distance of two spheres
 radius: float, radius of the cylinder and hemispheres
 count: (2,) int, number of sections on latitude and longitude
Returns:  capsule: Trimesh of capsule with given properties
 cylinder axis is along Z
 one hemisphere is centered at the origin
 other hemisphere is centered along the Z axis at specified height

trimesh.creation.
cylinder
(radius=1.0, height=1.0, sections=32, transform=None)¶ Create a mesh of a cylinder along Z centered at the origin.
Parameters:  radius : float
The radius of the cylinder
 height : float
The height of the cylinder
 sections : int
How many pie wedges should the cylinder have
Returns:  cylinder: Trimesh, resulting mesh

trimesh.creation.
extrude_polygon
(polygon, height, **kwargs)¶ Extrude a 2D shapely polygon into a 3D mesh
Parameters:  polygon: shapely.geometry.Polygon object
 height: float, distance to extrude polygon along Z
Returns:  mesh: Trimesh object of result

trimesh.creation.
extrude_triangulation
(vertices, faces, height, **kwargs)¶ Turn a 2D triangulation into a watertight Trimesh.
Parameters:  vertices : (n, 2) float
2D vertices
 faces : (m, 3) int
Triangle indexes of vertices
 height : float
Distance to extrude triangulation
Returns:  mesh : trimesh.Trimesh
Mesh created from extrusion

trimesh.creation.
icosahedron
()¶ Create an icosahedron, a 20 faced polyhedron.

trimesh.creation.
icosphere
(subdivisions=3, radius=1.0)¶ Create an isophere centered at the origin.
Parameters:  subdivisions : int
How many times to subdivide the mesh. Note that the number of faces will grow as function of 4 ** subdivisions, so you probably want to keep this under ~5
 radius : float
Desired radius of sphere
Returns:  ico : trimesh.Trimesh
Meshed sphere

trimesh.creation.
random_soup
(face_count=100)¶ Return a random set of triangles as a Trimesh
Parameters:  face_count: int, number of faces in resultant mesh
Returns:  soup: Trimesh object with face_count random faces

trimesh.creation.
sweep_polygon
(polygon, path, angles=None, **kwargs)¶ Extrude a 2D shapely polygon into a watertight 3D mesh along an arbitrary 3D path.
Parameters:  polygon: shapely.geometry.Polygon object
 path: (n,3) float, a path in 3D
 angles: (n,) float, optional rotation angle relative to prior vertex
at each vertex
Returns:  mesh : Trimesh object of result

trimesh.creation.
triangulate_polygon
(polygon, triangle_args='pq0D', engine='auto', **kwargs)¶ Given a shapely polygon create a triangulation using one of the python interfaces to triangle.c: pip install meshpy pip install triangle
 polygon : Shapely.geometry.Polygon
 Polygon object to be triangulated
 triangle_args : str
 Passed to triangle.triangulate
 engine : str
 ‘meshpy’, ‘triangle’, or ‘auto’
 kwargs: passed directly to meshpy.triangle.build:
 triangle.build(mesh_info,
 verbose=False, refinement_func=None, attributes=False, volume_constraints=True, max_volume=None, allow_boundary_steiner=True, allow_volume_steiner=True, quality_meshing=True, generate_edges=None, generate_faces=False, min_angle=None)
 vertices : (n, 2) float
 Points in space
 faces : (n, 3) int
 Index of vertices that make up triangles

trimesh.creation.
uv_sphere
(radius=1.0, count=[32, 32], theta=None, phi=None)¶ Create a UV sphere (latitude + longitude) centered at the origin.
Roughly one order of magnitude faster than an icosphere but slightly uglier.
Parameters:  radius : float
Radius of sphere
 count : (2,) int
Number of latitude and longitude lines
 theta : (n,) float
Optional theta angles in radians
 phi : (n,) float
Optional phi angles in radians
Returns:  mesh : trimesh.Trimesh
Mesh of UV sphere with specified parameters

trimesh.creation.
validate_polygon
(obj)¶
trimesh.curvature module¶
curvature.py¶
Query mesh curvature.

trimesh.curvature.
discrete_gaussian_curvature_measure
(mesh, points, radius)¶ Return the discrete gaussian curvature measure of a sphere centered at a point as detailed in ‘Restricted Delaunay triangulations and normal cycle’, CohenSteiner and Morvan.
Parameters:  points : (n,3) float, list of points in space
 radius : float, the sphere radius
Returns:  gaussian_curvature: (n,) float, discrete gaussian curvature measure.

trimesh.curvature.
discrete_mean_curvature_measure
(mesh, points, radius)¶ Return the discrete mean curvature measure of a sphere centered at a point as detailed in ‘Restricted Delaunay triangulations and normal cycle’, CohenSteiner and Morvan.
Parameters:  points : (n,3) float, list of points in space
 radius : float, the sphere radius
Returns:  mean_curvature: (n,) float, discrete mean curvature measure.

trimesh.curvature.
face_angles
(mesh)¶ Returns the angle at each vertex of a face.
Returns:  angles: (n, 3) float, angle at each vertex of a face.

trimesh.curvature.
face_angles_sparse
(mesh)¶ A sparse matrix representation of the face angles.
Returns:  sparse: scipy.sparse.coo_matrix with:
dtype: float shape: (len(mesh.vertices), len(mesh.faces))

trimesh.curvature.
line_ball_intersection
(start_points, end_points, center, radius)¶ Compute the length of the intersection of a line segment with a ball.
Parameters:  start_points : (n,3) float, list of points in space
 end_points : (n,3) float, list of points in space
 center : (3,) float, the sphere center
 radius : float, the sphere radius
Returns:  lengths: (n,) float, the lengths.

trimesh.curvature.
sphere_ball_intersection
(R, r)¶ Compute the surface area of the intersection of sphere of radius R centered at (0, 0, 0) with a ball of radius r centered at (R, 0, 0).
Parameters:  R : float, sphere radius
 r : float, ball radius
Returns:  area: float, the surface are.

trimesh.curvature.
vertex_defects
(mesh)¶ 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 : (len(self.vertices), ) float
Vertex defect at the every vertex
trimesh.decomposition module¶

trimesh.decomposition.
convex_decomposition
(mesh, engine=None, **kwargs)¶ Compute an approximate convex decomposition of a mesh.
Parameters:  mesh: Trimesh object
 engine: string, which backend to use. Valid choice is ‘vhacd’.
Returns:  mesh_args: list, list of **kwargs for Trimeshes that are nearly
convex and approximate the original.

trimesh.decomposition.
decomposition_automatic
(mesh, **kwargs)¶
trimesh.geometry module¶

trimesh.geometry.
align_vectors
(vector_start, vector_end, return_angle=False)¶ Returns the 4x4 transformation matrix which will rotate from vector_start to vector_end, eg:
vector_end == np.dot(T, np.append(vector_start, 1))[0:3]
Parameters:  vector_start: (3,) float, vector in space
 vector_end: (3,) float, vector in space
 return_angle: bool, return angle between vectors or not
Returns:  transform: (4,4) float, transformation matrix
 angle: float, angle in radians (only returned if flag set)

trimesh.geometry.
faces_to_edges
(faces, return_index=False)¶ Given a list of faces (n,3), return a list of edges (n*3,2)
Parameters:  faces: (n,3) int, vertex indices representing faces
Returns:  edges: (n*3, 2) int, vertex indices representing edges

trimesh.geometry.
index_sparse
(column_count, indices)¶ Return a sparse matrix for which vertices are contained in which faces.
Returns:  sparse: scipy.sparse.coo_matrix of shape (column_count, len(faces))
dtype is boolean
Examples
In [1]: sparse = faces_sparse(len(mesh.vertices), mesh.faces)
In [2]: sparse.shape Out[2]: (12, 20)
In [3]: mesh.faces.shape Out[3]: (20, 3)
In [4]: mesh.vertices.shape Out[4]: (12, 3)
In [5]: dense = sparse.toarray().astype(int)
In [6]: dense Out[6]: array([[1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0], [0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0], [0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1], [1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0], [0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0], [0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1], [0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1]])In [7]: dense.sum(axis=0) Out[7]: array([3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3])

trimesh.geometry.
mean_vertex_normals
(vertex_count, faces, face_normals, **kwargs)¶ Find vertex normals from the mean of the faces that contain that vertex.
Parameters:  vertex_count: int, the number of vertices faces refer to
 faces: (n,3) int, list of vertex indices
 face_normals: (n,3) float, normal vector for each face
Returns:  vertex_normals: (vertex_count, 3) float normals for every vertex
Uncontained vertices will be zero.

trimesh.geometry.
plane_transform
(origin, normal)¶ Given the origin and normal of a plane find the transform that will move that plane to be coplanar with the XY plane.
Parameters:  origin : (3,) float
Point that lies on the plane
 normal : (3,) float
Vector that points along normal of plane
Returns:  transform: (4,4) float
Transformation matrix to move points onto XY plane

trimesh.geometry.
triangulate_quads
(quads)¶ Given a set of quad faces, return them as triangle faces.
Parameters:  quads: (n,4) int, vertex indices of quad faces
Returns:  faces: (m,3) int, vertex indices of triangular faces

trimesh.geometry.
vector_angle
(pairs)¶ Find the angles between pairs of unit vectors.
Parameters:  pairs : (n,2,3) float
Unit vector pairs
Returns:  angles : (n,) float
Angles between vectors in radians
trimesh.graph module¶
graph.py¶
Deal with graph operations. Primarily deal with graphs in (n,2) edge list form, and abstract the backend graph library being used.
Currently uses networkx, scipy.sparse.csgraph, or graph_tool backends.

trimesh.graph.
connected_component_labels
(edges, node_count=None)¶ Label graph nodes from an edge list, using scipy.sparse.csgraph
Parameters:  edges : (n, 2) int
Edges of a graph
 node_count : int, or None
The largest node in the graph.
Returns:  labels : (node_count,) int
Component labels for each node

trimesh.graph.
connected_components
(edges, min_len=1, nodes=None, engine=None)¶ Find groups of connected nodes from an edge list.
Parameters:  edges: (n,2) int, edges between nodes
 nodes: (m, ) int, list of nodes that exist
 min_len: int, minimum length of a component group to return
 engine: str, which graph engine to use.
(‘networkx’, ‘scipy’, or ‘graphtool’) If None, will automatically choose fastest available.
Returns:  components: (n,) sequence of lists, nodes which are connected

trimesh.graph.
connected_edges
(G, nodes)¶ Given graph G and list of nodes, return the list of edges that are connected to nodes

trimesh.graph.
edges_to_coo
(edges, count=None, data=None)¶ Given an edge list, return a boolean scipy.sparse.coo_matrix representing the edges in matrix form.
Parameters:  edges : (n,2) int
Edges of a graph
 count : int
The total number of nodes in the graph if None: count = edges.max() + 1
 data : (n,) any
Assign data to each edge, if None will be bool True for each specified edge
Returns:  matrix: (count, count) scipy.sparse.coo_matrix
Sparse COO

trimesh.graph.
face_adjacency
(faces=None, mesh=None, return_edges=False)¶ Returns an (n,2) list of face indices. Each pair of faces in the list shares an edge, making them adjacent.
Parameters:  faces : (n, 3) int, or None
List of vertex indices representing triangles
 mesh : Trimesh object
If passed will used cached edges instead of faces
 return_edges : bool
Return the edges shared by adjacent faces
Returns:  adjacency : (m,2) int
Indexes of faces that are adjacent
 edges: (m,2) int
Only returned if return_edges is True Indexes of vertices which make up the edges shared by the adjacent faces
Examples
This is useful for lots of things such as finding face connected components: >>> graph = nx.Graph() >>> graph.add_edges_from(mesh.face_adjacency) >>> groups = nx.connected_components(graph_connected)

trimesh.graph.
face_adjacency_radius
(mesh)¶ Compute an approximate radius between adjacent faces.
Parameters:  mesh : trimesh.Trimesh
Returns:  radii : (len(self.face_adjacency),) float
Approximate radius between faces Parallel faces will have a value of np.inf
 span : (len(self.face_adjacency),) float
Perpendicular projection distance of two unshared vertices onto the shared edge
Return the vertex index of the two vertices not in the shared edge between two adjacent faces
Parameters:  mesh : Trimesh object
Returns:  vid_unshared : (len(mesh.face_adjacency), 2) int
Indexes of mesh.vertices

trimesh.graph.
facets
(mesh, engine=None)¶ Find the list of parallel adjacent faces.
mesh : trimesh.Trimesh engine : str
Which graph engine to use: (‘scipy’, ‘networkx’, ‘graphtool’)Returns:  facets : sequence of (n,) int
Groups of face indexes of parallel adjacent faces.

trimesh.graph.
fill_traversals
(traversals, edges, edges_hash=None)¶ Convert a traversal of a list of edges into a sequence of traversals where every pair of consecutive node indexes is an edge in a passed edge list
Parameters:  traversals : sequence of (m,) int
Node indexes of traversals of a graph
 edges : (n, 2) int
Pairs of connected node indexes
 edges_hash : None, or (n,) int
Edges sorted along axis 1 then hashed using grouping.hashable_rows
Returns:  splits : sequence of (p,) int
Node indexes of connected traversals

trimesh.graph.
graph_to_svg
(graph)¶ Turn a networkx graph into an SVG string, using graphviz dot.
Parameters:  graph: networkx graph
Returns:  svg: string, pictoral layout in SVG format

trimesh.graph.
is_watertight
(edges, edges_sorted=None)¶ edges: (n, 2) int, set of vertex indices edges_sorted: (n, 2) int, vertex indices sorted on axis 1
Returns:  watertight: boolean, whether every edge is shared by an even
number of faces
 winding: boolean, whether every shared edge is reversed

trimesh.graph.
multigraph_collect
(G, traversal, attrib=None)¶ Given a MultiDiGraph traversal, collect attributes along it.
Parameters:  G: networkx.MultiDiGraph
 traversal: (n) list of (node, instance) tuples
 attrib: dict key, name to collect. If None, will return all
Returns:  collected: (len(traversal)  1) list of attributes

trimesh.graph.
multigraph_paths
(G, source, cutoff=None)¶ For a networkx MultiDiGraph, find all paths from a source node to leaf nodes. This function returns edge instance numbers in addition to nodes, unlike networkx.all_simple_paths.
Parameters:  G: networkx.MultiDiGraph
 source: str, node to start off
 cutoff: int, number of nodes to visit
if None, will
Returns:  traversals: (n,) list of [(node, edge instance index), ] paths
Given two sets of faces, find the edges which are in both sets.
faces_a: (n,3) int, set of faces faces_b: (m,3) int, set of faces
Returns:  shared: (p, 2) int, set of edges

trimesh.graph.
smoothed
(mesh, angle)¶ Return a non watertight version of the mesh which will render nicely with smooth shading.
mesh: Trimesh object angle: float, angle in radians, adjacent faces which have normals
below this angle will be smoothed.Returns:  smooth: Trimesh object

trimesh.graph.
split
(mesh, only_watertight=True, adjacency=None, engine=None)¶ Split a mesh into multiple meshes from face connectivity.
If only_watertight is true, it will only return watertight meshes and will attempt single triangle/quad repairs.
Parameters:  mesh: Trimesh
 only_watertight: if True, only return watertight components
 adjacency: (n,2) list of face adjacency to override using the plain
adjacency calculated automatically.
 engine: str, which engine to use. (‘networkx’, ‘scipy’, or ‘graphtool’)
Returns:  meshes: list of Trimesh objects

trimesh.graph.
split_traversal
(traversal, edges, edges_hash=None)¶ Given a traversal as a list of nodes, split the traversal if a sequential index pair is not in the given edges.
Parameters:  edges : (n, 2) int
Graph edge indexes
 traversal : (m,) int
Traversal through edges
 edge_hash : (n,)
Edges sorted on axis=1 and passed to grouping.hashable_rows
Returns:  split : sequence of (p,) int

trimesh.graph.
traversals
(edges, mode='bfs')¶ Given an edge list, generate a sequence of ordered depth first search traversals, using scipy.csgraph routines.
Parameters:  edges : (n,2) int, undirected edges of a graph
 mode : str, ‘bfs’, or ‘dfs’
Returns:  traversals: (m,) sequence of (p,) int,
ordered DFS or BFS traversals of the graph.

trimesh.graph.
vertex_adjacency_graph
(mesh)¶ Returns a networkx graph representing the vertices and their connections in the mesh.
Parameters:  mesh : Trimesh object
Returns:  graph : networkx.Graph
Graph representing vertices and edges between them where vertices are nodes and edges are edges
Examples
This is useful for getting nearby vertices for a given vertex, potentially for some simple smoothing techniques. >>> graph = mesh.vertex_adjacency_graph >>> graph.neighbors(0) > [1,3,4]
trimesh.grouping module¶
grouping.py¶
Functions for grouping values and rows.

trimesh.grouping.
blocks
(data, min_len=2, max_len=inf, digits=None, only_nonzero=False)¶ Given an array, find the indices of contiguous blocks of equal values.
data: (n) array min_len: int, the minimum length group to be returned max_len: int, the maximum length group to be retuurned digits: if dealing with floats, how many digits to use only_nonzero: bool, only return blocks of non zero values
Returns:  blocks: (m) sequence of indices referencing data

trimesh.grouping.
boolean_rows
(a, b, operation=<function intersect1d>)¶ Find the rows in two arrays which occur in both rows.
 a: (n, d) int
 Array with row vectors
 b: (m, d) int
 Array with row vectors
 operation : function
 Numpy boolean set operation function:
 np.intersect1d np.setdiff1d
Returns:  shared: (p, d) array containing rows in both a and b

trimesh.grouping.
clusters
(points, radius)¶ Find clusters of points which have neighbours closer than radius
 points : (n, d) float
 Points of dimension d
 radius : float
 Max distance between points in a cluster
Returns:  groups : (m,) sequence of int
Indices of points in a cluster

trimesh.grouping.
float_to_int
(data, digits=None, dtype=<class 'numpy.int32'>)¶ Given a numpy array of float/bool/int, return as integers.
Parameters:  data: (n, d) float, int, or bool data
 digits: float/int precision for float conversion
 dtype: numpy dtype for result
Returns:  as_int: data, as integers

trimesh.grouping.
group
(values, min_len=0, max_len=inf)¶ Return the indices of values that are identical
Parameters:  values: 1D array
 min_len: int, the shortest group allowed
All groups will have len >= min_length
 max_len: int, the longest group allowed
All groups will have len <= max_length
Returns:  groups: sequence of indices to form groups
IE [0,1,0,1] returns [[0,2], [1,3]]

trimesh.grouping.
group_distance
(values, distance)¶ Find groups of points which have neighbours closer than radius, where no two points in a group are farther than distance apart.
 points : (n, d) float
 Points of dimension d
 distance : float
 Max distance between points in a cluster
Returns:  unique : (m, d) float
Median value of each group
 groups : (m) sequence of int
Indexes of points that make up a group

trimesh.grouping.
group_min
(groups, data)¶ Given a list of groups, find the minimum element of data within each group
Parameters:  groups : (n,) sequence of (q,) int
Indexes of each group corresponding to each element in data
 data : (m,)
The data that groups indexes reference
Returns:  minimums : (n,)
Minimum value of data per group

trimesh.grouping.
group_rows
(data, require_count=None, digits=None)¶ Returns index groups of duplicate rows, for example: [[1,2], [3,4], [1,2]] will return [[0,2], [1]]
Parameters:  data: (n,m) array
 require_count: only returns groups of a specified length, eg:
require_count = 2 [[1,2], [3,4], [1,2]] will return [[0,2]]
Note that using require_count allows numpy advanced indexing to be used in place of looping and checking hashes, and as a consequence is ~10x faster.
 digits: If data is floating point, how many decimals to look at.
If this is None, the value in TOL_MERGE will be turned into a digit count and used.
Returns:  groups: List or sequence of indices from data indicating identical rows.
If require_count != None, shape will be (j, require_count) If require_count is None, shape will be irregular (AKA a sequence)

trimesh.grouping.
group_vectors
(vectors, angle=0.0001, include_negative=False)¶ Group vectors based on an angle tolerance, with the option to include negative vectors.
Parameters:  vectors : (n,3) float
Direction vector
 angle : float
Group vectors closer than this angle in radians
 include_negative : bool
If True consider the same: [0,0,1] and [0,0,1]
Returns:  new_vectors : (m,3) float
Direction vector
 groups : (m,) sequence of int
Indices of source vectors

trimesh.grouping.
hashable_rows
(data, digits=None)¶ We turn our array into integers based on the precision given by digits and then put them in a hashable format.
data: (n,m) input array digits: how many digits to add to hash, if data is floating point
If none, TOL_MERGE will be turned into a digit count and used.Returns:  hashable: (n) length array of custom data which can be sorted
or used as hash keys

trimesh.grouping.
merge_runs
(data, digits=None)¶ Merge duplicate sequential values. This differs from unique_ordered in that values can occur in multiple places in the sequence, but only consecutive repeats are removed
Parameters:  data: (n,) float or int
Returns:  merged: (m,) float or int
Examples
In [1]: a Out[1]: array([1, 1, 1, 0, 0, 1, 1, 2, 0,
3, 3, 4, 4, 5, 5, 6, 6, 7, 7, 8, 8, 9, 9, 9])In [2]: trimesh.grouping.merge_runs(a) Out[2]: array([1, 0, 1, 2, 0, 3, 4, 5, 6, 7, 8, 9])

trimesh.grouping.
merge_vertices_hash
(mesh, distance=None)¶ Removes duplicate vertices, based on integer hashes of each row.
Parameters:  mesh : Trimesh object
Mesh to merge vertices of
 distance : float, or None
If not specified uses tol.merge

trimesh.grouping.
unique_float
(data, return_index=False, return_inverse=False, digits=None)¶ Identical to the numpy.unique command, except evaluates floating point numbers, using a specified number of digits.
If digits isn’t specified, the library default TOL_MERGE will be used.

trimesh.grouping.
unique_ordered
(data)¶ Returns the same as np.unique, but ordered as per the first occurrence of the unique value in data.
Examples
In [1]: a = [0, 3, 3, 4, 1, 3, 0, 3, 2, 1]
In [2]: np.unique(a) Out[2]: array([0, 1, 2, 3, 4])
In [3]: trimesh.grouping.unique_ordered(a) Out[3]: array([0, 3, 4, 1, 2])

trimesh.grouping.
unique_rows
(data, digits=None)¶ Returns indices of unique rows. It will return the first occurrence of a row that is duplicated: [[1,2], [3,4], [1,2]] will return [0,1]
data: (n,m) set of floating point data digits: how many digits to consider for the purposes of uniqueness
Returns:  unique: (j) array, index in data which is a unique row
 inverse: (n) length array to reconstruct original
example: unique[inverse] == data

trimesh.grouping.
unique_value_in_row
(data, unique=None)¶ For a 2D array of integers find the position of a value in each row which only occurs once. If there are more than one value per row which occur once, the last one is returned.
Parameters:  data: (n,d) int
 unique: (m) int, list of unique values contained in data.
speedup purposes only, generated from np.unique if not passed
Returns:  result: (n,d) bool, with one or zero True values per row.
Examples
 In [0]: r = np.array([[1, 1, 1],
 [1, 1, 1], [1, 1, 1], [1, 1, 1], [1, 1, 1]], dtype=np.int8)
In [1]: unique_value_in_row(r) Out[1]:
 array([[ True, False, False],
 [False, True, False], [ True, False, False], [False, True, False], [False, True, False]], dtype=bool)
In [2]: unique_value_in_row(r).sum(axis=1) Out[2]: array([1, 1, 1, 1, 1])
In [3]: r[unique_value_in_row(r)] Out[3]: array([1, 1, 1, 1, 1], dtype=int8)
trimesh.inertia module¶
inertia.py¶
Functions for dealing with inertia tensors.
Results validated against known geometries and for internal consistency.

trimesh.inertia.
cylinder_inertia
(mass, radius, height, transform=None)¶ Return the inertia tensor of a cylinder.
Parameters:  mass: float, mass of cylinder
 radius: float, radius of cylinder
 height: float, height of cylinder
 transform: (4,4) float, transformation of cylinder
Returns:  inertia: (3,3) float, inertia tensor

trimesh.inertia.
principal_axis
(inertia)¶ Find the principal components and principal axis of inertia from the inertia tensor.
Parameters:  inertia: (3,3) float, inertia tensor
Returns:  components: (3,) float, principal components of inertia
 vectors: (3,3) float, row vectors pointing along
the principal axes of inertia

trimesh.inertia.
radial_symmetry
(mesh)¶ Check whether a mesh has rotational symmetry.
Returns:  symmetry: None No rotational symmetry
‘radial’ Symmetric around an axis ‘spherical’ Symmetric around a point
 axis: None, or (3,) float
 section: None, or (3, 2) float

trimesh.inertia.
sphere_inertia
(mass, radius)¶ Return the inertia tensor of a sphere.
Parameters:  mass: float, mass of sphere
 radius: float, radius of sphere
Returns:  inertia: (3,3) float, inertia tensor

trimesh.inertia.
transform_inertia
(transform, inertia_tensor)¶ Transform an inertia tensor to a new frame.
More details in OCW PDF: MIT16_07F09_Lec26.pdf
Parameters:  transform: (3,3) or (4,4) float, transformation matrix
 inertia_tensor: (3,3) float, inertia tensor
Returns:  transformed: (3,3) float, inertia tensor in new frame
trimesh.integrate module¶
integrate.py¶
Utilities for integrating functions over meshes surfaces.

trimesh.integrate.
substitute_barycentric
(function)¶

trimesh.integrate.
symbolic_barycentric
(function)¶ Symbolically integrate a function(x,y,z) across a triangle or mesh.
Parameters:  function: string or sympy expression
x, y, z will be replaced with a barycentric representation and the the function is integrated across the triangle.
Returns:  evaluator: numpy lambda function of result which takes a mesh
 expr: sympy expression of result
Examples
In [1]: function = ‘1’
In [2]: integrator, expr = integrate_barycentric(function)
In [3]: integrator Out[3]: <__main__.evaluator instance at 0x7f66cd2a6200>
In [4]: expr Out[4]: 1/2
In [5]: result = integrator(mesh)
In [6]: mesh.area Out[6]: 34.641016151377542
In [7]: result.sum() Out[7]: 34.641016151377542
trimesh.intersections module¶
intersections.py¶
Primarily meshplane intersections (slicing).

trimesh.intersections.
mesh_multiplane
(mesh, plane_origin, plane_normal, heights)¶ A utility function for slicing a mesh by multiple parallel planes, which caches the dot product operation.
Parameters:  mesh : trimesh.Trimesh
Geometry to be sliced by planes
 plane_normal : (3,) float
Normal vector of plane
 plane_origin : (3,) float
Point on a plane
 heights : (m,) float
Offset distances from plane to slice at
Returns:  lines : (m,) sequence of (n, 2, 2) float
Lines in space for m planes
 to_3D : (m, 4, 4) float
Transform to move each section back to 3D
 face_index : (m,) sequence of (n,) int
Indexes of mesh.faces for each segment

trimesh.intersections.
mesh_plane
(mesh, plane_normal, plane_origin, return_faces=False, cached_dots=None)¶ Find a the intersections between a mesh and a plane, returning a set of line segments on that plane.
 mesh : Trimesh object
 Source mesh to slice
 plane_normal : (3,) float
 Normal vector of plane to intersect with mesh
 plane_origin: (3,) float
 Point on plane to intersect with mesh
 return_faces: bool
 If True return face index each line is from
 cached_dots : (n, 3) float
 If an external function has stored dot products pass them here to avoid recomputing
Returns:  lines : (m, 2, 3) float
List of 3D line segments in space
 face_index : (m,) int
Index of mesh.faces for each line Only returned if return_faces was True

trimesh.intersections.
plane_lines
(plane_origin, plane_normal, endpoints, line_segments=True)¶ Calculate planeline intersections
 plane_origin : (3,) float
 Point on plane
 plane_normal : (3,) float
 Plane normal vector
 endpoints : (2, n, 3) float
 Points defining lines to be tested
 line_segments : bool
 If True, only returns intersections as valid if vertices from endpoints are on different sides of the plane.
Returns:  intersections : (m, 3) float
Cartesian intersection points
 valid : (n, 3) bool
Indicate whether a valid intersection exists for each input line segment

trimesh.intersections.
planes_lines
(plane_origins, plane_normals, line_origins, line_directions)¶ Given one line per plane, find the intersection points.
Parameters:  plane_origins : (n,3) float
Point on each plane
 plane_normals : (n,3) float
Normal vector of each plane
 line_origins : (n,3) float
Point at origin of each line
 line_directions : (n,3) float
Direction vector of each line
Returns:  on_plane : (n,3) float
Points on specified planes
 valid : (n,) bool
Did plane intersect line or not

trimesh.intersections.
slice_mesh_plane
(mesh, plane_normal, plane_origin, cached_dots=None)¶ Slice a mesh with a plane, returning a new mesh that is the portion of the original mesh to the positive normal side of the plane
 mesh : Trimesh object
 Source mesh to slice
 plane_normal : (3,) float
 Normal vector of plane to intersect with mesh
 plane_origin: (3,) float
 Point on plane to intersect with mesh
 cached_dots : (n, 3) float
 If an external function has stored dot products pass them here to avoid recomputing
 new_mesh : Trimesh object
 Sliced mesh
trimesh.nsphere module¶
nsphere.py¶
Functions for fitting and minimizing nspheres: circles, spheres, hyperspheres, etc.

trimesh.nsphere.
fit_nsphere
(points, prior=None)¶ Fit an nsphere to a set of points using least squares.
points: (n,d) set of points prior: (d,) float, best guess for center of nsphere
Returns:  center: (d), location of center
 radius: float, mean radius across circle
 error: float, peak to peak value of deviation from mean radius

trimesh.nsphere.
is_nsphere
(points)¶ Check if a list of points is an nsphere.
Parameters:  points: (n,dimension) float, points in space
Returns:  check: bool, True if input points are on an nsphere

trimesh.nsphere.
minimum_nsphere
(obj)¶ Compute the minimum n sphere for a mesh or a set of points.
Uses the fact that the minimum n sphere will be centered at one of the vertices of the furthest site voronoi diagram, which is n*log(n) but should be pretty fast due to using the scipy/qhull implementations of convex hulls and voronoi diagrams.
Parameters:  obj: Trimesh object OR
(n,d) float, set of points
Returns:  center: (d) float, center of n sphere
 radius: float, radius of nsphere
trimesh.parent module¶
parent.py¶
The base class for Trimesh, PointCloud, and Scene objects

class
trimesh.parent.
Geometry
¶ Bases:
object
Attributes: bounding_box
An axis aligned bounding box for the current mesh.
bounding_box_oriented
An oriented bounding box for the current mesh.
bounding_cylinder
A minimum volume bounding cylinder for the current mesh.
bounding_primitive
The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
bounding_sphere
A minimum volume bounding sphere for the current mesh.

bounding_box
¶ An axis aligned bounding box for the current mesh.
Returns:  aabb : trimesh.primitives.Box
Box object with transform and extents defined representing the axis aligned bounding box of the mesh

bounding_box_oriented
¶ An oriented bounding box for the current mesh.
Returns:  obb : trimesh.primitives.Box
Box object with transform and extents defined representing the minimum volume oriented bounding box of the mesh

bounding_cylinder
¶ A minimum volume bounding cylinder for the current mesh.
Returns:  mincyl : trimesh.primitives.Cylinder
Cylinder primitive containing current mesh

bounding_primitive
¶ The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
Returns:  bounding_primitive : trimesh.primitives.Sphere
trimesh.primitives.Box trimesh.primitives.Cylinder
Primitive which bounds the mesh with the smallest volume

bounding_sphere
¶ A minimum volume bounding sphere for the current mesh.
Note that the Sphere primitive returned has an unpadded, exact sphere_radius so while the distance of every vertex of the current mesh from sphere_center will be less than sphere_radius, the faceted sphere primitive may not contain every vertex
Returns:  minball: trimesh.primitives.Sphere
Sphere primitive containing current mesh
trimesh.permutate module¶
permutate.py¶
Randomly deform meshes in different ways.

class
trimesh.permutate.
Permutator
(mesh)¶ Bases:
object
Methods
noise
([magnitude])Add gaussian noise to every vertex of a mesh. tessellation
()Subdivide each face of a mesh into three faces with the new vertex randomly placed inside the old face. transform
()Return a permutated variant of a mesh by randomly reording faces and rotatating + translating a mesh by a random matrix. 
noise
(magnitude=None)¶ Add gaussian noise to every vertex of a mesh. Makes no effort to maintain topology or sanity.
Parameters:  mesh: Trimesh object (will not be mutated)
 magnitude: float, what is the maximum distance per axis we can displace a vertex.
Default value is mesh.scale/100.0
Returns:  permutated: Trimesh object, input mesh with noise applied

tessellation
()¶ Subdivide each face of a mesh into three faces with the new vertex randomly placed inside the old face.
This produces a mesh with exactly the same surface area and volume but with different tessellation.
Parameters:  mesh: Trimesh object
Returns:  permutated: Trimesh object with remeshed facets

transform
()¶ Return a permutated variant of a mesh by randomly reording faces and rotatating + translating a mesh by a random matrix.
Parameters:  mesh: Trimesh object (input will not be altered by this function)
Returns:  permutated: Trimesh object, same faces as input mesh but
rotated and reordered.


trimesh.permutate.
noise
(mesh, magnitude=None)¶ Add gaussian noise to every vertex of a mesh. Makes no effort to maintain topology or sanity.
Parameters:  mesh: Trimesh object (will not be mutated)
 magnitude: float, what is the maximum distance per axis we can displace a vertex.
Default value is mesh.scale/100.0
Returns:  permutated: Trimesh object, input mesh with noise applied

trimesh.permutate.
tessellation
(mesh)¶ Subdivide each face of a mesh into three faces with the new vertex randomly placed inside the old face.
This produces a mesh with exactly the same surface area and volume but with different tessellation.
Parameters:  mesh: Trimesh object
Returns:  permutated: Trimesh object with remeshed facets

trimesh.permutate.
transform
(mesh, translation_scale=1000.0)¶ Return a permutated variant of a mesh by randomly reording faces and rotatating + translating a mesh by a random matrix.
Parameters:  mesh: Trimesh object (input will not be altered by this function)
Returns:  permutated: Trimesh object, same faces as input mesh but
rotated and reordered.
trimesh.points module¶
points.py¶
Functions dealing with (n, d) points.

class
trimesh.points.
PointCloud
(*args, **kwargs)¶ Bases:
trimesh.parent.Geometry
Hold 3D points in an object which can be visualized in a scene.
Attributes: bounding_box
An axis aligned bounding box for the current mesh.
bounding_box_oriented
An oriented bounding box for the current mesh.
bounding_cylinder
A minimum volume bounding cylinder for the current mesh.
bounding_primitive
The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
bounding_sphere
A minimum volume bounding sphere for the current mesh.
bounds
The axis aligned bounds of the PointCloud
centroid
The mean vertex position
colors
Stored per point color
convex_hull
A convex hull of every point.
extents
The size of the axis aligned bounds
shape
Get the shape of the pointcloud
vertices
Vertices of the PointCloud
Methods
apply_transform
(transform)Apply a homogenous transformation to the PointCloud object in place. md5
()Get an MD5 hash of the current vertices. merge_vertices
()Merge vertices closer than tol.merge (default: 1e8) scene
()A scene containing just the PointCloud show
()Open a viewer window displaying the current PointCloud 
apply_transform
(transform)¶ Apply a homogenous transformation to the PointCloud object in place.
Parameters:  transform : (4, 4) float
Homogenous transformation to apply to PointCloud

bounds
¶ The axis aligned bounds of the PointCloud
Returns:  bounds : (2, 3) float
Miniumum, Maximum verteex

centroid
¶ The mean vertex position
Returns:  centroid : (3,) float
Mean vertex position

colors
¶ Stored per point color
Returns:  colors : (len(self.vertices), 4) np.uint8
Per point RGBA color

convex_hull
¶ A convex hull of every point.
Returns:  convex_hull : trimesh.Trimesh
A watertight mesh of the hull of the points

extents
¶ The size of the axis aligned bounds
Returns:  extents : (3,) float
Edge length of axis aligned bounding box

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

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

scene
()¶ A scene containing just the PointCloud
Returns:  scene : trimesh.Scene
Scene object containing this PointCloud

shape
¶ Get the shape of the pointcloud
Returns:  shape : (2,) int
Shape of vertex array

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

vertices
¶ Vertices of the PointCloud
Returns:  vertices : (n, 3) float
Points in the PointCloud

trimesh.points.
k_means
(points, k, **kwargs)¶ Find k centroids that attempt to minimize the k means problem: https://en.wikipedia.org/wiki/Metric_kcenter
Parameters:  points: (n, d) float
Points in a space
 k : int
Number of centroids to compute
 **kwargs : dict
Passed directly to scipy.cluster.vq.kmeans
Returns:  centroids : (k, d) float
Points in some space
 labels: (n) int
Indexes for which points belong to which centroid

trimesh.points.
major_axis
(points)¶ Returns an approximate vector representing the major axis of points
Parameters:  points: (n, dimension) float, points in space
Returns:  axis: (dimension,) float, vector along approximate major axis

trimesh.points.
plane_fit
(points)¶ Given a set of points, find an origin and normal using SVD.
 points : (n,3) float
 Points in 3D space
Returns:  C : (3,) float
Point on the plane
 N : (3,) float
Normal vector of plane

trimesh.points.
plot_points
(points, show=True)¶ Plot an (n,3) list of points using matplotlib
Parameters:  points : (n, 3) float
Points in space
 show : bool
If False, will not show until plt.show() is called

trimesh.points.
point_plane_distance
(points, plane_normal, plane_origin=[0.0, 0.0, 0.0])¶ The minimum perpendicular distance of a point to a plane.
Parameters:  points: (n, 3) float, points in space
 plane_normal: (3,) float, normal vector
 plane_origin: (3,) float, plane origin in space
Returns:  distances: (n,) float, distance from point to plane

trimesh.points.
project_to_plane
(points, plane_normal=[0, 0, 1], plane_origin=[0, 0, 0], transform=None, return_transform=False, return_planar=True)¶ Projects a set of (n,3) points onto a plane.
points: (n,3) array of points plane_normal: (3) normal vector of plane plane_origin: (3) point on plane transform: None or (4,4) matrix. If specified, normal/origin are ignored return_transform: bool, if true returns the (4,4) matrix used to project points
onto a plane return_planar: bool, if True, returns (n,2) points. If False, returns
 (n,3), where the Z column consists of zeros

trimesh.points.
radial_sort
(points, origin, normal)¶ Sorts a set of points radially (by angle) around an origin/normal.
Parameters:  points: (n,3) float, points in space
 origin: (3,) float, origin to sort around
 normal: (3,) float, vector to sort around
Returns:  ordered: (n,3) flot, re ordered points in space

trimesh.points.
remove_close
(points, radius)¶ Given an (n, m) set of points where n=(23) return a list of points where no point is closer than radius.
Parameters:  points : (n, dimension) float
Points in space
 radius : float
Minimum radius between result points
Returns:  culled : (m, dimension) float
Points in space
 mask : (n,) bool
Which points from the original set were returned

trimesh.points.
tsp
(points, start=0)¶ Find an ordering of points where each is visited and the next point is the closest in euclidean distance, and if there are multiple points with equal distance go to an arbitrary one.
Assumes every point is visitable from every other point, i.e. the travelling salesman problem on a fully connected graph. It is not a MINIMUM traversal; rather it is a “not totally goofy traversal, quickly.” On random points this traversal is often ~20x shorter than random ordering.
Parameters:  points : (n, dimension) float
ND points in space
 start : int
The index of points we should start at
Returns:  traversal : (n,) int
Ordered traversal visiting every point
 distances : (n  1,) float
The euclidean distance between points in traversal
trimesh.poses module¶
poses.py¶
Find stable orientations of meshes.

trimesh.poses.
compute_stable_poses
(mesh, center_mass=None, sigma=0.0, n_samples=1, threshold=0.0)¶ Computes stable orientations of a mesh and their quasistatic probabilites.
This method samples the location of the center of mass from a multivariate gaussian with the mean at the center of mass, and a covariance equal to and identity matrix times sigma, over n_samples.
For each sample, it computes the stable resting poses of the mesh on a a planar workspace and evaulates the probabilities of landing in each pose if the object is dropped onto the table randomly.
This method returns the 4x4 homogenous 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:  mesh: Trimesh object, the target mesh
 com: (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 loc
 threshold: float, the probability value at which to threshold
returned stable poses
Returns:  transforms: list of (4,4) floats, the homogenous 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: list of floats, a probability in (0, 1) for each pose
trimesh.primitives module¶
primitives.py¶
Subclasses of Trimesh objects that are parameterized as primitives.
Useful because you can move boxes and spheres around, and then use trimesh operations on them at any point.

class
trimesh.primitives.
Box
(*args, **kwargs)¶ Bases:
trimesh.primitives._Primitive
Attributes: area
Summed area of all triangles in the current mesh.
area_faces
The area of each face in the mesh.
body_count
How many connected groups of vertices exist in this mesh.
bounding_box
An axis aligned bounding box for the current mesh.
bounding_box_oriented
An oriented bounding box for the current mesh.
bounding_cylinder
A minimum volume bounding cylinder for the current mesh.
bounding_primitive
The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
bounding_sphere
A minimum volume bounding sphere for the current mesh.
bounds
The axis aligned bounds of the mesh.
center_mass
The point in space which is the center of mass/volume.
centroid
The point in space which is the average of the triangle centroids weighted by the area of each triangle.
convex_hull
Get a new Trimesh object representing the convex hull of the current mesh.
density
The density of the mesh.
edges
Edges of the mesh (derived from faces).
edges_face
Which face does each edge belong to.
edges_sorted
Edges sorted along axis 1
edges_sparse
Edges in sparse bool COO graph format where connected vertices are True.
edges_unique
The unique edges of the mesh.
edges_unique_length
How long is each unique edge.
euler_number
Return the Euler characteristic (a topological invariant) for the mesh
extents
The length, width, and height of the bounding box of the mesh.
face_adjacency
Find faces that share an edge, which we call here ‘adjacent’.
face_adjacency_angles
Return the angle between adjacent faces
face_adjacency_convex
Return faces which are adjacent and locally convex.
face_adjacency_edges
Returns the edges that are shared by the adjacent faces.
face_adjacency_projections
The projection of the non shared vertex of a triangle onto
face_adjacency_radius
The approximate radius of a cylinder that fits inside adjacent faces.
face_adjacency_span
The approximate perpendicular projection of the non shared vertices in a pair of adjacent faces onto the shared edge of the two faces.
face_adjacency_tree
An Rtree of face adjacencies.
face_adjacency_unshared
Return the vertex index of the two vertices not in the shared
face_angles
Returns the angle at each vertex of a face.
face_angles_sparse
A sparse matrix representation of the face angles.
face_normals
Return the unit normal vector for each face.
faces
The faces of the mesh.
faces_sparse
A sparse matrix representation of the faces.
faces_unique_edges
For each face return which indexes in mesh.unique_edges constructs that face.
facets
Return a list of face indices for coplanar adjacent faces.
facets_area
Return an array containing the area of each facet.
facets_boundary
Return the edges which represent the boundary of each facet
facets_normal
Return the normal of each facet
facets_on_hull
Find which facets of the mesh are on the convex hull.
facets_origin
Return a point on the facet plane.
identifier
Return a float vector which is unique to the mesh and is robust to rotation and translation.
identifier_md5
An MD5 of the rotation invariant identifier vector
is_convex
Check if a mesh is convex or not.
is_empty
Does the current mesh have data defined.
is_oriented
Returns whether or not the current box is rotated at all.
is_volume
Check if a mesh has all the properties required to represent a valid volume, rather than just a surface.
is_watertight
Check if a mesh is watertight by making sure every edge is included in two faces.
is_winding_consistent
Does the mesh have consistent winding or not.
kdtree
Return a scipy.spatial.cKDTree of the vertices of the mesh.
mass
Mass of the current mesh, based on specified density and volume.
mass_properties
Returns the mass properties of the current mesh.
moment_inertia
Return the moment of inertia matrix of the current mesh.
principal_inertia_components
Return the principal components of inertia
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.
principal_inertia_vectors
Return the principal axis of inertia.
scale
A metric for the overall scale of the mesh, the length of the diagonal of the axis aligned bounding box of the mesh.
symmetry
Check whether a mesh has rotational symmetry.
symmetry_axis
If a mesh has rotational symmetry, return the axis.
symmetry_section
If a mesh has rotational symmetry, return the two vectors which make up a section coordinate frame.
triangles
Actual triangles of the mesh (points, not indexes)
triangles_center
The center of each triangle (barycentric [1/3, 1/3, 1/3])
triangles_cross
The cross product of two edges of each triangle.
triangles_tree
An Rtree containing each face of the mesh.
units
Definition of units for the mesh.
vertex_adjacency_graph
Returns a networkx graph representing the vertices and their connections in the mesh.
vertex_defects
Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex.
vertex_neighbors
The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent.
vertex_normals
The vertex normals of the mesh.
vertices
The vertices of the mesh.
volume
Volume of the box Primitive.
Methods
apply_obb
()Apply the oriented bounding box transform to the current mesh. apply_scale
(scaling)Scale the mesh equally on all axis. apply_transform
(matrix)Apply a transform to the current primitive (sets self.transform) apply_translation
(translation)Translate the current mesh. compute_stable_poses
([center_mass, sigma, …])Computes stable orientations of a mesh and their quasistatic probabilites. contains
(points)Given a set of points, determine whether or not they are inside the mesh. convert_units
(desired[, guess])Convert the units of the mesh into a specified unit. convex_decomposition
([engine, maxhulls])Compute an approximate convex decomposition of a mesh. copy
()Return a copy of the Primitive object. crc
()A zlib.adler32 checksum for the current mesh data. difference
(other[, engine])Boolean difference between this mesh and n other meshes eval_cached
(statement, *args)Evaluate a statement and cache the result before returning. export
([file_obj, file_type])Export the current mesh to a file object. fill_holes
()Fill single triangle and single quad holes in the current mesh. fix_normals
(**kwargs)Find and fix problems with self.face_normals and self.faces winding direction. intersection
(other[, engine])Boolean intersection between this mesh and n other meshes invert
()Invert the mesh in place by reversing the winding of every face and negating normals without dumping the cache. md5
()An MD5 of the core geometry information for the mesh, faces and vertices. merge_vertices
([distance])If a mesh has vertices that are closer than trimesh.constants.tol.merge reindex faces to reference the same index for both vertices. outline
([face_ids])Given a set of face ids, find the outline of the faces, and return it as a Path3D. process
()Do the bare minimum processing to make a mesh useful. 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. remove_degenerate_faces
([height])Remove degenerate faces (faces without 3 unique vertex indices) from the current mesh. remove_duplicate_faces
()On the current mesh remove any faces which are duplicates. remove_infinite_values
()Ensure that every vertex and face consists of finite numbers. 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. sample
(count[, return_index])Return random samples distributed normally across the surface of the mesh sample_grid
([count, step])Return a 3D grid which is contained by the box. sample_volume
(count)Return random samples from inside the volume of the box. scene
(**kwargs)Get a Scene object containing the current mesh. section
(plane_normal, plane_origin)Returns a 3D cross section of the current mesh and a plane defined by origin and normal. section_multiplane
(plane_origin, …)Return multiple parallel cross sections of the current mesh in 2D. show
(**kwargs)Render the mesh in an opengl window. slice_plane
(plane_origin, plane_normal)Returns another mesh that is the current mesh sliced by the plane defined by origin and normal. smoothed
(**kwargs)Return a version of the current mesh which will render nicely. split
(**kwargs)Returns a list of Trimesh objects, based on face connectivity. subdivide
([face_index])Subdivide a mesh, with each subdivided face replaced with four smaller faces. submesh
(faces_sequence, **kwargs)Return a subset of the mesh. to_dict
()Return a dictionary representation of the current mesh, with keys that can be used as the kwargs for the Trimesh constructor, eg: to_mesh
()Return a copy of the Primitive object as a Trimesh object. union
(other[, engine])Boolean union between this mesh and n other meshes unmerge_vertices
()Removes all face references so that every face contains three unique vertex indices and no faces are adjacent. update_faces
(mask)In many cases, we will want to remove specific faces. update_vertices
(mask[, inverse])Update vertices with a mask. voxelized
(pitch, **kwargs)Return a Voxel object representing the current mesh discretized into voxels at the specified pitch 
is_oriented
¶ Returns whether or not the current box is rotated at all.

sample_grid
(count=None, step=None)¶ Return a 3D grid which is contained by the box. Samples are either ‘step’ distance apart, or there are ‘count’ samples per box side.
Parameters:  count: int or (3,) int, if specified samples are spaced with np.linspace
 step: float or (3,) float, if specified samples are spaced with np.arange
Returns:  grid: (n,3) float, points inside the box

sample_volume
(count)¶ Return random samples from inside the volume of the box.
Parameters:  count: int, number of samples to return
Returns:  samples: (count,3) float, points inside the volume

volume
¶ Volume of the box Primitive.
Returns:  volume: float, volume of box

class
trimesh.primitives.
Capsule
(*args, **kwargs)¶ Bases:
trimesh.primitives._Primitive
Attributes: area
Summed area of all triangles in the current mesh.
area_faces
The area of each face in the mesh.
body_count
How many connected groups of vertices exist in this mesh.
bounding_box
An axis aligned bounding box for the current mesh.
bounding_box_oriented
An oriented bounding box for the current mesh.
bounding_cylinder
A minimum volume bounding cylinder for the current mesh.
bounding_primitive
The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
bounding_sphere
A minimum volume bounding sphere for the current mesh.
bounds
The axis aligned bounds of the mesh.
center_mass
The point in space which is the center of mass/volume.
centroid
The point in space which is the average of the triangle centroids weighted by the area of each triangle.
convex_hull
Get a new Trimesh object representing the convex hull of the current mesh.
density
The density of the mesh.
direction
The direction of the capsule’s axis.
edges
Edges of the mesh (derived from faces).
edges_face
Which face does each edge belong to.
edges_sorted
Edges sorted along axis 1
edges_sparse
Edges in sparse bool COO graph format where connected vertices are True.
edges_unique
The unique edges of the mesh.
edges_unique_length
How long is each unique edge.
euler_number
Return the Euler characteristic (a topological invariant) for the mesh
extents
The length, width, and height of the bounding box of the mesh.
face_adjacency
Find faces that share an edge, which we call here ‘adjacent’.
face_adjacency_angles
Return the angle between adjacent faces
face_adjacency_convex
Return faces which are adjacent and locally convex.
face_adjacency_edges
Returns the edges that are shared by the adjacent faces.
face_adjacency_projections
The projection of the non shared vertex of a triangle onto
face_adjacency_radius
The approximate radius of a cylinder that fits inside adjacent faces.
face_adjacency_span
The approximate perpendicular projection of the non shared vertices in a pair of adjacent faces onto the shared edge of the two faces.
face_adjacency_tree
An Rtree of face adjacencies.
face_adjacency_unshared
Return the vertex index of the two vertices not in the shared
face_angles
Returns the angle at each vertex of a face.
face_angles_sparse
A sparse matrix representation of the face angles.
face_normals
Return the unit normal vector for each face.
faces
The faces of the mesh.
faces_sparse
A sparse matrix representation of the faces.
faces_unique_edges
For each face return which indexes in mesh.unique_edges constructs that face.
facets
Return a list of face indices for coplanar adjacent faces.
facets_area
Return an array containing the area of each facet.
facets_boundary
Return the edges which represent the boundary of each facet
facets_normal
Return the normal of each facet
facets_on_hull
Find which facets of the mesh are on the convex hull.
facets_origin
Return a point on the facet plane.
identifier
Return a float vector which is unique to the mesh and is robust to rotation and translation.
identifier_md5
An MD5 of the rotation invariant identifier vector
is_convex
Check if a mesh is convex or not.
is_empty
Does the current mesh have data defined.
is_volume
Check if a mesh has all the properties required to represent a valid volume, rather than just a surface.
is_watertight
Check if a mesh is watertight by making sure every edge is included in two faces.
is_winding_consistent
Does the mesh have consistent winding or not.
kdtree
Return a scipy.spatial.cKDTree of the vertices of the mesh.
mass
Mass of the current mesh, based on specified density and volume.
mass_properties
Returns the mass properties of the current mesh.
moment_inertia
Return the moment of inertia matrix of the current mesh.
principal_inertia_components
Return the principal components of inertia
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.
principal_inertia_vectors
Return the principal axis of inertia.
scale
A metric for the overall scale of the mesh, the length of the diagonal of the axis aligned bounding box of the mesh.
symmetry
Check whether a mesh has rotational symmetry.
symmetry_axis
If a mesh has rotational symmetry, return the axis.
symmetry_section
If a mesh has rotational symmetry, return the two vectors which make up a section coordinate frame.
triangles
Actual triangles of the mesh (points, not indexes)
triangles_center
The center of each triangle (barycentric [1/3, 1/3, 1/3])
triangles_cross
The cross product of two edges of each triangle.
triangles_tree
An Rtree containing each face of the mesh.
units
Definition of units for the mesh.
vertex_adjacency_graph
Returns a networkx graph representing the vertices and their connections in the mesh.
vertex_defects
Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex.
vertex_neighbors
The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent.
vertex_normals
The vertex normals of the mesh.
vertices
The vertices of the mesh.
volume
Volume of the current mesh calculated using a surface integral.
Methods
apply_obb
()Apply the oriented bounding box transform to the current mesh. apply_scale
(scaling)Scale the mesh equally on all axis. apply_transform
(matrix)Apply a transform to the current primitive (sets self.transform) apply_translation
(translation)Translate the current mesh. compute_stable_poses
([center_mass, sigma, …])Computes stable orientations of a mesh and their quasistatic probabilites. contains
(points)Given a set of points, determine whether or not they are inside the mesh. convert_units
(desired[, guess])Convert the units of the mesh into a specified unit. convex_decomposition
([engine, maxhulls])Compute an approximate convex decomposition of a mesh. copy
()Return a copy of the Primitive object. crc
()A zlib.adler32 checksum for the current mesh data. difference
(other[, engine])Boolean difference between this mesh and n other meshes eval_cached
(statement, *args)Evaluate a statement and cache the result before returning. export
([file_obj, file_type])Export the current mesh to a file object. fill_holes
()Fill single triangle and single quad holes in the current mesh. fix_normals
(**kwargs)Find and fix problems with self.face_normals and self.faces winding direction. intersection
(other[, engine])Boolean intersection between this mesh and n other meshes invert
()Invert the mesh in place by reversing the winding of every face and negating normals without dumping the cache. md5
()An MD5 of the core geometry information for the mesh, faces and vertices. merge_vertices
([distance])If a mesh has vertices that are closer than trimesh.constants.tol.merge reindex faces to reference the same index for both vertices. outline
([face_ids])Given a set of face ids, find the outline of the faces, and return it as a Path3D. process
()Do the bare minimum processing to make a mesh useful. 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. remove_degenerate_faces
([height])Remove degenerate faces (faces without 3 unique vertex indices) from the current mesh. remove_duplicate_faces
()On the current mesh remove any faces which are duplicates. remove_infinite_values
()Ensure that every vertex and face consists of finite numbers. 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. sample
(count[, return_index])Return random samples distributed normally across the surface of the mesh scene
(**kwargs)Get a Scene object containing the current mesh. section
(plane_normal, plane_origin)Returns a 3D cross section of the current mesh and a plane defined by origin and normal. section_multiplane
(plane_origin, …)Return multiple parallel cross sections of the current mesh in 2D. show
(**kwargs)Render the mesh in an opengl window. slice_plane
(plane_origin, plane_normal)Returns another mesh that is the current mesh sliced by the plane defined by origin and normal. smoothed
(**kwargs)Return a version of the current mesh which will render nicely. split
(**kwargs)Returns a list of Trimesh objects, based on face connectivity. subdivide
([face_index])Subdivide a mesh, with each subdivided face replaced with four smaller faces. submesh
(faces_sequence, **kwargs)Return a subset of the mesh. to_dict
()Return a dictionary representation of the current mesh, with keys that can be used as the kwargs for the Trimesh constructor, eg: to_mesh
()Return a copy of the Primitive object as a Trimesh object. union
(other[, engine])Boolean union between this mesh and n other meshes unmerge_vertices
()Removes all face references so that every face contains three unique vertex indices and no faces are adjacent. update_faces
(mask)In many cases, we will want to remove specific faces. update_vertices
(mask[, inverse])Update vertices with a mask. voxelized
(pitch, **kwargs)Return a Voxel object representing the current mesh discretized into voxels at the specified pitch 
direction
¶ The direction of the capsule’s axis.
Returns:  axis: (3,) float, vector along the cylinder axis

class
trimesh.primitives.
Cylinder
(*args, **kwargs)¶ Bases:
trimesh.primitives._Primitive
Attributes: area
Summed area of all triangles in the current mesh.
area_faces
The area of each face in the mesh.
body_count
How many connected groups of vertices exist in this mesh.
bounding_box
An axis aligned bounding box for the current mesh.
bounding_box_oriented
An oriented bounding box for the current mesh.
bounding_cylinder
A minimum volume bounding cylinder for the current mesh.
bounding_primitive
The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
bounding_sphere
A minimum volume bounding sphere for the current mesh.
bounds
The axis aligned bounds of the mesh.
center_mass
The point in space which is the center of mass/volume.
centroid
The point in space which is the average of the triangle centroids weighted by the area of each triangle.
convex_hull
Get a new Trimesh object representing the convex hull of the current mesh.
density
The density of the mesh.
direction
The direction of the cylinder’s axis.
edges
Edges of the mesh (derived from faces).
edges_face
Which face does each edge belong to.
edges_sorted
Edges sorted along axis 1
edges_sparse
Edges in sparse bool COO graph format where connected vertices are True.
edges_unique
The unique edges of the mesh.
edges_unique_length
How long is each unique edge.
euler_number
Return the Euler characteristic (a topological invariant) for the mesh
extents
The length, width, and height of the bounding box of the mesh.
face_adjacency
Find faces that share an edge, which we call here ‘adjacent’.
face_adjacency_angles
Return the angle between adjacent faces
face_adjacency_convex
Return faces which are adjacent and locally convex.
face_adjacency_edges
Returns the edges that are shared by the adjacent faces.
face_adjacency_projections
The projection of the non shared vertex of a triangle onto
face_adjacency_radius
The approximate radius of a cylinder that fits inside adjacent faces.
face_adjacency_span
The approximate perpendicular projection of the non shared vertices in a pair of adjacent faces onto the shared edge of the two faces.
face_adjacency_tree
An Rtree of face adjacencies.
face_adjacency_unshared
Return the vertex index of the two vertices not in the shared
face_angles
Returns the angle at each vertex of a face.
face_angles_sparse
A sparse matrix representation of the face angles.
face_normals
Return the unit normal vector for each face.
faces
The faces of the mesh.
faces_sparse
A sparse matrix representation of the faces.
faces_unique_edges
For each face return which indexes in mesh.unique_edges constructs that face.
facets
Return a list of face indices for coplanar adjacent faces.
facets_area
Return an array containing the area of each facet.
facets_boundary
Return the edges which represent the boundary of each facet
facets_normal
Return the normal of each facet
facets_on_hull
Find which facets of the mesh are on the convex hull.
facets_origin
Return a point on the facet plane.
identifier
Return a float vector which is unique to the mesh and is robust to rotation and translation.
identifier_md5
An MD5 of the rotation invariant identifier vector
is_convex
Check if a mesh is convex or not.
is_empty
Does the current mesh have data defined.
is_volume
Check if a mesh has all the properties required to represent a valid volume, rather than just a surface.
is_watertight
Check if a mesh is watertight by making sure every edge is included in two faces.
is_winding_consistent
Does the mesh have consistent winding or not.
kdtree
Return a scipy.spatial.cKDTree of the vertices of the mesh.
mass
Mass of the current mesh, based on specified density and volume.
mass_properties
Returns the mass properties of the current mesh.
moment_inertia
The analytic inertia tensor of the cylinder primitive.
principal_inertia_components
Return the principal components of inertia
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.
principal_inertia_vectors
Return the principal axis of inertia.
scale
A metric for the overall scale of the mesh, the length of the diagonal of the axis aligned bounding box of the mesh.
symmetry
Check whether a mesh has rotational symmetry.
symmetry_axis
If a mesh has rotational symmetry, return the axis.
symmetry_section
If a mesh has rotational symmetry, return the two vectors which make up a section coordinate frame.
triangles
Actual triangles of the mesh (points, not indexes)
triangles_center
The center of each triangle (barycentric [1/3, 1/3, 1/3])
triangles_cross
The cross product of two edges of each triangle.
triangles_tree
An Rtree containing each face of the mesh.
units
Definition of units for the mesh.
vertex_adjacency_graph
Returns a networkx graph representing the vertices and their connections in the mesh.
vertex_defects
Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex.
vertex_neighbors
The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent.
vertex_normals
The vertex normals of the mesh.
vertices
The vertices of the mesh.
volume
The analytic volume of the cylinder primitive.
Methods
apply_obb
()Apply the oriented bounding box transform to the current mesh. apply_scale
(scaling)Scale the mesh equally on all axis. apply_transform
(matrix)Apply a transform to the current primitive (sets self.transform) apply_translation
(translation)Translate the current mesh. compute_stable_poses
([center_mass, sigma, …])Computes stable orientations of a mesh and their quasistatic probabilites. contains
(points)Given a set of points, determine whether or not they are inside the mesh. convert_units
(desired[, guess])Convert the units of the mesh into a specified unit. convex_decomposition
([engine, maxhulls])Compute an approximate convex decomposition of a mesh. copy
()Return a copy of the Primitive object. crc
()A zlib.adler32 checksum for the current mesh data. difference
(other[, engine])Boolean difference between this mesh and n other meshes eval_cached
(statement, *args)Evaluate a statement and cache the result before returning. export
([file_obj, file_type])Export the current mesh to a file object. fill_holes
()Fill single triangle and single quad holes in the current mesh. fix_normals
(**kwargs)Find and fix problems with self.face_normals and self.faces winding direction. intersection
(other[, engine])Boolean intersection between this mesh and n other meshes invert
()Invert the mesh in place by reversing the winding of every face and negating normals without dumping the cache. md5
()An MD5 of the core geometry information for the mesh, faces and vertices. merge_vertices
([distance])If a mesh has vertices that are closer than trimesh.constants.tol.merge reindex faces to reference the same index for both vertices. outline
([face_ids])Given a set of face ids, find the outline of the faces, and return it as a Path3D. process
()Do the bare minimum processing to make a mesh useful. 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. remove_degenerate_faces
([height])Remove degenerate faces (faces without 3 unique vertex indices) from the current mesh. remove_duplicate_faces
()On the current mesh remove any faces which are duplicates. remove_infinite_values
()Ensure that every vertex and face consists of finite numbers. 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. sample
(count[, return_index])Return random samples distributed normally across the surface of the mesh scene
(**kwargs)Get a Scene object containing the current mesh. section
(plane_normal, plane_origin)Returns a 3D cross section of the current mesh and a plane defined by origin and normal. section_multiplane
(plane_origin, …)Return multiple parallel cross sections of the current mesh in 2D. show
(**kwargs)Render the mesh in an opengl window. slice_plane
(plane_origin, plane_normal)Returns another mesh that is the current mesh sliced by the plane defined by origin and normal. smoothed
(**kwargs)Return a version of the current mesh which will render nicely. split
(**kwargs)Returns a list of Trimesh objects, based on face connectivity. subdivide
([face_index])Subdivide a mesh, with each subdivided face replaced with four smaller faces. submesh
(faces_sequence, **kwargs)Return a subset of the mesh. to_dict
()Return a dictionary representation of the current mesh, with keys that can be used as the kwargs for the Trimesh constructor, eg: to_mesh
()Return a copy of the Primitive object as a Trimesh object. union
(other[, engine])Boolean union between this mesh and n other meshes unmerge_vertices
()Removes all face references so that every face contains three unique vertex indices and no faces are adjacent. update_faces
(mask)In many cases, we will want to remove specific faces. update_vertices
(mask[, inverse])Update vertices with a mask. voxelized
(pitch, **kwargs)Return a Voxel object representing the current mesh discretized into voxels at the specified pitch 
direction
¶ The direction of the cylinder’s axis.
Returns:  axis: (3,) float, vector along the cylinder axis

moment_inertia
¶ The analytic inertia tensor of the cylinder primitive.
Returns:  tensor: (3,3) float, 3D inertia tensor

volume
¶ The analytic volume of the cylinder primitive.
Returns:  volume: float, volume of the cylinder

class
trimesh.primitives.
Extrusion
(*args, **kwargs)¶ Bases:
trimesh.primitives._Primitive
Attributes: area
The surface area of the primitive extrusion.
area_faces
The area of each face in the mesh.
body_count
How many connected groups of vertices exist in this mesh.
bounding_box
An axis aligned bounding box for the current mesh.
bounding_box_oriented
An oriented bounding box for the current mesh.
bounding_cylinder
A minimum volume bounding cylinder for the current mesh.
bounding_primitive
The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
bounding_sphere
A minimum volume bounding sphere for the current mesh.
bounds
The axis aligned bounds of the mesh.
center_mass
The point in space which is the center of mass/volume.
centroid
The point in space which is the average of the triangle centroids weighted by the area of each triangle.
convex_hull
Get a new Trimesh object representing the convex hull of the current mesh.
density
The density of the mesh.
direction
Based on the extrudes transform, what is the vector along
edges
Edges of the mesh (derived from faces).
edges_face
Which face does each edge belong to.
edges_sorted
Edges sorted along axis 1
edges_sparse
Edges in sparse bool COO graph format where connected vertices are True.
edges_unique
The unique edges of the mesh.
edges_unique_length
How long is each unique edge.
euler_number
Return the Euler characteristic (a topological invariant) for the mesh
extents
The length, width, and height of the bounding box of the mesh.
face_adjacency
Find faces that share an edge, which we call here ‘adjacent’.
face_adjacency_angles
Return the angle between adjacent faces
face_adjacency_convex
Return faces which are adjacent and locally convex.
face_adjacency_edges
Returns the edges that are shared by the adjacent faces.
face_adjacency_projections
The projection of the non shared vertex of a triangle onto
face_adjacency_radius
The approximate radius of a cylinder that fits inside adjacent faces.
face_adjacency_span
The approximate perpendicular projection of the non shared vertices in a pair of adjacent faces onto the shared edge of the two faces.
face_adjacency_tree
An Rtree of face adjacencies.
face_adjacency_unshared
Return the vertex index of the two vertices not in the shared
face_angles
Returns the angle at each vertex of a face.
face_angles_sparse
A sparse matrix representation of the face angles.
face_normals
Return the unit normal vector for each face.
faces
The faces of the mesh.
faces_sparse
A sparse matrix representation of the faces.
faces_unique_edges
For each face return which indexes in mesh.unique_edges constructs that face.
facets
Return a list of face indices for coplanar adjacent faces.
facets_area
Return an array containing the area of each facet.
facets_boundary
Return the edges which represent the boundary of each facet
facets_normal
Return the normal of each facet
facets_on_hull
Find which facets of the mesh are on the convex hull.
facets_origin
Return a point on the facet plane.
identifier
Return a float vector which is unique to the mesh and is robust to rotation and translation.
identifier_md5
An MD5 of the rotation invariant identifier vector
is_convex
Check if a mesh is convex or not.
is_empty
Does the current mesh have data defined.
is_volume
Check if a mesh has all the properties required to represent a valid volume, rather than just a surface.
is_watertight
Check if a mesh is watertight by making sure every edge is included in two faces.
is_winding_consistent
Does the mesh have consistent winding or not.
kdtree
Return a scipy.spatial.cKDTree of the vertices of the mesh.
mass
Mass of the current mesh, based on specified density and volume.
mass_properties
Returns the mass properties of the current mesh.
moment_inertia
Return the moment of inertia matrix of the current mesh.
principal_inertia_components
Return the principal components of inertia
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.
principal_inertia_vectors
Return the principal axis of inertia.
scale
A metric for the overall scale of the mesh, the length of the diagonal of the axis aligned bounding box of the mesh.
symmetry
Check whether a mesh has rotational symmetry.
symmetry_axis
If a mesh has rotational symmetry, return the axis.
symmetry_section
If a mesh has rotational symmetry, return the two vectors which make up a section coordinate frame.
triangles
Actual triangles of the mesh (points, not indexes)
triangles_center
The center of each triangle (barycentric [1/3, 1/3, 1/3])
triangles_cross
The cross product of two edges of each triangle.
triangles_tree
An Rtree containing each face of the mesh.
units
Definition of units for the mesh.
vertex_adjacency_graph
Returns a networkx graph representing the vertices and their connections in the mesh.
vertex_defects
Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex.
vertex_neighbors
The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent.
vertex_normals
The vertex normals of the mesh.
vertices
The vertices of the mesh.
volume
The volume of the primitive extrusion.
Methods
apply_obb
()Apply the oriented bounding box transform to the current mesh. apply_scale
(scaling)Scale the mesh equally on all axis. apply_transform
(matrix)Apply a transform to the current primitive (sets self.transform) apply_translation
(translation)Translate the current mesh. buffer
(distance)Return a new Extrusion object which is expanded in profile and in height by a specified distance. compute_stable_poses
([center_mass, sigma, …])Computes stable orientations of a mesh and their quasistatic probabilites. contains
(points)Given a set of points, determine whether or not they are inside the mesh. convert_units
(desired[, guess])Convert the units of the mesh into a specified unit. convex_decomposition
([engine, maxhulls])Compute an approximate convex decomposition of a mesh. copy
()Return a copy of the Primitive object. crc
()A zlib.adler32 checksum for the current mesh data. difference
(other[, engine])Boolean difference between this mesh and n other meshes eval_cached
(statement, *args)Evaluate a statement and cache the result before returning. export
([file_obj, file_type])Export the current mesh to a file object. fill_holes
()Fill single triangle and single quad holes in the current mesh. fix_normals
(**kwargs)Find and fix problems with self.face_normals and self.faces winding direction. intersection
(other[, engine])Boolean intersection between this mesh and n other meshes invert
()Invert the mesh in place by reversing the winding of every face and negating normals without dumping the cache. md5
()An MD5 of the core geometry information for the mesh, faces and vertices. merge_vertices
([distance])If a mesh has vertices that are closer than trimesh.constants.tol.merge reindex faces to reference the same index for both vertices. outline
([face_ids])Given a set of face ids, find the outline of the faces, and return it as a Path3D. process
()Do the bare minimum processing to make a mesh useful. 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. remove_degenerate_faces
([height])Remove degenerate faces (faces without 3 unique vertex indices) from the current mesh. remove_duplicate_faces
()On the current mesh remove any faces which are duplicates. remove_infinite_values
()Ensure that every vertex and face consists of finite numbers. 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. sample
(count[, return_index])Return random samples distributed normally across the surface of the mesh scene
(**kwargs)Get a Scene object containing the current mesh. section
(plane_normal, plane_origin)Returns a 3D cross section of the current mesh and a plane defined by origin and normal. section_multiplane
(plane_origin, …)Return multiple parallel cross sections of the current mesh in 2D. show
(**kwargs)Render the mesh in an opengl window. slice_plane
(plane_origin, plane_normal)Returns another mesh that is the current mesh sliced by the plane defined by origin and normal. slide
(distance)Alter the transform of the current extrusion to slide it along its extrude_direction vector smoothed
(**kwargs)Return a version of the current mesh which will render nicely. split
(**kwargs)Returns a list of Trimesh objects, based on face connectivity. subdivide
([face_index])Subdivide a mesh, with each subdivided face replaced with four smaller faces. submesh
(faces_sequence, **kwargs)Return a subset of the mesh. to_dict
()Return a dictionary representation of the current mesh, with keys that can be used as the kwargs for the Trimesh constructor, eg: to_mesh
()Return a copy of the Primitive object as a Trimesh object. union
(other[, engine])Boolean union between this mesh and n other meshes unmerge_vertices
()Removes all face references so that every face contains three unique vertex indices and no faces are adjacent. update_faces
(mask)In many cases, we will want to remove specific faces. update_vertices
(mask[, inverse])Update vertices with a mask. voxelized
(pitch, **kwargs)Return a Voxel object representing the current mesh discretized into voxels at the specified pitch 
area
¶ The surface area of the primitive extrusion.
Calculated from polygon and height to avoid mesh creation.
Returns:  area: float, surface area of 3D extrusion

buffer
(distance)¶ Return a new Extrusion object which is expanded in profile and in height by a specified distance.
Returns:  buffered: Extrusion object

direction
¶ Based on the extrudes transform, what is the vector along which the polygon will be extruded
Returns:  direction: (3,) float vector. If self.primitive.transform is an
identity matrix this will be [0.0, 0.0, 1.0]

slide
(distance)¶ Alter the transform of the current extrusion to slide it along its extrude_direction vector
Parameters:  distance: float, distance along self.extrude_direction to move

volume
¶ The volume of the primitive extrusion.
Calculated from polygon and height to avoid mesh creation.
Returns:  volume: float, volume of 3D extrusion

class
trimesh.primitives.
Sphere
(*args, **kwargs)¶ Bases:
trimesh.primitives._Primitive
Attributes: area
Surface area of the current sphere primitive.
area_faces
The area of each face in the mesh.
body_count
How many connected groups of vertices exist in this mesh.
bounding_box
An axis aligned bounding box for the current mesh.
bounding_box_oriented
An oriented bounding box for the current mesh.
bounding_cylinder
A minimum volume bounding cylinder for the current mesh.
bounding_primitive
The minimum volume primitive (box, sphere, or cylinder) that bounds the mesh.
bounding_sphere
A minimum volume bounding sphere for the current mesh.
bounds
The axis aligned bounds of the mesh.
center_mass
The point in space which is the center of mass/volume.
centroid
The point in space which is the average of the triangle centroids weighted by the area of each triangle.
convex_hull
Get a new Trimesh object representing the convex hull of the current mesh.
density
The density of the mesh.
edges
Edges of the mesh (derived from faces).
edges_face
Which face does each edge belong to.
edges_sorted
Edges sorted along axis 1
edges_sparse
Edges in sparse bool COO graph format where connected vertices are True.
edges_unique
The unique edges of the mesh.
edges_unique_length
How long is each unique edge.
euler_number
Return the Euler characteristic (a topological invariant) for the mesh
extents
The length, width, and height of the bounding box of the mesh.
face_adjacency
Find faces that share an edge, which we call here ‘adjacent’.
face_adjacency_angles
Return the angle between adjacent faces
face_adjacency_convex
Return faces which are adjacent and locally convex.
face_adjacency_edges
Returns the edges that are shared by the adjacent faces.
face_adjacency_projections
The projection of the non shared vertex of a triangle onto
face_adjacency_radius
The approximate radius of a cylinder that fits inside adjacent faces.
face_adjacency_span
The approximate perpendicular projection of the non shared vertices in a pair of adjacent faces onto the shared edge of the two faces.
face_adjacency_tree
An Rtree of face adjacencies.
face_adjacency_unshared
Return the vertex index of the two vertices not in the shared
face_angles
Returns the angle at each vertex of a face.
face_angles_sparse
A sparse matrix representation of the face angles.
face_normals
Return the unit normal vector for each face.
faces
The faces of the mesh.
faces_sparse
A sparse matrix representation of the faces.
faces_unique_edges
For each face return which indexes in mesh.unique_edges constructs that face.
facets
Return a list of face indices for coplanar adjacent faces.
facets_area
Return an array containing the area of each facet.
facets_boundary
Return the edges which represent the boundary of each facet
facets_normal
Return the normal of each facet
facets_on_hull
Find which facets of the mesh are on the convex hull.
facets_origin
Return a point on the facet plane.
identifier
Return a float vector which is unique to the mesh and is robust to rotation and translation.
identifier_md5
An MD5 of the rotation invariant identifier vector
is_convex
Check if a mesh is convex or not.
is_empty
Does the current mesh have data defined.
is_volume
Check if a mesh has all the properties required to represent a valid volume, rather than just a surface.
is_watertight
Check if a mesh is watertight by making sure every edge is included in two faces.
is_winding_consistent
Does the mesh have consistent winding or not.
kdtree
Return a scipy.spatial.cKDTree of the vertices of the mesh.
mass
Mass of the current mesh, based on specified density and volume.
mass_properties
Returns the mass properties of the current mesh.
moment_inertia
The analytic inertia tensor of the sphere primitive.
principal_inertia_components
Return the principal components of inertia
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.
principal_inertia_vectors
Return the principal axis of inertia.
scale
A metric for the overall scale of the mesh, the length of the diagonal of the axis aligned bounding box of the mesh.
symmetry
Check whether a mesh has rotational symmetry.
symmetry_axis
If a mesh has rotational symmetry, return the axis.
symmetry_section
If a mesh has rotational symmetry, return the two vectors which make up a section coordinate frame.
triangles
Actual triangles of the mesh (points, not indexes)
triangles_center
The center of each triangle (barycentric [1/3, 1/3, 1/3])
triangles_cross
The cross product of two edges of each triangle.
triangles_tree
An Rtree containing each face of the mesh.
units
Definition of units for the mesh.
vertex_adjacency_graph
Returns a networkx graph representing the vertices and their connections in the mesh.
vertex_defects
Return the vertex defects, or (2*pi) minus the sum of the angles of every face that includes that vertex.
vertex_neighbors
The vertex neighbors of each vertex of the mesh, determined from the cached vertex_adjacency_graph, if already existent.
vertex_normals
The vertex normals of the mesh.
vertices
The vertices of the mesh.
volume
Volume of the current sphere primitive.
Methods
apply_obb
()Apply the oriented bounding box transform to the current mesh. apply_scale
(scaling)Scale the mesh equally on all axis. apply_transform
(matrix)Apply a transform to the sphere primitive apply_translation
(translation)Translate the current mesh. compute_stable_poses
([center_mass, sigma, …])Computes stable orientations of a mesh and their quasistatic probabilites. contains
(points)Given a set of points, determine whether or not they are inside the mesh. convert_units
(desired[, guess])Convert the units of the mesh into a specified unit. convex_decomposition
([engine, maxhulls])Compute an approximate convex decomposition of a mesh. copy
()Return a copy of the Primitive object. crc
()A zlib.adler32 checksum for the current mesh data. difference
(other[, engine])Boolean difference between this mesh and n other meshes eval_cached
(statement, *args)Evaluate a statement and cache the result before returning. export
([file_obj, file_type])Export the current mesh to a file object. fill_holes
()Fill single triangle and single quad holes in the current mesh. fix_normals
(**kwargs)Find and fix problems with self.face_normals and self.faces winding direction. intersection
(other[, engine])Boolean intersection between this mesh and n other meshes invert
()Invert the mesh in place by reversing the winding of every face and negating normals without dumping the cache. md5
()An MD5 of the core geometry information for the mesh, faces and vertices. merge_vertices
([distance])If a mesh has vertices that are closer than trimesh.constants.tol.merge reindex faces to reference the same index for both vertices. outline
([face_ids])Given a set of face ids, find the outline of the faces, and return it as a Path3D. process
()Do the bare minimum processing to make a mesh useful. 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. remove_degenerate_faces
([height])Remove degenerate faces (faces without 3 unique vertex indices) from the current mesh. remove_duplicate_faces
()On the current mesh remove any faces which are duplicates. remove_infinite_values
()Ensure that every vertex and face consists of finite numbers. 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. sample
(count[, return_index])Return random samples distributed normally across the surface of the mesh scene
(**kwargs)Get a Scene object containing the current mesh. section
(plane_normal, plane_origin)Returns a 3D cross section of the current mesh and a plane defined by origin and normal. section_multiplane
(plane_origin, …)Return multiple parallel cross sections of the current mesh in 2D. show
(**kwargs)Render the mesh in an opengl window. slice_plane
(plane_origin, plane_normal)Returns another mesh that is the current mesh sliced by the plane defined by origin and normal. smoothed
(**kwargs)Return a version of the current mesh which will render nicely. split
(**kwargs)Returns a list of Trimesh objects, based on face connectivity. subdivide
([face_index])Subdivide a mesh, with each subdivided face replaced with four smaller faces. submesh
(faces_sequence, **kwargs)Return a subset of the mesh. to_dict
()Return a dictionary representation of the current mesh, with keys that can be used as the kwargs for the Trimesh constructor, eg: to_mesh
()Return a copy of the Primitive object as a Trimesh object. union
(other[, engine])Boolean union between this mesh and n other meshes unmerge_vertices
()Removes all face references so that every face contains three unique vertex indices and no faces are adjacent. update_faces
(mask)In many cases, we will want to remove specific faces. update_vertices
(mask[, inverse])Update vertices with a mask. voxelized
(pitch, **kwargs)Return a Voxel object representing the current mesh discretized into voxels at the specified pitch 
apply_transform
(matrix)¶ Apply a transform to the sphere primitive
Parameters:  matrix: (4,4) float, homogenous transformation

area
¶ Surface area of the current sphere primitive.
Returns:  area: float, surface area of the sphere Primitive

bounding_box_oriented
¶ An oriented bounding box for the current mesh.
Returns:  obb : trimesh.primitives.Box
Box object with transform and extents defined representing the minimum volume oriented bounding box of the mesh

bounds
¶ The axis aligned bounds of the mesh.
Returns:  bounds : (2, 3) float
Bounding box with [min, max] coordinates

moment_inertia
¶ The analytic inertia tensor of the sphere primitive.
Returns:  tensor: (3,3) float, 3D inertia tensor

volume
¶ Volume of the current sphere primitive.
Returns:  volume: float, volume of the sphere Primitive
trimesh.proximity module¶
proximity.py¶
Query mesh point proximity.

class
trimesh.proximity.
ProximityQuery
(mesh)¶ Bases:
object
Proximity queries for the current mesh.
Methods
on_surface
(**kwargs)Given list of points, for each point find the closest point on any triangle of the mesh. signed_distance
(points)Find the signed distance from a mesh to a list of points. vertex
(points)Given a set of points, return the closest vertex index to each point 
on_surface
(**kwargs)¶ Given list of points, for each point find the closest point on any triangle of the mesh.
Parameters:  points : (m,3) float, points in space
Returns:  closest : (m,3) float, closest point on triangles for each point
 distance : (m,) float, distance
 triangle_id : (m,) int, index of closest triangle for each point

signed_distance
(points)¶ Find the signed distance from a mesh to a list of points.
 Points OUTSIDE the mesh will have NEGATIVE distance
 Points within tol.merge of the surface will have POSITIVE distance
 Points INSIDE the mesh will have POSITIVE distance
Parameters:  points : (n,3) float, list of points in space
Returns:  signed_distance : (n,3) float, signed distance from point to mesh

vertex
(points)¶ Given a set of points, return the closest vertex index to each point
Parameters:  points : (n,3) float, list of points in space
Returns:  distance : (n,) float, distance from source point to vertex
 vertex_id : (n,) int, index of mesh.vertices which is closest


trimesh.proximity.
closest_point
(mesh, points)¶ Given a mesh and a list of points, find the closest point on any triangle.
Parameters:  mesh : Trimesh object
 points : (m,3) float, points in space
Returns:  closest : (m,3) float, closest point on triangles for each point
 distance : (m,) float, distance
 triangle_id : (m,) int, index of triangle containing closest point

trimesh.proximity.
closest_point_naive
(mesh, points)¶ Given a mesh and a list of points, find the closest point on any triangle.
Does this by constructing a very large intermediate array and comparing every point to every triangle.
Parameters:  triangles : (n,3,3) float, triangles in space
 points : (m,3) float, points in space
Returns:  closest : (m,3) float, closest point on triangles for each point
 distance : (m,) float, distance
 triangle_id : (m,) int, index of triangle containing closest point

trimesh.proximity.
longest_ray
(mesh, points, directions)¶ Find the lengths of the longest rays which do not intersect the mesh cast from a list of points in the provided directions.
Parameters:  points : (n,3) float, list of points in space
 directions : (n,3) float, directions of rays
Returns:  signed_distance : (n,) float, length of rays

trimesh.proximity.
max_tangent_sphere
(mesh, points, inwards=True, normals=None, threshold=1e06, max_iter=100)¶ Find the center and radius of the sphere which is tangent to the mesh at the given point and at least one more point with no nontangential intersections with the mesh.
Masatomo Inui, Nobuyuki Umezu & Ryohei Shimane (2016) Shrinking sphere: A parallel algorithm for computing the thickness of 3D objects, ComputerAided Design and Applications, 13:2, 199207, DOI: 10.1080/16864360.2015.1084186
Parameters:  points : (n,3) float, list of points in space
 inwards : bool, whether to have the sphere inside or outside the mesh
 normals : (n,3) float, normals of the mesh at the given points
None, compute this automatically.
Returns:  centers : (n,3) float, centers of spheres
 radii : (n,) float, radii of spheres

trimesh.proximity.
nearby_faces
(mesh, points)¶ For each point find nearby faces relatively quickly.
The closest point on the mesh to the queried point is guaranteed to be on one of the faces listed.
Does this by finding the nearest vertex on the mesh to each point, and then returns all the faces that intersect the axis aligned bounding box centered at the queried point and extending to the nearest vertex.
Parameters:  mesh : Trimesh object
 points : (n,3) float , points in space
Returns:  candidates : (points,) int, sequence of indexes for mesh.faces

trimesh.proximity.
signed_distance
(mesh, points)¶ Find the signed distance from a mesh to a list of points.
 Points OUTSIDE the mesh will have NEGATIVE distance
 Points within tol.merge of the surface will have POSITIVE distance
 Points INSIDE the mesh will have POSITIVE distance
Parameters:  mesh : Trimesh object
 points : (n,3) float, list of points in space
Returns:  signed_distance : (n,3) float, signed distance from point to mesh

trimesh.proximity.
thickness
(mesh, points, exterior=False, normals=None, method='max_sphere')¶ Find the thickness of the mesh at the given points.
Parameters:  points : (n,3) float, list of points in space
 exterior : bool, whether to compute the exterior thickness
(a.k.a. reach)
 normals : (n,3) float, normals of the mesh at the given points
None, compute this automatically.
 method : string, one of ‘max_sphere’ or ‘ray’
Returns:  thickness : (n,) float, thickness
trimesh.registration module¶
registration.py¶
Functions for registering (aligning) point clouds with meshes.

trimesh.registration.
icp
(a, b, initial=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), threshold=1e05, max_iterations=20, **kwargs)¶ Apply the iterative closest point algorithm to align a point cloud with another point cloud or mesh. Will only produce reasonable results if the initial transformation is roughly correct. Initial transformation can be found by applying Procrustes’ analysis to a suitable set of landmark points (often picked manually).
Parameters:  a : (n,3) float
List of points in space.
 b : (m,3) float or Trimesh
List of points in space or mesh.
 initial : (4,4) float
Initial transformation.
 threshold : float
Stop when change in cost is less than threshold
 max_iterations : int
Maximum number of iterations
 kwargs : dict
Args to pass to procrustes
Returns:  matrix : (4,4) float
The transformation matrix sending a to b
 transformed : (n,3) float
The image of a under the transformation
 cost : float
The cost of the transformation

trimesh.registration.
mesh_other
(mesh, other, samples=500, scale=False, icp_first=10, icp_final=50)¶ 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
 scale : bool
Allow scaling in transform
 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 squared distance per point

trimesh.registration.
procrustes
(a, b, reflection=True, translation=True, scale=True, return_cost=True)¶ Perform Procrustes’ analysis subject to constraints. Finds the transformation T mapping a to b which minimizes the square sum distances between Ta and b, also called the cost.
Parameters:  a : (n,3) float
List of points in space
 b : (n,3) float
List of points in space
 reflection : bool
If the transformation is allowed reflections
 translation : bool
If the transformation is allowed translations
 scale : bool
If the transformation is allowed scaling
 return_cost : bool
Whether to return the cost and transformed a as well
Returns:  matrix : (4,4) float
The transformation matrix sending a to b
 transformed : (n,3) float
The image of a under the transformation
 cost : float
The cost of the transformation
trimesh.remesh module¶
remesh.py¶
Deal with re triangulation of existing meshes.

trimesh.remesh.
subdivide
(vertices, faces, face_index=None)¶ Subdivide a mesh into smaller triangles.
Parameters:  vertices: (n,3) float, vertices
 faces: (n,3) int, indexes of vertices which make up triangular faces
 face_index: faces to subdivide.
if None: all faces of mesh will be subdivided if (n,) 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
Returns:  new_vertices: (n,3) float, vertices
 new_faces: (n,3) int, remeshed faces

trimesh.remesh.
subdivide_to_size
(vertices, faces, max_edge, max_iter=10)¶ Subdivide a mesh until every edge is shorter than a specified length.
Will return a triangle soup, not a nicely structured mesh.
Parameters:  vertices: (n,3) float, vertices in space
 faces: (m,3) int, indices of vertices which make up triangles
 max_edge: float, maximum length of any edge in the result
 max_iter: int, the maximum number of times to run subdivisions
Returns:  vertices: (j,3) float, vertices in space
 faces: (q,3) int, indices of vertices
trimesh.rendering module¶
rendering.py¶
Functions to convert trimesh objects to pyglet/opengl objects.

trimesh.rendering.
colors_to_gl
(colors, count)¶ Given a list of colors (or None) return a GL acceptable list of colors
Parameters:  colors: (count, (3 or 4)) float
Input colors as an array
Returns:  colors_type : str
Color type
 colors_gl : (count,) list
Colors to pass to pyglet

trimesh.rendering.
convert_to_vertexlist
(geometry, **kwargs)¶ Try to convert various geometry objects to the constructor args for a pyglet indexed vertex list.
Parameters:  obj : Trimesh, Path2D, Path3D, (n,2) float, (n,3) float
Object to render
Returns:  args : tuple
Args to be passed to pyglet indexed vertex list constructor.

trimesh.rendering.
matrix_to_gl
(matrix)¶ Convert a numpy row major homogenous transformation matrix to a flat column major GLfloat transformation.
Parameters:  matrix : (4,4) float
Row major homogenous transform
Returns:  glmatrix : (16,) pyglet.gl.GLfloat
Transform in pyglet format

trimesh.rendering.
mesh_to_vertexlist
(mesh, group=None, smooth=True, smooth_threshold=60000)¶ Convert a Trimesh object to arguments for an indexed vertex list constructor.
Parameters:  mesh : trimesh.Trimesh
Mesh to be rendered
 group : str
Rendering group for the vertex list
 smooth : bool
Should we try to smooth shade the mesh
 smooth_threshold : int
Maximum number of faces to smooth shade
Returns:  args : (7,) tuple
Args for vertex list constructor

trimesh.rendering.
path_to_vertexlist
(path, group=None, colors=None, **kwargs)¶ Convert a Path3D object to arguments for an indexed vertex list constructor.
Parameters:  path : trimesh.path.Path3D object
Mesh to be rendered
 group : str
Rendering group for the vertex list
Returns:  args : (7,) tuple
Args for vertex list constructor

trimesh.rendering.
points_to_vertexlist
(points, colors=None, group=None, **kwargs)¶ Convert a numpy array of 3D points to args for a vertex list constructor.
Parameters:  points : (n, 3) float
Points to be rendered
 colors : (n, 3) or (n, 4) float
Colors for each point
 group : str
Rendering group for the vertex list
Returns:  args : (7,) tuple
Args for vertex list constructor

trimesh.rendering.
vector_to_gl
(array, *args)¶ Convert an array and an optional set of args into a flat vector of pyglet.gl.GLfloat
trimesh.repair module¶
repair.py¶
Fill holes and fix winding and normals of meshes.

trimesh.repair.
broken_faces
(mesh, color=None)¶ Return the index of faces in the mesh which break the watertight status of the mesh.
Parameters:  mesh: Trimesh object
 color: (4,) uint8, will set broken faces to this color
None, will not alter mesh colors
Returns:  broken: (n, ) int, indexes of mesh.faces

trimesh.repair.
fill_holes
(mesh)¶ Fill single triangle holes on triangular meshes by adding new triangles to fill the holes. New triangles will have proper winding and normals, and if face colors exist the color of the last face will be assigned to the new triangles.
mesh: Trimesh object

trimesh.repair.
fix_inversion
(mesh, multibody=False)¶ Check to see if a mesh has normals pointing “out.”
Parameters:  mesh: Trimesh object
 multibody: bool, if True will try to fix normals on every body

trimesh.repair.
fix_normals
(mesh, multibody=False)¶ Fix the winding and direction of a mesh face and face normals inplace.
Really only meaningful on watertight meshes, but will orient all faces and winding in a uniform way for nonwatertight face patches as well.
Parameters:  mesh: Trimesh object
 multibody: bool, if True try to correct normals direction
on every body.

trimesh.repair.
fix_winding
(mesh)¶ Traverse and change mesh faces inplace to make sure winding is correct, with edges on adjacent faces in opposite directions.
Parameters:  mesh: Trimesh object
trimesh.sample module¶
sample.py¶
Randomly sample surface and volume of meshes.

trimesh.sample.
sample_surface
(mesh, count)¶ Sample the surface of a mesh, returning the specified number of points
For individual triangle sampling uses this method: http://mathworld.wolfram.com/TrianglePointPicking.html
mesh: Trimesh object count: number of points to return
Returns:  samples: (count,3) points in space on the surface of mesh
 face_index: (count,) indices of faces for each sampled point

trimesh.sample.
sample_surface_even
(mesh, count)¶ Sample the surface of a mesh, returning samples which are approximately evenly spaced.
mesh: Trimesh object count: number of points to return
Returns:  samples: (count,3) points in space on the surface of mesh
 face_index: (count,) indices of faces for each sampled point

trimesh.sample.
sample_surface_sphere
(count)¶ Correctly pick random points on the surface of a unit sphere
Uses this method: http://mathworld.wolfram.com/SpherePointPicking.html
Parameters:  count: int, number of points to return
Returns:  points: (count,3) float, list of random points on a unit sphere

trimesh.sample.
volume_mesh
(mesh, count)¶ Use rejection sampling to produce points randomly distributed in the volume of a mesh.
Parameters:  mesh: Trimesh object
 count: int, number of samples desired
Returns:  samples: (n,3) float, points in the volume of the mesh.
where: n <= count

trimesh.sample.
volume_rectangular
(extents, count, transform=None)¶ Return random samples inside a rectangular volume.
Parameters:  extents: (3,) float, side lengths of rectangular solid
 count: int, number of points to return
 transform: (4,4) float, transformation matrix
Returns:  samples: (count, 3) float, points in volume
trimesh.transformations module¶
Homogeneous Transformation Matrices and Quaternions.
A library for calculating 4x4 matrices for translating, rotating, reflecting, scaling, shearing, projecting, orthogonalizing, and superimposing arrays of 3D homogeneous coordinates as well as for converting between rotation matrices, Euler angles, and quaternions. Also includes an Arcball control object and functions to decompose transformation matrices.
Author:  Christoph Gohlke 

Organization:  Laboratory for Fluorescence Dynamics, University of California, Irvine 
Version:  2017.02.17 
Requirements¶
 CPython 2.7 or 3.4
 numpy 1.9
 Transformations.c 2015.03.19 (recommended for speedup of some functions)
Notes¶
The API is not stable yet and is expected to change between revisions.
This Python code is not optimized for speed. Refer to the transformations.c module for a faster implementation of some functions.
Documentation in HTML format can be generated with epydoc.
Matrices (M) can be inverted using np.linalg.inv(M), be concatenated using np.dot(M0, M1), or transform homogeneous coordinate arrays (v) using np.dot(M, v) for shape (4, *) column vectors, respectively np.dot(v, M.T) for shape (*, 4) row vectors (“array of points”).
This module follows the “column vectors on the right” and “row major storage” (C contiguous) conventions. The translation components are in the right column of the transformation matrix, i.e. M[:3, 3]. The transpose of the transformation matrices may have to be used to interface with other graphics systems, e.g. with OpenGL’s glMultMatrixd(). See also [16].
Calculations are carried out with np.float64 precision.
Vector, point, quaternion, and matrix function arguments are expected to be “array like”, i.e. tuple, list, or numpy arrays.
Return types are numpy arrays unless specified otherwise.
Angles are in radians unless specified otherwise.
Quaternions w+ix+jy+kz are represented as [w, x, y, z].
A triple of Euler angles can be applied/interpreted in 24 ways, which can be specified using a 4 character string or encoded 4tuple:
Axes 4string: e.g. ‘sxyz’ or ‘ryxy’
 first character : rotations are applied to ‘s’tatic or ‘r’otating frame
 remaining characters : successive rotation axis ‘x’, ‘y’, or ‘z’
Axes 4tuple: e.g. (0, 0, 0, 0) or (1, 1, 1, 1)
 inner axis: code of axis (‘x’:0, ‘y’:1, ‘z’:2) of rightmost matrix.
 parity : even (0) if inner axis ‘x’ is followed by ‘y’, ‘y’ is followed by ‘z’, or ‘z’ is followed by ‘x’. Otherwise odd (1).
 repetition : first and last axis are same (1) or different (0).
 frame : rotations are applied to static (0) or rotating (1) frame.
Other Python packages and modules for 3D transformations and quaternions:
 Transforms3d
 includes most code of this module.
 Blender.mathutils
 numpydtypes
References¶
 Matrices and transformations. Ronald Goldman. In “Graphics Gems I”, pp 472475. Morgan Kaufmann, 1990.
 More matrices and transformations: shear and pseudoperspective. Ronald Goldman. In “Graphics Gems II”, pp 320323. Morgan Kaufmann, 1991.
 Decomposing a matrix into simple transformations. Spencer Thomas. In “Graphics Gems II”, pp 320323. Morgan Kaufmann, 1991.
 Recovering the data from the transformation matrix. Ronald Goldman. In “Graphics Gems II”, pp 324331. Morgan Kaufmann, 1991.
 Euler angle conversion. Ken Shoemake. In “Graphics Gems IV”, pp 222229. Morgan Kaufmann, 1994.
 Arcball rotation control. Ken Shoemake. In “Graphics Gems IV”, pp 175192. Morgan Kaufmann, 1994.
 Representing attitude: Euler angles, unit quaternions, and rotation vectors. James Diebel. 2006.
 A discussion of the solution for the best rotation to relate two sets of vectors. W Kabsch. Acta Cryst. 1978. A34, 827828.
 Closedform solution of absolute orientation using unit quaternions. BKP Horn. J Opt Soc Am A. 1987. 4(4):629642.
 Quaternions. Ken Shoemake. http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf
 From quaternion to matrix and back. JMP van Waveren. 2005. http://www.intel.com/cd/ids/developer/asmona/eng/293748.htm
 Uniform random rotations. Ken Shoemake. In “Graphics Gems III”, pp 124132. Morgan Kaufmann, 1992.
 Quaternion in molecular modeling. CFF Karney. J Mol Graph Mod, 25(5):595604
 New method for extracting the quaternion from a rotation matrix. Itzhack Y BarItzhack, J Guid Contr Dynam. 2000. 23(6): 10851087.
 Multiple View Geometry in Computer Vision. Hartley and Zissermann. Cambridge University Press; 2nd Ed. 2004. Chapter 4, Algorithm 4.7, p 130.
 Column Vectors vs. Row Vectors. http://steve.hollasch.net/cgindex/math/matrix/columnvec.html
Examples¶
>>> alpha, beta, gamma = 0.123, 1.234, 2.345
>>> origin, xaxis, yaxis, zaxis = [0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 1]
>>> I = identity_matrix()
>>> Rx = rotation_matrix(alpha, xaxis)
>>> Ry = rotation_matrix(beta, yaxis)
>>> Rz = rotation_matrix(gamma, zaxis)
>>> R = concatenate_matrices(Rx, Ry, Rz)
>>> euler = euler_from_matrix(R, 'rxyz')
>>> np.allclose([alpha, beta, gamma], euler)
True
>>> Re = euler_matrix(alpha, beta, gamma, 'rxyz')
>>> is_same_transform(R, Re)
True
>>> al, be, ga = euler_from_matrix(Re, 'rxyz')
>>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz'))
True
>>> qx = quaternion_about_axis(alpha, xaxis)
>>> qy = quaternion_about_axis(beta, yaxis)
>>> qz = quaternion_about_axis(gamma, zaxis)
>>> q = quaternion_multiply(qx, qy)
>>> q = quaternion_multiply(q, qz)
>>> Rq = quaternion_matrix(q)
>>> is_same_transform(R, Rq)
True
>>> S = scale_matrix(1.23, origin)
>>> T = translation_matrix([1, 2, 3])
>>> Z = shear_matrix(beta, xaxis, origin, zaxis)
>>> R = random_rotation_matrix(np.random.rand(3))
>>> M = concatenate_matrices(T, R, Z, S)
>>> scale, shear, angles, trans, persp = decompose_matrix(M)
>>> np.allclose(scale, 1.23)
True
>>> np.allclose(trans, [1, 2, 3])
True
>>> np.allclose(shear, [0, math.tan(beta), 0])
True
>>> is_same_transform(R, euler_matrix(axes='sxyz', *angles))
True
>>> M1 = compose_matrix(scale, shear, angles, trans, persp)
>>> is_same_transform(M, M1)
True
>>> v0, v1 = random_vector(3), random_vector(3)
>>> M = rotation_matrix(angle_between_vectors(v0, v1), vector_product(v0, v1))
>>> v2 = np.dot(v0, M[:3,:3].T)
>>> np.allclose(unit_vector(v1), unit_vector(v2))
True
trimesh.triangles module¶
triangles.py¶
Functions for dealing with triangle soups in (n, 3, 3) float form.

trimesh.triangles.
all_coplanar
(triangles)¶ Check to see if a list of triangles are all coplanar
Parameters:  triangles: (n, 3, 3) float, vertices of triangles
Returns:  all_coplanar, bool, True if all triangles are coplanar

trimesh.triangles.
any_coplanar
(triangles)¶ Given a list of triangles, if the FIRST triangle is coplanar with ANY of the following triangles, return True. Otherwise, return False.

trimesh.triangles.
area
(triangles=None, crosses=None, sum=False)¶ Calculates the sum area of input triangles
Parameters:  triangles: vertices of triangles (n,3,3)
 sum: bool, return summed area or individual triangle area
Returns:  area:
if sum: float, sum area of triangles else: (n,) float, individual area of triangles

trimesh.triangles.
barycentric_to_points
(triangles, barycentric)¶ Convert a list of barycentric coordinates on a list of triangles to cartesian points.
Parameters:  triangles: (n,3,3) float, list of triangles in space
 barycentric: (n,2) float, barycentric coordinates
Returns:  points: (m,3) float, points in space

trimesh.triangles.
bounds_tree
(triangles)¶ Given a list of triangles, create an rtree for broad phase collision detection
triangles: (n, 3, 3) list of vertices
Returns:  tree: Rtree object

trimesh.triangles.
closest_point
(triangles, points)¶ Return the closest point on the surface of each triangle for a list of corresponding points.
Parameters:  triangles: (n,3,3) float, triangles in space
 points: (n,3) float, points in space
Returns:  closest: (n,3) float, point on each triangle closest to each point

trimesh.triangles.
cross
(triangles)¶ Returns the cross product of two edges from input triangles
Parameters:  triangles: (n, 3, 3) float, vertices of triangles
Returns:  crosses: (n, 3) float, cross product of two edge vectors

trimesh.triangles.
extents
(triangles, areas=None)¶ Return the 2D bounding box size of each triangle.
Parameters:  triangles: (n, 3, 3) float, list of triangles
 areas: (n,) float, list of triangles area
Returns:  box: (n,2) float, the size of the 2D oriented bounding box.

trimesh.triangles.
mass_properties
(triangles, crosses=None, density=1.0, center_mass=None, skip_inertia=False)¶ Calculate the mass properties of a group of triangles.
Implemented from: http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf
Parameters:  triangles: (n,3,3) float, triangles in space
 crosses: (n,) float, cross products of triangles
 density: float, optional override for density
 center_mass: (3,) float, optional override for center mass
 skip_inertia: bool, if True will not return moments matrix
Returns:  info: dict, mass properties

trimesh.triangles.
nondegenerate
(triangles, areas=None, height=None)¶ Find all triangles which have an oriented bounding box where both of the two sides is larger than a specified height.
Degenerate triangles can be when: 1) Two of the three vertices are colocated 2) All three vertices are unique but colinear
Parameters:  triangles: (n, 3, 3) float, list of triangles
 height: float, minimum edge of a triangle to be kept
Returns:  nondegenerate: (n,) bool array of triangles that have area

trimesh.triangles.
normals
(triangles=None, crosses=None)¶ Calculates the normals of input triangles
Parameters:  triangles: (n, 3, 3) float, vertex positions
 crosses: (n, 3) float, cross products of edge vectors
Returns:  normals: (m, 3) float, normal vectors
 valid: (n,) bool, valid

trimesh.triangles.
points_to_barycentric
(triangles, points, method='cramer')¶ Find the barycentric coordinates of points relative to triangles.
 The Cramer’s rule solution implements:
 http://blackpawn.com/texts/pointinpoly
 The cross product solution implements:
 https://www.cs.ubc.ca/~heidrich/Papers/JGT.05.pdf
Parameters:  triangles: (n,3,3) float, triangles in space
 points: (n,3) float, point in space associated with a triangle
 method: str, which method to compute the barycentric coordinates with. Options:
 ‘cross’: uses a method using cross products, roughly 2x slower but
different numerical robustness properties
anything else: uses a cramer’s rule solution
Returns:  barycentric: (n,3) float, barycentric

trimesh.triangles.
to_kwargs
(triangles)¶ Convert a list of triangles to the kwargs for the Trimesh constructor.
triangles: (n,3,3) float, triangles in space
Returns:  kwargs: dict, with keys:
‘vertices’ : (n,3) float ‘faces’ : (m,3) int
Examples
mesh = trimesh.Trimesh(**trimesh.triangles.to_kwargs(triangles))

trimesh.triangles.
windings_aligned
(triangles, normals_compare)¶ Given a list of triangles and a list of normals determine if the two are aligned
Parameters:  triangles: (n,3,3) list of vertex locations
 normals_compare: (n,3) list of normals
Returns:  aligned: (n) bool list, are normals aligned with triangles
trimesh.units module¶
units.py¶
Deal with physical unit systems (i.e. inches, mm)
Very basic conversions, and no requirement for sympy.physics.units or pint.

trimesh.units.
unit_conversion
(current, desired)¶ Calculate the conversion from one set of units to another.
 current : str
 Unit system values are in now (eg ‘millimeters’)
 desired : str
 Unit system we’d like values in (eg ‘inches’)
Returns:  conversion : float
Number to multiply by to put values into desired units

trimesh.units.
units_from_metadata
(obj, guess=True)¶ Try to extract hints from metadata and if that fails guess based on the object scale.
Parameters:  obj: object
Has attributes ‘metadata’ (dict) and ‘scale’ (float)
 guess : bool
If metadata doesn’t indicate units, guess from scale
Returns:  units: str
A guess of what the units might be
trimesh.util module¶
util.py¶
Standalone functions which require only imports from numpy and the standard library.
Other libraries may be imported must be wrapped in try/except blocks or imported inside of a function

trimesh.util.
append_faces
(vertices_seq, faces_seq)¶ Given a sequence of zero indexed faces and vertices combine them into a single array of faces and a single array of vertices.
Parameters:  vertices_seq : (n, ) sequence of (m, d) float
Multiple arrays of verticesvertex arrays
 faces_seq : (n, ) sequence of (p, j) int
Zero indexed faces for matching vertices
Returns:  vertices : (i, d) float
Points in space
 faces : (j, 3) int
Reference vertex indices

trimesh.util.
array_to_encoded
(array, dtype=None, encoding='base64')¶ Export a numpy array to a compact serializable dictionary.
Parameters:  array : array
Any numpy array
 dtype : str or None
Optional dtype to encode array
 encoding : str
‘base64’ or ‘binary’
Returns:  encoded : dict
Has keys: ‘dtype’: str, of dtype ‘shape’: tuple of shape ‘base64’: str, base64 encoded string

trimesh.util.
array_to_string
(array, col_delim=' ', row_delim='\n', digits=8, value_format='{}')¶ Convert a 1 or 2D array into a string with a specified number of digits and delimiter. The reason this exists is that the basic numpy array to string conversions are surprisingly bad.
Parameters:  array : (n,) or (n, d) float or int
Data to be converted If shape is (n,) only column delimiter will be used
 col_delim : str
What string should separate values in a column
 row_delim : str
What string should separate values in a row
 digits : int
How many digits should floating point numbers include
 value_format : str
Format string for each value or sequence of values If multiple values per value_format it must divide into array evenly.
Returns:  formatted : str
String representation of original array

trimesh.util.
attach_to_log
(level=10, handler=None, loggers=None, colors=True, blacklist=['TerminalIPythonApp', 'PYREADLINE', 'pyembree', 'shapely.geos', 'shapely.speedups._speedups'])¶ Attach a stream handler to all loggers.
Parameters:  level: logging level
 handler: log handler object
 loggers: list of loggers to attach to
if None, will try to attach to all available
 colors: bool, if True try to use colorlog formatter
 blacklist: list of str, names of loggers NOT to attach to

trimesh.util.
bounds_tree
(bounds)¶ Given a set of axis aligned bounds, create an rtree for broad phase collision detection
 bounds: (n, dimension*2) list of non interleaved bounds
 for a 2D bounds tree: [(minx, miny, maxx, maxy), …]
Returns:  tree: Rtree object

trimesh.util.
compress
(info)¶ Compress data stored in a dict.
Parameters:  info: dict, {name in archive: bytes or filelike object}
Returns:  compressed: bytes

trimesh.util.
concatenate
(a, b=None)¶ Concatenate two or more meshes.
Parameters:  a: Trimesh object, or list of such
 b: Trimesh object, or list of such
Returns:  result: Trimesh object containing concatenated mesh

trimesh.util.
convert_like
(item, like)¶ Convert an item to have the dtype of another item
Parameters:  item: item to be converted
 like: object with target dtype. If None, item is returned unmodified
Returns:  result: item, but in dtype of like

trimesh.util.
decimal_to_digits
(decimal, min_digits=None)¶ Return the number of digits to the first nonzero decimal.
Parameters:  decimal: float
 min_digits: int, minimum number of digits to return
Returns:  digits: int, number of digits to the first nonzero decimal

trimesh.util.
decode_keys
(store, encoding='utf8')¶ If a dictionary has keys that are bytes decode them to a str.
 store : dict
 Dictionary with data
Returns:  result : dict
Values are untouched but keys that were bytes are converted to ASCII strings.

trimesh.util.
decompress
(file_obj, file_type)¶ Given an open file object and a file type, return all components of the archive as open file objects in a dict.
Parameters:  file_obj: open file object
 file_type: str, file extension, ‘zip’, ‘tar.gz’, etc
Returns:  decompressed: dict:
{(str, file name) : (filelike object)}

trimesh.util.
diagonal_dot
(a, b)¶ Dot product by row of a and b.
Same as np.diag(np.dot(a, b.T)) but without the monstrous intermediate matrix.
Also equivalent to: np.einsum(‘ij,ij>i’, a, b)
Parameters:  a: (m, d) array
 b: (m, d) array
Returns:  result: (m, d) array

trimesh.util.
distance_to_end
(file_obj)¶ For an open file object how far is it to the end
Parameters:  file_obj: open file like object
Returns:  distance: int, bytes to end of file

trimesh.util.
encoded_to_array
(encoded)¶ Turn a dictionary with base64 encoded strings back into a numpy array.
Parameters:  encoded : dict
 Has keys:
dtype: string of dtype shape: int tuple of shape base64: base64 encoded string of flat array binary: decode result coming from numpy.tostring
Returns:  array: numpy array

trimesh.util.
euclidean
(a, b)¶ Euclidean distance between vectors a and b.
Parameters:  a : (n,) float
First vector
 b : (n,) float
Second vector
Returns:  distance : float
Euclidean distance between A and B

trimesh.util.
generate_basis
(z)¶ Generate an arbitrary basis (coordinate frame) from the given zaxis.
Parameters:  z: (3,) float, a positive zaxis vector.
Returns:  x: (3,) float, the x axis
 y: (3,) float, the y axis
 z: (3,) float, the z axis

trimesh.util.
grid_arange
(bounds, step)¶ Return a grid from an (2,dimension) bounds with samples step distance apart.
bounds: (2,dimension) list of [[min x, min y, etc], [max x, max y, etc]] step: float, or (dimension) floats, separation between points
Returns:  grid: (n, dimension), points inside the specified bounds

trimesh.util.
grid_linspace
(bounds, count)¶ Return a grid spaced inside a bounding box with edges spaced using np.linspace.
bounds: (2,dimension) list of [[min x, min y, etc], [max x, max y, etc]] count: int, or (dimension,) int, number of samples per side
Returns:  grid: (n, dimension) float, points in the specified bounds

trimesh.util.
hash_file
(file_obj, hash_function=<builtin function openssl_md5>)¶ Get the hash of an open file like object.
file_obj: file like object hash_function: function to use to hash data
Returns:  hashed: str, hex version of result

trimesh.util.
is_binary_file
(file_obj)¶ Returns True if file has nonASCII characters (> 0x7F, or 127) Should work in both Python 2 and 3

trimesh.util.
is_file
(obj)¶ Check if an object is file like
Parameters:  obj : object
Any object type to be checked
Returns:  is_file : bool
True if object is a file

trimesh.util.
is_instance_named
(obj, name)¶ Given an object, if it is a member of the class ‘name’, or a subclass of ‘name’, return True.
 obj : instance
 Some object of some class
 name: str
 The name of the class we want to check for
Returns:  is_instance : bool
Whether the object is a member of the named class

trimesh.util.
is_none
(obj)¶ Check to see if an object is None or not.
Handles the case of np.array(None) as well.
Parameters:  obj : object
Any object type to be checked
Returns:  is_none : bool
True if obj is None or numpy Nonelike

trimesh.util.
is_sequence
(obj)¶ Check if an object is a sequence or not.
Parameters:  obj : object
Any object type to be checked
Returns:  is_sequence : bool
True if object is sequence

trimesh.util.
is_shape
(obj, shape)¶ Compare the shape of a numpy.ndarray to a target shape, with any value less than zero being considered a wildcard
Note that if a list like object is passed that is not a numpy array, this function will not convert it and will return False.
 obj : np.ndarray
 Array to check the shape on
 shape : list or tuple
 Any negative term will be considered a wildcard Any tuple term will be evaluated as an OR
Returns:  shape_ok: bool, True if shape of obj matches query shape
Examples
In [1]: a = np.random.random((100, 3))
In [2]: a.shape Out[2]: (100, 3)
In [3]: trimesh.util.is_shape(a, (1, 3)) Out[3]: True
In [4]: trimesh.util.is_shape(a, (1, 3, 5)) Out[4]: False
In [5]: trimesh.util.is_shape(a, (100, 1)) Out[5]: True
In [6]: trimesh.util.is_shape(a, (1, (3, 4))) Out[6]: True
In [7]: trimesh.util.is_shape(a, (1, (4, 5))) Out[7]: False

trimesh.util.
is_string
(obj)¶ Check if an object is a string.
Parameters:  obj : object
Any object type to be checked
Returns:  is_string : bool
True if obj is a string

trimesh.util.
jsonify
(obj, **kwargs)¶ A version of json.dumps that can handle numpy arrays by creating a custom encoder for numpy dtypes.
Parameters:  obj : JSON serializable blob
 **kwargs :
Passed to json.dumps
Returns:  dumped: str, JSON dump of obj

trimesh.util.
make_sequence
(obj)¶ Given an object, if it is a sequence return, otherwise add it to a length 1 sequence and return.
Useful for wrapping functions which sometimes return single objects and other times return lists of objects.
Parameters:  obj : object
An object to be made a sequence
Returns:  as_sequence : (n,) sequence
Contains input value

trimesh.util.
md5_object
(obj)¶ If an object is hashable, return the string of the MD5.
Parameters:  obj: object
Returns:  md5: str, MD5 hash

trimesh.util.
multi_dict
(pairs)¶ Given a set of key value pairs, create a dictionary. If a key occurs multiple times, stack the values into an array.
Can be called like the regular dict(pairs) constructor
Parameters:  pairs: (n,2) array of key, value pairs
Returns:  result: dict, with all values stored (rather than last with regular dict)

trimesh.util.
pairwise
(iterable)¶ For an iterable, group values into pairs.
Parameters:  iterable : (m, ) list
A sequence of values
Returns:  pairs: (n, 2)
Pairs of sequential values

trimesh.util.
sigfig_int
(values, sigfig)¶ Convert a set of floating point values into integers with a specified number of significant figures and an exponent.
Parameters:  values: (n,) float or int, array of values
 sigfig: (n,) int, number of significant figures to keep
Returns:  as_int: (n,) int, every value[i] has sigfig[i] digits
 multiplier: (n, int), exponent, so as_int * 10 ** multiplier is
the same order of magnitude as the input

trimesh.util.
sigfig_round
(values, sigfig=1)¶ Round a single value to a specified number of significant figures.
Parameters:  values: float, value to be rounded
 sigfig: int, number of significant figures to reduce to
Returns:  rounded: values, but rounded to the specified number of significant figures
Examples
In [1]: trimesh.util.round_sigfig(232453.00014045456, 1) Out[1]: 200000.0
In [2]: trimesh.util.round_sigfig(.00014045456, 1) Out[2]: 0.0001
In [3]: trimesh.util.round_sigfig(.00014045456, 4) Out[3]: 0.0001405

trimesh.util.
spherical_to_vector
(spherical)¶ Convert a set of (n,2) spherical vectors to (n,3) vectors
Parameters:  spherical : (n , 2) float
Angles, in radians
Returns:  vectors : (n, 3) float
Unit vectors

trimesh.util.
split_extension
(file_name, special=['tar.bz2', 'tar.gz'])¶ Find the file extension of a file name, including support for special case multipart file extensions (like .tar.gz)
Parameters:  file_name: str, file name
 special: list of str, multipart extensions
eg: [‘tar.bz2’, ‘tar.gz’]
Returns:  extension: str, last charecters after a period, or
a value from ‘special’

trimesh.util.
stack_lines
(indices)¶ Stack a list of values that represent a polyline into individual line segments with duplicated consecutive values.
Parameters:  indices: sequence of items
Returns:  stacked: (n,2) set of items
 In [1]: trimesh.util.stack_lines([0,1,2])
 Out[1]:
 array([[0, 1],
[1, 2]])
 In [2]: trimesh.util.stack_lines([0,1,2,4,5])
 Out[2]:
 array([[0, 1],
[1, 2], [2, 4], [4, 5]])
 In [3]: trimesh.util.stack_lines([[0,0],[1,1],[2,2], [3,3]])
 Out[3]:
 array([[0, 0],
[1, 1], [1, 1], [2, 2], [2, 2], [3, 3]])

trimesh.util.
submesh
(mesh, faces_sequence, only_watertight=False, append=False)¶ Return a subset of a mesh.
Parameters:  mesh : Trimesh
Source mesh to take geometry from
 faces_sequence : sequence (p,) int
Indexes of mesh.faces
 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 object
 else list of Trimesh objects

trimesh.util.
three_dimensionalize
(points, return_2D=True)¶ Given a set of (n,2) or (n,3) points, return them as (n,3) points
Parameters:  points: (n, 2) or (n,3) points
 return_2D: boolean flag
Returns:  if return_2D:
is_2D: boolean, True if points were (n,2) points: (n,3) set of points
 else:
points: (n,3) set of points

trimesh.util.
tolist
(data)¶ Ensure that any arrays or dicts passed containing numpy arrays are properly converted to lists
Parameters:  data : any
Usually a dict with some numpy arrays as values
Returns:  result : any
JSON serializable version of data

trimesh.util.
triangle_strips_to_faces
(strips)¶ Given a sequence of triangle strips, convert them to (n,3) faces.
Processes all strips at once using np.concatenate and is significantly faster than loop based methods.
From the OpenGL programming guide describing a single triangle strip [v0, v1, v2, v3, v4]:
Draws a series of triangles (threesided polygons) using vertices v0, v1, v2, then v2, v1, v3 (note the order), then v2, v3, v4, and so on. The ordering is to ensure that the triangles are all drawn with the same orientation so that the strip can correctly form part of a surface.
Parameters:  strips: (n,) list of (m,) int vertex indices
Returns:  faces: (m,3) int, vertex indices representing triangles

trimesh.util.
type_bases
(obj, depth=4)¶ Return the bases of the object passed.

trimesh.util.
type_named
(obj, name)¶ Similar to the type() builtin, but looks in class bases for named instance.
Parameters:  obj: object to look for class of
 name : str, name of class
Returns:  named class, or None

trimesh.util.
unique_id
(length=12, increment=0)¶ Generate a decent looking alphanumeric unique identifier. First 16 bits are time incrementing, followed by randomness.
This function is used as a nicer looking alternative to: >>> uuid.uuid4().hex
Follows the advice in: https://eager.io/blog/howlongdoesanidneedtobe/
Parameters:  length: int, length of resulting identifier
 increment: int, number to add to header uint16
useful if calling this function repeatedly in a tight loop executing faster than time can increment the header
 Returns
 ————
 unique: str, unique alphanumeric identifier

trimesh.util.
unitize
(vectors, check_valid=False, threshold=None)¶ Unitize a vector or an array or row vectors.
 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

trimesh.util.
vector_hemisphere
(vectors, return_sign=False)¶ For a set of 3D vectors alter the sign so they are all in the upper hemisphere.
If the vector lies on the plane all vectors with negative Y will be reversed.
If the vector has a zero Z and Y value vectors with a negative X value will be reversed.
Parameters:  vectors : (n,3) float
Input vectors
 return_sign : bool
Return the sign mask or not
Returns:  oriented: (n, 3) float
Vectors with same magnitude as source but possibly reversed to ensure all vectors are in the same hemisphere.
 sign : (n,) float

trimesh.util.
vector_to_spherical
(cartesian)¶ Convert a set of cartesian points to (n,2) spherical unit vectors.
Parameters:  cartesian : (n, 3) float
Points in space
Returns:  spherical : (n, 2) float
Angles, in radians

trimesh.util.
vstack_empty
(tup)¶ A thin wrapper for numpy.vstack that ignores empty lists.
Parameters:  tup: tuple or list of arrays with the same number of columns
Returns:  stacked: (n,d) array, with same number of columns as
constituent arrays.

trimesh.util.
wrap_as_stream
(item)¶ Wrap a string or bytes object as a file object.
Parameters:  item: str or bytes
Item to be wrapped
Returns:  wrapped: filelike object

trimesh.util.
write_encoded
(file_obj, stuff, encoding='utf8')¶ If a file is open in binary mode and a string is passed, encode and write If a file is open in text mode and bytes are passed, decode and write
Parameters:  file_obj: file object, with ‘write’ and ‘mode’
 stuff: str or bytes, stuff to be written
 encoding: str, encoding of text

trimesh.util.
zero_pad
(data, count, right=True)¶ data: (n) length 1D array count: int
Returns:  padded: (count) length 1D array if (n < count), otherwise length (n)
trimesh.version module¶
trimesh.visual module¶
visual.py¶
Hold and deal with visual information about meshes.
There are lots of ways to encode visual information, and the goal of this architecture is to make it possible to define one, and then transparently get the others. The two general categories are:
 colors, defined for a face, vertex, or material
 textures, defined as an image and UV coordinates for each vertex
This module only implements diffuse colors at the moment.
Rules¶
If nothing is defined sane defaults should be returned
If a user alters or sets a value, that is considered user data and should be saved and treated as such.
Only one mode of visual is allowed at a time, and setting or altering a value should transparently change the mode. Color modes are:
 vertex colors
 face colors

class
trimesh.visual.
ColorVisuals
(mesh=None, face_colors=None, vertex_colors=None, **kwargs)¶ Bases:
object
Store color information about a mesh.
Attributes: defined
Are any colors defined for the current mesh.
face_colors
Colors defined for each face of a mesh.
kind
What color mode has been set.
main_color
What is the most commonly occurring color.
transparency
Does the current object contain any transparency.
vertex_colors
Return the colors for each vertex of a mesh
Methods
concatenate
(other, *args)Concatenate two or more ColorVisuals objects into a single object. crc
()A checksum for the current visual object and its parent mesh. face_subset
(face_index)Given a mask of face indices, return a sliced version. update_faces
(mask)Apply a mask to remove or duplicate face properties update_vertices
(mask)Apply a mask to remove or duplicate vertex properties. 
concatenate
(other, *args)¶ Concatenate two or more ColorVisuals objects into a single object.
Parameters:  other: ColorVisuals object
 *args: ColorVisuals objects
Returns:  result: ColorVisuals object containing information from current
object and others in the order it was passed.

crc
()¶ A checksum for the current visual object and its parent mesh.
Returns:  crc: int, checksum of data in visual object and its parent mesh

defined
¶ Are any colors defined for the current mesh.
Returns:  defined: bool, are colors defined or not.

face_colors
¶ Colors defined for each face of a mesh.
If no colors are defined, defaults are returned.
Returns:  colors: (len(mesh.faces), 4) uint8, RGBA color for each face

face_subset
(face_index)¶ Given a mask of face indices, return a sliced version.
Parameters:  face_index: (n,) int, mask for faces
(n,) bool, mask for faces
Returns:  visual: ColorVisuals object containing a subset of faces.

kind
¶ What color mode has been set.
Returns:  mode: ‘face’, ‘vertex’, or None

main_color
¶ What is the most commonly occurring color.
Returns:  color: (4,) uint8, most common color

transparency
¶ Does the current object contain any transparency.
Returns:  transparency: bool, does the current visual contain transparency

update_faces
(mask)¶ Apply a mask to remove or duplicate face properties

update_vertices
(mask)¶ Apply a mask to remove or duplicate vertex properties.

vertex_colors
¶ Return the colors for each vertex of a mesh
Returns:  colors: (len(mesh.vertices), 4) uint8, color for each vertex

trimesh.visual.
colors_to_materials
(colors, count=None)¶ Convert a list of colors into a list of unique materials and material indexes.
Parameters:  colors: (n,(3,4)) colors
 count: int, number of entities to apply color to
Returns:  diffuse: (m,4) int, colors
 index: (count,) int, index of each color

trimesh.visual.
concatenate_visuals
(visuals, *args)¶ Concatenate multiple visual objects.
Parameters:  visuals: ColorVisuals object, or list of same
 *args: ColorVisuals object, or list of same
Returns:  concat: ColorVisuals object

trimesh.visual.
create_visual
(**kwargs)¶ Create Visuals object from keyword arguments.
Parameters:  face_colors : (n,34) uint8, colors
 vertex_colors : (n,34) uint8, colors
 mesh: Trimesh object
Returns:  visuals: ColorVisuals object.

trimesh.visual.
face_to_vertex_color
(mesh, face_colors, dtype=<class 'numpy.uint8'>)¶ Convert a list of face colors into a list of vertex colors.
Parameters:  mesh: Trimesh object
 face_colors: (n, (3,4)) int, face colors
 dtype: data type of output
Returns:  vertex_colors: (m,4) dtype, colors for each vertex

trimesh.visual.
hex_to_rgba
(color)¶ Turn a string hex color to a (4,) RGBA color.
Parameters:  color: str, hex color
Returns:  rgba: (4,) np.uint8, RGBA color

trimesh.visual.
random_color
(dtype=<class 'numpy.uint8'>)¶ Return a random RGB color using datatype specified.
Parameters:  dtype: numpy dtype of result
Returns:  color: (4,) dtype, random color that looks OK

trimesh.visual.
to_rgba
(colors, dtype=<class 'numpy.uint8'>)¶ Convert a single or multiple RGB colors to RGBA colors.
Parameters:  colors: (n,[34]) list of RGB or RGBA colors
Returns:  colors: (n,4) list of RGBA colors
(4,) single RGBA color

trimesh.visual.
vertex_to_face_color
(vertex_colors, faces)¶ Convert a list of vertex colors to face colors.
Parameters:  vertex_colors: (n,(3,4)), colors
 faces: (m,3) int, face indexes
Returns:  face_colors: (m,4) colors
trimesh.voxel module¶
voxel.py¶
Convert meshes to a simple voxel data structure and back again.

class
trimesh.voxel.
Voxel
(*args, **kwargs)¶ Bases:
object
Attributes: filled_count
Return the number of voxels that are occupied.
marching_cubes
A marching cubes Trimesh representation of the voxels.
 pitch
points
The center of each filled cell as a list of points.
shape
The shape of the matrix for the current voxel object.
volume
What is the volume of the filled cells in the current voxel object.
Methods
is_filled
(point)Query a point to see if the voxel cell it lies in is filled or not. point_to_index
(point)Convert a point to an index in the matrix array. 
filled_count
¶ Return the number of voxels that are occupied.
Returns:  filled: int, number of voxels that are occupied

is_filled
(point)¶ Query a point to see if the voxel cell it lies in is filled or not.
Parameters:  point: (3,) float, point in space
Returns:  is_filled: bool, is cell occupied or not

marching_cubes
¶ A marching cubes Trimesh representation of the voxels.
No effort was made to clean or smooth the result in any way; it is merely the result of applying the scikitimage measure.marching_cubes function to self.matrix.
Returns:  meshed: Trimesh object representing the current voxel
object, as returned by marching cubes algorithm.

pitch
¶

point_to_index
(point)¶ Convert a point to an index in the matrix array.
Parameters:  point: (3,) float, point in space
Returns:  index: (3,) int tuple, index in self.matrix

points
¶ The center of each filled cell as a list of points.
Returns:  points: (self.filled, 3) float, list of points

shape
¶ The shape of the matrix for the current voxel object.
Returns:  shape: (3,) int, what is the shape of the 3D matrix
for these voxels

volume
¶ What is the volume of the filled cells in the current voxel object.
Returns:  volume: float, volume of filled cells

class
trimesh.voxel.
VoxelMesh
(mesh, pitch, max_iter=10, size_max=None, method='subdivide')¶ Bases:
trimesh.voxel.Voxel
Attributes: filled_count
Return the number of voxels that are occupied.
marching_cubes
A marching cubes Trimesh representation of the voxels.
matrix
A matrix representation of the surface voxels.
matrix_solid
The voxels in a mesh as a 3D matrix.
matrix_surface
The voxels on the surface of the mesh as a 3D matrix.
origin
The origin of the voxel array.
 pitch
points
The center of each filled cell as a list of points.
shape
The shape of the matrix for the current voxel object.
sparse_solid
Filled cells inside and on the surface of mesh
sparse_surface
Filled cells on the surface of the mesh.
volume
What is the volume of the filled cells in the current voxel object.
Methods
as_boxes
([solid])A rough Trimesh representation of the voxels with a box for each filled voxel. is_filled
(point)Query a point to see if the voxel cell it lies in is filled or not. point_to_index
(point)Convert a point to an index in the matrix array. show
([solid])Convert the current set of voxels into a trimesh for visualization and show that via its built in preview method. 
as_boxes
(solid=False)¶ A rough Trimesh representation of the voxels with a box for each filled voxel.
Parameters:  solid: bool, if True return boxes for sparse_solid
Returns:  mesh: Trimesh object made up of one box per filled cell.

matrix
¶ A matrix representation of the surface voxels.
In the future this is planned to return a filled voxel matrix if the source mesh is watertight, and a surface voxelization otherwise.
Returns:  matrix: self.shape np.bool, cell occupancy

matrix_solid
¶ The voxels in a mesh as a 3D matrix.
Returns:  matrix: self.shape np.bool, if a cell is True it is occupied

matrix_surface
¶ The voxels on the surface of the mesh as a 3D matrix.
Returns:  matrix: self.shape np.bool, if a cell is True it is occupied

origin
¶ The origin of the voxel array.
Returns:  origin: (3,) float, point in space

show
(solid=False)¶ Convert the current set of voxels into a trimesh for visualization and show that via its built in preview method.

sparse_solid
¶ Filled cells inside and on the surface of mesh
Returns:  filled: (n, 3) int, filled cells in or on mesh.

sparse_surface
¶ Filled cells on the surface of the mesh.
Returns:  voxels: (n, 3) int, filled cells on mesh surface

trimesh.voxel.
boolean_sparse
(a, b, operation=<ufunc 'logical_and'>)¶ Find common rows between two arrays very quickly using 3D boolean sparse matrices.
Parameters:  a: (n, d) int, coordinates in space
 b: (m, d) int, coordinates in space
 operation: numpy operation function, ie:
np.logical_and np.logical_or
Returns:  coords: (q, d) int, coordinates in space

trimesh.voxel.
fill_voxelization
(occupied)¶ Given a sparse surface voxelization, fill in between columns.
Parameters:  occupied: (n, 3) int, location of filled cells
Returns:  filled: (m, 3) int, location of filled cells

trimesh.voxel.
local_voxelize
(mesh, point, pitch, radius, fill=True, **kwargs)¶ Voxelize a mesh in the region of a cube around a point. When fill=True, uses proximity.contains to fill the resulting voxels so may be meaningless for nonwatertight meshes. Useful to reduce memory cost for small values of pitch as opposed to global voxelization.
Parameters:  mesh : trimesh.Trimesh
Source geometry
 point : (3, ) float
Point in space to voxelize around
 pitch : float
Side length of a single voxel cube
 radius : int
Number of voxel cubes to return in each direction.
 kwargs : parameters to pass to voxelize_subdivide
Returns:  voxels : (m, m, m) bool
Array of local voxels where m=2*radius+1
 origin_position : (3,) float
Position of the voxel grid origin in space

trimesh.voxel.
matrix_to_marching_cubes
(matrix, pitch, origin)¶ Convert an (n,m,p) matrix into a mesh, using marching_cubes.
Parameters:  matrix: (n,m,p) bool, voxel matrix
 pitch: float, what pitch was the voxel matrix computed with
 origin: (3,) float, what is the origin of the voxel matrix
Returns:  mesh: Trimesh object, generated by meshing voxels using
the marching cubes algorithm in skimage

trimesh.voxel.
matrix_to_points
(matrix, pitch, origin)¶ Convert an (n,m,p) matrix into a set of points for each voxel center.
Parameters:  matrix: (n,m,p) bool, voxel matrix
 pitch: float, what pitch was the voxel matrix computed with
 origin: (3,) float, what is the origin of the voxel matrix
Returns:  points: (q, 3) list of points

trimesh.voxel.
multibox
(centers, pitch)¶ Return a Trimesh object with a box at every center.
Doesn’t do anything nice or fancy.
Parameters:  centers: (n,3) float, center of boxes that are occupied
 pitch: float, the edge length of a voxel
Returns:  rough: Trimesh object representing inputs

trimesh.voxel.
sparse_to_matrix
(sparse)¶ Take a sparse (n,3) list of integer indexes of filled cells, turn it into a dense (m,o,p) matrix.
Parameters:  sparse: (n,3) int, index of filled cells
Returns:  dense: (m,o,p) bool, matrix of filled cells
Module contents¶
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.