trimesh.scene package

Submodules

trimesh.scene.cameras module

class trimesh.scene.cameras.Camera(name=None, resolution=None, focal=None, fov=None)

Bases: object

property K

Get the intrinsic matrix for the Camera object.

Returns

K – Intrinsic matrix for camera

Return type

(3, 3) float

angles()

Get ray spherical coordinates in radians.

Returns

angles – Ray spherical coordinate angles in radians.

Return type

(n, 2) float

copy()

Safely get a copy of the current camera.

property focal

Get the focal length in pixels for the camera.

Returns

focal – Focal length in pixels

Return type

(2,) float

property fov

Get the field of view in degrees.

Returns

fov – XY field of view in degrees

Return type

(2,) float

property resolution

Get the camera resolution in pixels.

Returns

Camera resolution in pixels

Return type

resolution (2,) float

to_rays()

Calculate ray direction vectors.

Will return one ray per pixel, as set in self.resolution.

Returns

vectors – Ray direction vectors in camera frame with z == -1

Return type

(n, 3) float

trimesh.scene.cameras.camera_to_rays(camera)

Calculate the trimesh.scene.Camera object to direction vectors.

Will return one ray per pixel, as set in camera.resolution.

Parameters

camera (trimesh.scene.Camera) –

Returns

vectors – Ray direction vectors in camera frame with z == -1

Return type

(n, 3) float

trimesh.scene.cameras.look_at(points, fov, rotation=None, distance=None, center=None)

Generate transform for a camera to keep a list of points in the camera’s field of view.

Parameters

• points ((n, 3) float) – Points in space

• fov ((2,) float) – Field of view, in DEGREES

• rotation (None, or (4, 4) float) – Rotation matrix for initial rotation

• center (None, or (3,) float) – Center of field of view.

Returns

transform – Transformation matrix with points in view

Return type

(4, 4) float

trimesh.scene.cameras.ray_pixel_coords(camera)

Get the x-y coordinates of rays in camera coordinates at z == -1.

One coordinate pair will be given for each pixel as defined in camera.resolution. If reshaped, the returned array corresponds to pixels of the rendered image.

i.e. ```python xy = ray_pixel_coords(camera).reshape(

tuple(camera.coordinates) + (2,))

top_left == xy[0, 0] bottom_right == xy[-1, -1] ```

Parameters

camera (trimesh.scene.Camera) –

Returns

xy – x-y coordinates of intersection of each camera ray with the z == -1 frame

Return type

(n, 2) float

trimesh.scene.lighting module

lighting.py

Hold basic information about lights.

Forked from the light model in pyrender: https://github.com/mmatl/pyrender

class trimesh.scene.lighting.DirectionalLight(name=None, color=None, intensity=None, radius=None)

Bases: trimesh.scene.lighting.Light

Directional lights are light sources that act as though they are infinitely far away and emit light in the direction of the local -z axis. This light type inherits the orientation of the node that it belongs to; position and scale are ignored except for their effect on the inherited node orientation. Because it is at an infinite distance, the light is not attenuated. Its intensity is defined in lumens per metre squared, or lux (lm/m2).

name

Name of the light.

Type

str, optional

color

RGBA value for the light’s color in linear space.

Type

(4,) unit8

intensity

Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2).

Type

float

radius

Cutoff distance at which light’s intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite.

Type

float

class trimesh.scene.lighting.Light(name=None, color=None, intensity=None, radius=None)

Bases: abc.ABC

Base class for all light objects.

name

Name of the light.

Type

str, optional

color

RGBA value for the light’s color in linear space.

Type

(4,) uint8

intensity

Brightness of light. The units that this is defined in depend on the type of light: point and spot lights use luminous intensity in candela (lm/sr) while directional lights use illuminance in lux (lm/m2).

Type

float

radius

Cutoff distance at which light’s intensity may be considered to have reached zero. Supported only for point and spot lights Must be > 0.0 If None, the radius is assumed to be infinite.

Type

float

property color

property intensity

property radius

class trimesh.scene.lighting.PointLight(name=None, color=None, intensity=None, radius=None)

Bases: trimesh.scene.lighting.Light

Point lights emit light in all directions from their position in space; rotation and scale are ignored except for their effect on the inherited node position. The brightness of the light attenuates in a physically correct manner as distance increases from the light’s position (i.e. brightness goes like the inverse square of the distance). Point light intensity is defined in candela, which is lumens per square radian (lm/sr).

name

Name of the light.

Type

str, optional

color

RGBA value for the light’s color in linear space.

Type

(4,) uint8

intensity

Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2).

Type

float

radius

Cutoff distance at which light’s intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite.

Type

float

class trimesh.scene.lighting.SpotLight(name=None, color=None, intensity=None, radius=None, innerConeAngle=0.0, outerConeAngle=0.7853981633974483)

Bases: trimesh.scene.lighting.Light

Spot lights emit light in a cone in the direction of the local -z axis. The angle and falloff of the cone is defined using two numbers, the innerConeAngle and outerConeAngle. As with point lights, the brightness also attenuates in a physically correct manner as distance increases from the light’s position (i.e. brightness goes like the inverse square of the distance). Spot light intensity refers to the brightness inside the innerConeAngle (and at the location of the light) and is defined in candela, which is lumens per square radian (lm/sr). A spot light’s position and orientation are inherited from its node transform. Inherited scale does not affect cone shape, and is ignored except for its effect on position and orientation.

name

Name of the light.

Type

str, optional

color

RGBA value for the light’s color in linear space.

Type

(4,) uint8

intensity

Brightness of light. The units that this is defined in depend on the type of light. point and spot lights use luminous intensity in candela (lm/sr), while directional lights use illuminance in lux (lm/m2).

Type

float

radius

Cutoff distance at which light’s intensity may be considered to have reached zero. Supported only for point and spot lights, must be > 0. If None, the radius is assumed to be infinite.

Type

float

innerConeAngle

Angle, in radians, from centre of spotlight where falloff begins. Must be greater than or equal to 0 and less than outerConeAngle.

Type

float

outerConeAngle

Angle, in radians, from centre of spotlight where falloff ends. Must be greater than innerConeAngle and less than or equal to PI / 2.0.

Type

float

property innerConeAngle

property outerConeAngle

trimesh.scene.lighting.autolight(scene)

Generate a list of lights for a scene that looks decent.

Parameters

scene (trimesh.Scene) – Scene with geometry

Returns

• lights ([Light]) – List of light objects

• transforms ((len(lights), 4, 4) float) – Transformation matrices for light positions.

trimesh.scene.scene module

class trimesh.scene.scene.Scene(geometry=None, base_frame='world', metadata={}, graph=None, camera=None, lights=None, camera_transform=None)

Bases: trimesh.parent.Geometry

A simple scene graph which can be rendered directly via pyglet/openGL or through other endpoints such as a raytracer. Meshes are added by name, which can then be moved by updating transform in the transform tree.

add_geometry(geometry, node_name=None, geom_name=None, parent_node_name=None, transform=None)

Add a geometry to the scene.

If the mesh has multiple transforms defined in its metadata, they will all be copied into the TransformForest of the current scene automatically.

Parameters

• geometry (Trimesh, Path2D, Path3D PointCloud or list) – Geometry to initially add to the scene

• base_frame (str or hashable) – Name of base frame

• metadata (dict) – Any metadata about the scene

• graph (TransformForest or None) – A passed transform graph to use

Returns

node_name – Name of node in self.graph

Return type

str

apply_transform(transform)

property bounds

Return the overall bounding box of the scene.

Returns

bounds

Return type

(2,3) float points for min, max corner

property bounds_corners

A list of points that represent the corners of the AABB of every geometry in the scene.

This can be useful if you want to take the AABB in a specific frame.

Returns

corners

Return type

(n, 3) float, points in space

property camera

Get the single camera for the scene. If not manually set one will abe automatically generated.

Returns

camera – Camera object defined for the scene

Return type

trimesh.scene.Camera

camera_rays()

Calculate the trimesh.scene.Camera origin and ray direction vectors.

Will return one ray per pixel, as set in camera.resolution.

Returns

• origins ((3,) float) – Ray origins in space

• vectors ((n, 3)) – Ray direction unit vectors in world coordinates

property camera_transform

Get camera transform in the base frame

Returns

camera_transform – Camera transform in the base frame

Return type

(4, 4), float

property centroid

Return the center of the bounding box for the scene.

Returns

centroid

Return type

3. float point for center of bounding box

convert_units(desired, guess=False)

If geometry has units defined convert them to new units.

Returns a new scene with geometries and transforms scaled.

Parameters

• desired (str) – Desired final unit system: ‘inches’, ‘mm’, etc.

• guess (bool) – Is the converter allowed to guess scale when models don’t have it specified in their metadata.

Returns

scaled – Copy of scene with scaling applied and units set for every model

Return type

trimesh.Scene

property convex_hull

The convex hull of the whole scene

Returns

hull

Return type

Trimesh object, convex hull of all meshes in scene

copy()

Return a deep copy of the current scene

Returns

copied – Copy of the current scene

Return type

trimesh.Scene

dump()

Append all meshes in scene to a list of meshes.

Returns

dumped – location the scene.graph

Return type

(n,) list, of Trimesh objects transformed to their

property duplicate_nodes

Return a sequence of node keys of identical meshes.

Will combine meshes duplicated by copying in space with different keys in self.geometry, as well as meshes repeated by self.nodes.

Returns

duplicates – identical geometry

Return type

13. sequence of keys to self.nodes that represent

explode(vector=None, origin=None)

Explode a scene around a point and vector.

Parameters

• vector ((3,) float or float) – Explode radially around a direction vector or spherically

• origin ((3,) float) – Point to explode around

export(file_type=None)

Export a snapshot of the current scene.

Parameters

file_type (what encoding to use for meshes) – ie: dict, dict64, stl

Returns

export – meshes: list of meshes, encoded as per file_type transforms: edge list of transforms, eg:

((u, v, {‘matrix’ : np.eye(4)}))

Return type

dict with keys:

property extents

Return the axis aligned box size of the current scene.

Returns

extents

Return type

(3,) float, bounding box sides length

property geometry_identifiers

Look up geometries by identifier MD5

Returns

identifiers

Return type

dict, identifier md5: key in self.geometry

property is_empty

Does the scene have anything in it.

Returns

is_empty

Return type

bool, True if nothing is in the scene

property is_valid

Is every geometry connected to the root node.

Returns

is_valid – Does every geometry have a transform

Return type

bool

property lights

Get a list of the lights in the scene. If nothing is set it will generate some automatically.

Returns

lights – Lights in the scene.

Return type

[trimesh.scene.lighting.Light]

md5()

MD5 of scene which will change when meshes or transforms are changed

Returns

hashed

Return type

str, MD5 hash of scene

rezero()

Move the current scene so that the AABB of the whole scene is centered at the origin.

Does this by changing the base frame to a new, offset base frame.

save_image(resolution=(1024, 768), **kwargs)

Get a PNG image of a scene.

Parameters

• resolution ((2,) int, resolution to render image) –

• **kwargs (passed to SceneViewer constructor) –

Returns

png

Return type

bytes, render of scene in PNG form

property scale

The approximate scale of the mesh

Returns

scale

Return type

float, the mean of the bounding box edge lengths

scaled(scale)

Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor.

Parameters

scale (float) – Factor to scale meshes and transforms

Returns

scaled – A copy of the current scene but scaled

Return type

trimesh.Scene

set_camera(angles=None, distance=None, center=None, resolution=None, fov=None)

Create a camera object for self.camera, and add a transform to self.graph for it.

If arguments are not passed sane defaults will be figured out which show the mesh roughly centered.

Parameters

• angles ((3,) float) – Initial euler angles in radians

• distance (float) – Distance from centroid

• center ((3,) float) – Point camera should be center on

• camera (Camera object) – Object that stores camera parameters

show(viewer=None, **kwargs)

Display the current scene.

Parameters

• viewer (str) – What kind of viewer to open, including ‘gl’ to open a pyglet window, ‘notebook’ for a jupyter notebook or None

• kwargs (dict) – Includes smooth, which will turn on or off automatic smooth shading

property triangles

Return a correctly transformed polygon soup of the current scene.

Returns

triangles

Return type

(n,3,3) float, triangles in space

property triangles_node

Which node of self.graph does each triangle come from.

Returns

triangles_index – Node name for each triangle

Return type

(len(self.triangles),)

property units

Get the units for every model in the scene, and raise a ValueError if there are mixed units.

Returns

units – Units for every model in the scene

Return type

str

trimesh.scene.scene.append_scenes(iterable, common=['world'])

Concatenate multiple scene objects into one scene.

Parameters

• iterable ((n,) Trimesh or Scene) – Geometries that should be appended

• common ((n,) str) – Nodes that shouldn’t be remapped

Returns

result – Scene containing all geometry

Return type

trimesh.Scene

trimesh.scene.scene.split_scene(geometry)

Given a geometry, list of geometries, or a Scene return them as a single Scene object.

Parameters

geometry (splittable) –

Returns

scene

Return type

trimesh.Scene

trimesh.scene.transforms module

class trimesh.scene.transforms.EnforcedForest(*args, **kwargs)

Bases: networkx.classes.digraph.DiGraph

A subclass of networkx.DiGraph that will raise an error if an edge is added which would make the DiGraph not a forest or tree.

add_edge(u, v, *args, **kwargs)

Add an edge between u and v.

The nodes u and v will be automatically added if they are not already in the graph.

Edge attributes can be specified with keywords or by providing a dictionary with key/value pairs. See examples below.

Parameters

• v (u,) – Nodes can be, for example, strings or numbers. Nodes must be hashable (and not None) Python objects.

• attr_dict (dictionary, optional (default= no attributes)) – Dictionary of edge attributes. Key/value pairs will update existing data associated with the edge.

• attr (keyword arguments, optional) – Edge data (or labels or objects) can be assigned using keyword arguments.

See also

add_edges_from()

add a collection of edges

Notes

Adding an edge that already exists updates the edge data.

Many NetworkX algorithms designed for weighted graphs use as the edge weight a numerical value assigned to a keyword which by default is ‘weight’.

Examples

The following all add the edge e=(1,2) to graph G:

>>> G = nx.Graph()   # or DiGraph, MultiGraph, MultiDiGraph, etc
>>> e = (1,2)
>>> G.add_edge(1, 2)           # explicit two-node form
>>> G.add_edge(*e)             # single edge as tuple of two nodes
>>> G.add_edges_from( [(1,2)] ) # add edges from iterable container

Associate data to edges using keywords:

>>> G.add_edge(1, 2, weight=3)
>>> G.add_edge(1, 3, weight=7, capacity=15, length=342.7)

add_edges_from(*args, **kwargs)

Add all the edges in ebunch.

Parameters

• ebunch (container of edges) – Each edge given in the container will be added to the graph. The edges must be given as as 2-tuples (u,v) or 3-tuples (u,v,d) where d is a dictionary containing edge data.

• attr_dict (dictionary, optional (default= no attributes)) – Dictionary of edge attributes. Key/value pairs will update existing data associated with each edge.

• attr (keyword arguments, optional) – Edge data (or labels or objects) can be assigned using keyword arguments.

See also

add_edge()

add a single edge

add_weighted_edges_from()

convenient way to add weighted edges

Notes

Adding the same edge twice has no effect but any edge data will be updated when each duplicate edge is added.

Edge attributes specified in edges take precedence over attributes specified generally.

Examples

>>> G = nx.Graph()   # or DiGraph, MultiGraph, MultiDiGraph, etc
>>> G.add_edges_from([(0,1),(1,2)]) # using a list of edge tuples
>>> e = zip(range(0,3),range(1,4))
>>> G.add_edges_from(e) # Add the path graph 0-1-2-3

Associate data to edges

>>> G.add_edges_from([(1,2),(2,3)], weight=3)
>>> G.add_edges_from([(3,4),(1,4)], label='WN2898')

add_path(*args, **kwargs)

Add a path.

Parameters

• nodes (iterable container) – A container of nodes. A path will be constructed from the nodes (in order) and added to the graph.

• attr (keyword arguments, optional (default= no attributes)) – Attributes to add to every edge in path.

See also

add_star(), add_cycle()

Examples

>>> G=nx.Graph()   # or DiGraph, MultiGraph, MultiDiGraph, etc
>>> G.add_path([0,1,2,3])
>>> G.add_path([10,11,12],weight=7)

disconnect_path(path)

get_edge_data_direction(u, v)

remove_edge(*args, **kwargs)

Remove the edge between u and v.

Parameters

v (u,) – Remove the edge between nodes u and v.

Raises

NetworkXError – If there is not an edge between u and v.

See also

remove_edges_from()

remove a collection of edges

Examples

>>> G = nx.Graph()   # or DiGraph, etc
>>> G.add_path([0,1,2,3])
>>> G.remove_edge(0,1)
>>> e = (1,2)
>>> G.remove_edge(*e) # unpacks e from an edge tuple
>>> e = (2,3,{'weight':7}) # an edge with attribute data
>>> G.remove_edge(*e[:2]) # select first part of edge tuple

remove_edges_from(*args, **kwargs)

Remove all edges specified in ebunch.

Parameters

ebunch (list or container of edge tuples) –

Each edge given in the list or container will be removed from the graph. The edges can be:

• 2-tuples (u,v) edge between u and v.

• 3-tuples (u,v,k) where k is ignored.

See also

remove_edge()

remove a single edge

Notes

Will fail silently if an edge in ebunch is not in the graph.

Examples

>>> G = nx.Graph()   # or DiGraph, MultiGraph, MultiDiGraph, etc
>>> G.add_path([0,1,2,3])
>>> ebunch=[(1,2),(2,3)]
>>> G.remove_edges_from(ebunch)

shortest_path_undirected(u, v)

class trimesh.scene.transforms.TransformForest(base_frame='world')

Bases: object

clear()

copy()

Return a copy of the current TransformForest

Returns

copied

Return type

TransformForest

from_edgelist(edges, strict=True)

Load transform data from an edge list into the current scene graph.

Parameters

• edgelist ((n,) tuples) – (node_a, node_b, {key: value})

• strict (bool) – If true, raise a ValueError when a malformed edge is passed in a tuple.

get(frame_to, frame_from=None)

Get the transform from one frame to another, assuming they are connected in the transform tree.

If the frames are not connected a NetworkXNoPath error will be raised.

Parameters

• frame_to (hashable) – Node name, usually a string (eg ‘mesh_0’)

• frame_from (hashable) – Node name, usually a string (eg ‘world’). If None it will be set to self.base_frame

Returns

transform – Homogeneous transformation matrix

Return type

(4, 4) float

load(edgelist)

Load transform data from an edge list into the current scene graph.

Parameters

edgelist ((n,) tuples) – (node_a, node_b, {key: value})

md5()

property nodes

A list of every node in the graph.

Returns

nodes

Return type

(n,) array, of node names

property nodes_geometry

The nodes in the scene graph with geometry attached.

Returns

nodes_geometry

Return type

(m,) array, of node names

show()

Plot the graph layout of the scene.

to_edgelist()

Export the current transforms as a list of edge tuples, with each tuple having the format: (node_a, node_b, {metadata})

Returns

edgelist

Return type

(n,) list of tuples

to_flattened(base_frame=None)

Export the current transform graph as a flattened

to_gltf(scene)

Export a transforms as the ‘nodes’ section of a GLTF dict. Flattens tree.

Returns

gltf –

with keys:

’nodes’: list of dicts

Return type

dict

to_svg()

update(frame_to, frame_from=None, **kwargs)

Update a transform in the tree.

Parameters

• frame_from (hashable object) – Usually a string (eg ‘world’). If left as None it will be set to self.base_frame

• frame_to (hashable object) – Usually a string (eg ‘mesh_0’)

• matrix ((4,4) float) – Homogeneous transformation matrix

• quaternion ((4,) float) – Quaternion ordered [w, x, y, z]

• axis ((3,) float) – Axis of rotation

• angle (float) – Angle of rotation, in radians

• translation ((3,) float) – Distance to translate

• geometry (hashable) – Geometry object name, e.g. ‘mesh_0’

trimesh.scene.transforms.kwargs_to_matrix(**kwargs)

Turn a set of keyword arguments into a transformation matrix.

Module contents