trimesh.scene package¶

Submodules¶

trimesh.scene.camera module¶

class trimesh.scene.camera.Camera(resolution, focal=None, fov=None, transform=None)¶

Bases: object

Attributes:	`K` Get the intrinsic matrix for the Camera object. `focal` Get the focal length in pixels for the camera. `fov` Get the field of view in degrees. `resolution` Get the camera resolution in pixels. `transform` Get the (4, 4) homogenous transformation from the world frame to this camera object.

K¶

Get the intrinsic matrix for the Camera object.

Returns:	K : (3, 3) float Intrinsic matrix for camera

focal¶

Get the focal length in pixels for the camera.

Returns:	focal : (2,) float Focal length in pixels

fov¶

Get the field of view in degrees.

Returns:	fov : (2,) float XY field of view in degrees

resolution¶

Get the camera resolution in pixels.

Returns:	resolution (2,) float Camera resolution in pixels

transform¶

Get the (4, 4) homogenous transformation from the world frame to this camera object.

Returns:	transform : (4, 4) float Transform from world to camera

trimesh.scene.scene module¶

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

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: Return the overall bounding box of the scene.
bounds_corners: A list of points that represent the corners of the AABB of every geometry in the scene.
centroid: Return the center of the bounding box for the scene.
convex_hull: The convex hull of the whole scene
duplicate_nodes: Return a sequence of node keys of identical meshes.
extents: Return the axis aligned box size of the current scene.
geometry_identifiers: Look up geometries by identifier MD5
is_empty: Does the scene have anything in it.
is_valid: Is every geometry connected to the root node.
scale: The approximate scale of the mesh
triangles: Return a correctly transformed polygon soup of the current scene.
triangles_node: Which node of self.graph does each triangle come from.
units: Get the units for every model in the scene, and raise a ValueError if there are mixed units.

Methods

`add_geometry`(geometry[, node_name, …])	Add a geometry to the scene.
`apply_scale`(scaling)	Scale the mesh equally on all axis.
`apply_translation`(translation)	Translate the current mesh.
`convert_units`(desired[, guess])	If geometry has units defined convert them to new units.
`copy`()	Return a deep copy of the current scene
`dump`()	Append all meshes in scene to a list of meshes.
`explode`([vector, origin])	Explode a scene around a point and vector.
`export`([file_type])	Export a snapshot of the current scene.
`md5`()	MD5 of scene which will change when meshes or transforms are changed
`rezero`()	Move the current scene so that the AABB of the whole scene is centered at the origin.
`save_image`([resolution])	Get a PNG image of a scene.
`scaled`(scale)	Return a copy of the current scene, with meshes and scene transforms scaled to the requested factor.
`set_camera`([angles, distance, center, camera])	Add a transform to self.graph for ‘camera’
`show`([viewer])	Display the current scene.

apply_transform

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 : str Name of node in self.graph

apply_transform(transform)¶

bounds¶

Return the overall bounding box of the scene.

Returns:	bounds: (2,3) float points for min, max corner

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: (n, 3) float, points in space

centroid¶

Return the center of the bounding box for the scene.

Returns:	centroid: (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 : trimesh.Scene Copy of scene with scaling applied and units set for every model

convex_hull¶

The convex hull of the whole scene

Returns:	hull: Trimesh object, convex hull of all meshes in scene

copy()¶

Return a deep copy of the current scene

Returns:	copied : trimesh.Scene Copy of the current scene

dump()¶

Append all meshes in scene to a list of meshes.

Returns:	dumped: (n,) list, of Trimesh objects transformed to their location the scene.graph

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: (m) sequence of keys to self.nodes that represent identical geometry

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: dict with keys: meshes: list of meshes, encoded as per file_type transforms: edge list of transforms, eg: ((u, v, {‘matrix’ : np.eye(4)}))

extents¶

Return the axis aligned box size of the current scene.

Returns:	extents: (3,) float, bounding box sides length

geometry_identifiers¶

Look up geometries by identifier MD5

Returns:	identifiers: dict, identifier md5: key in self.geometry

is_empty¶

Does the scene have anything in it.

Returns:	is_empty: bool, True if nothing is in the scene

is_valid¶

Is every geometry connected to the root node.

Returns:	is_valid : bool Does every geometry have a transform

md5()¶

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

Returns:	hashed: 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: bytes, render of scene in PNG form

scale¶

The approximate scale of the mesh

Returns:	scale: 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 : trimesh.Scene A copy of the current scene but scaled

set_camera(angles=None, distance=None, center=None, camera=None)¶

Add a transform to self.graph for ‘camera’

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 ‘gl’: open a pyglet window str,’notebook’: return ipython.display.HTML None: automatically pick based on whether or not we are in an ipython notebook smooth : bool Turn on or off automatic smooth shading

triangles¶

Return a correctly transformed polygon soup of the current scene.

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

triangles_node¶

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

Returns:	triangles_index : (len(self.triangles),) Node name for each triangle

units¶

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

Returns:	units : str Units for every model in the scene

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 : trimesh.Scene Scene containing all geometry

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: 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.

Attributes:	name

Methods

`add_cycle`(nodes, **attr)	Add a cycle.
`add_edge`(u, v, args, *kwargs)	Add an edge between u and v.
`add_edges_from`(args, *kwargs)	Add all the edges in ebunch.
`add_node`(n[, attr_dict])	Add a single node n and update node attributes.
`add_nodes_from`(nodes, **attr)	Add multiple nodes.
`add_path`(args, *kwargs)	Add a path.
`add_star`(nodes, **attr)	Add a star.
`add_weighted_edges_from`(ebunch[, weight])	Add all the edges in ebunch as weighted edges with specified weights.
`adjacency_iter`()	Return an iterator of (node, adjacency dict) tuples for all nodes.
`adjacency_list`()	Return an adjacency list representation of the graph.
`adjlist_dict_factory`	alias of `builtins.dict`
`clear`()	Remove all nodes and edges from the graph.
`copy`()	Return a copy of the graph.
`degree`([nbunch, weight])	Return the degree of a node or nodes.
`degree_iter`([nbunch, weight])	Return an iterator for (node, degree).
`edge_attr_dict_factory`	alias of `builtins.dict`
`edges`([nbunch, data, default])	Return a list of edges.
`edges_iter`([nbunch, data, default])	Return an iterator over the edges.
`get_edge_data`(u, v[, default])	Return the attribute dictionary associated with edge (u,v).
`has_edge`(u, v)	Return True if the edge (u,v) is in the graph.
`has_node`(n)	Return True if the graph contains the node n.
`has_predecessor`(u, v)	Return True if node u has predecessor v.
`has_successor`(u, v)	Return True if node u has successor v.
`in_degree`([nbunch, weight])	Return the in-degree of a node or nodes.
`in_degree_iter`([nbunch, weight])	Return an iterator for (node, in-degree).
`in_edges`([nbunch, data])	Return a list of the incoming edges.
`in_edges_iter`([nbunch, data])	Return an iterator over the incoming edges.
`is_directed`()	Return True if graph is directed, False otherwise.
`is_multigraph`()	Return True if graph is a multigraph, False otherwise.
`nbunch_iter`([nbunch])	Return an iterator of nodes contained in nbunch that are also in the graph.
`neighbors`(n)	Return a list of successor nodes of n.
`neighbors_iter`(n)	Return an iterator over successor nodes of n.
`node_dict_factory`	alias of `builtins.dict`
`nodes`([data])	Return a list of the nodes in the graph.
`nodes_iter`([data])	Return an iterator over the nodes.
`nodes_with_selfloops`()	Return a list of nodes with self loops.
`number_of_edges`([u, v])	Return the number of edges between two nodes.
`number_of_nodes`()	Return the number of nodes in the graph.
`number_of_selfloops`()	Return the number of selfloop edges.
`order`()	Return the number of nodes in the graph.
`out_degree`([nbunch, weight])	Return the out-degree of a node or nodes.
`out_degree_iter`([nbunch, weight])	Return an iterator for (node, out-degree).
`out_edges`([nbunch, data, default])	Return a list of edges.
`out_edges_iter`([nbunch, data, default])	Return an iterator over the edges.
`predecessors`(n)	Return a list of predecessor nodes of n.
`predecessors_iter`(n)	Return an iterator over predecessor nodes of n.
`remove_edge`(args, *kwargs)	Remove the edge between u and v.
`remove_edges_from`(args, *kwargs)	Remove all edges specified in ebunch.
`remove_node`(n)	Remove node n.
`remove_nodes_from`(nbunch)	Remove multiple nodes.
`reverse`([copy])	Return the reverse of the graph.
`selfloop_edges`([data, default])	Return a list of selfloop edges.
`size`([weight])	Return the number of edges.
`subgraph`(nbunch)	Return the subgraph induced on nodes in nbunch.
`successors`(n)	Return a list of successor nodes of n.
`successors_iter`(n)	Return an iterator over successor nodes of n.
`to_directed`()	Return a directed copy of the graph.
`to_undirected`([reciprocal])	Return an undirected representation of the digraph.

disconnect_path
get_edge_data_direction
shortest_path_undirected

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:	u, v : nodes 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:	u, v : nodes 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

Attributes:	`nodes` A list of every node in the graph. `nodes_geometry` The nodes in the scene graph with geometry attached.

Methods

`copy`()	Return a copy of the current TransformForest
`from_edgelist`(edges[, strict])	Load transform data from an edge list into the current scene graph.
`get`(frame_to[, frame_from])	Get the transform from one frame to another, assuming they are connected in the transform tree.
`load`(edgelist)	Load transform data from an edge list into the current scene graph.
`md5`()	MD5 of transforms.
`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})
`to_flattened`([base_frame])	Export the current transform graph as a flattened
`to_gltf`(mesh_index)	Export a transforms as the ‘nodes’ section of a GLTF dict.
`update`(frame_to[, frame_from])	Update a transform in the tree.

clear
to_svg

clear()¶

copy()¶

Return a copy of the current TransformForest

Returns:	copied: 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.

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’)

Returns:	transform: (4,4) homogenous transformation matrix

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()¶

MD5 of transforms.

Currently only hashing update time.

nodes¶

A list of every node in the graph.

Returns:	nodes: (n,) array, of node names

nodes_geometry¶

The nodes in the scene graph with geometry attached.

Returns:	nodes_geometry: (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: (n,) list of tuples

to_flattened(base_frame=None)¶: Export the current transform graph as a flattened

to_gltf(mesh_index)¶

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

Returns:	gltf: dict, with keys: ‘nodes’: list of dicts

to_svg()¶

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

Update a transform in the tree.

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) array quaternion: (4) quaternion axis: (3) array angle: float, radians translation: (3) array geometry : Geometry object name

trimesh.scene.transforms.kwargs_to_matrix(**kwargs)¶: Turn a set of keyword arguments into a transformation matrix.

trimesh.scene.transforms.path_to_edges(path)¶: Turn an (n) path into a (2(n-1)) set of edges

trimesh.scene package¶

Submodules¶

trimesh.scene.camera module¶

trimesh.scene.scene module¶

trimesh.scene.transforms module¶

Module contents¶