trimesh.scene

class trimesh.scene.Camera(name=None, resolution=None, focal=None, fov=None, z_near=0.01, z_far=1000.0)

Bases: object

property K

Get the intrinsic matrix for the Camera object.

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

__init__(name=None, resolution=None, focal=None, fov=None, z_near=0.01, z_far=1000.0)

Create a new Camera object that stores camera intrinsic and extrinsic parameters.

TODO: skew is not supported TODO: cx and cy that are not half of width and height

Parameters

name (str or None) – Name for camera to be used as node name
resolution ((2,) int) – Pixel size in (height, width)
focal ((2,) float) – Focal length in pixels. Either pass this OR FOV but not both. focal = (K[0][0], K[1][1])
fov ((2,) float) – Field of view (fovx, fovy) in degrees
z_near (float) – What is the closest

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

look_at(points, **kwargs)

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
rotation (None, or (4, 4) float) – Rotation matrix for initial rotation
distance (None or float) – Distance from camera to center
center (None, or (3,) float) – Center of field of view.

Returns

transform – Transformation matrix from world to camera

Return type

(4, 4) 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

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

Bases: Geometry3D

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

__init__(geometry=None, base_frame='world', metadata={}, graph=None, camera=None, lights=None, camera_transform=None)

Create a new Scene object.

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
camera (Camera or None) – A passed camera to use
lights ([trimesh.scene.lighting.Light] or None) – A passed lights to use
camera_transform ((4, 4) float or None) – Camera transform in the base frame

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

Add a geometry to the scene.

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

Parameters

geometry (Trimesh, Path2D, Path3D PointCloud or list) – Geometry to initially add to the scene
node_name (Name of the added node.) –
geom_name (Name of the added geometry.) –
parent_node_name (Name of the parent node in the graph.) –
transform (Transform that applies to the added node.) –
extras (Optional metadata for the node.) –

Returns

node_name – Name of single node in self.graph (passed in) or None if node was not added (eg. geometry was null or a Scene).

Return type

str

apply_transform(transform)

Apply a transform to all children of the base frame without modifying any geometry.

Parameters: transform ((4, 4)) – Homogeneous transformation matrix.

property area

What is the summed area of every geometry which has area.

Returns: area – Summed area of every instanced geometry
Return type: float

property bounds

Return the overall bounding box of the scene.

Returns: bounds – Position of [min, max] bounding box Returns None if no valid bounds exist
Return type: (2, 3) float or None

property bounds_corners

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

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

Returns: corners – Points in space
Return type: (n, 3) float

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. Returns one ray per pixel as set in camera.resolution

Returns

origin ((n, 3) float) – Ray origins in space
vectors ((n, 3) float) – Ray direction unit vectors in world coordinates
pixels ((n, 2) int) – Which pixel does each ray correspond to in an image

property camera_transform

Get camera transform in the base frame.

Returns: camera_transform – Camera transform in the base frame
Return type: (4, 4) float

property centroid

Return the center of the bounding box for the scene.

Returns

centroid – Point for center of bounding box

Return type

float

convert_units(desired, guess=False)

If geometry has units defined convert them to new units.

Returns a new scene with geometries and transforms scaled.

Parameters

desired (str) – Desired final unit system: ‘inches’, ‘mm’, etc.
guess (bool) – Is the converter allowed to guess scale when models don’t have it specified in their metadata.

Returns

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

Return type

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

deduplicated()

Return a new scene where each unique geometry is only included once and transforms are discarded.

Returns: dedupe – One copy of each unique geometry from scene
Return type: Scene

delete_geometry(names)

Delete one more multiple geometries from the scene and also remove any node in the transform graph which references it.

Parameters: name (hashable) – Name that references self.geometry

dump(concatenate=False)

Append all meshes in scene freezing transforms.

Parameters: concatenate (bool) – If True, concatenate results into single mesh
Returns: dumped – Trimesh objects transformed to their location the scene.graph
Return type: (n,) Trimesh or Trimesh

property duplicate_nodes

Return a sequence of node keys of identical meshes.

Will include meshes with different geometry but identical spatial hashes as well as meshes repeated by self.nodes.

Returns

duplicates – Keys of self.graph that represent identical geometry

Return type

sequence

explode(vector=None, origin=None)

Explode a scene around a point and vector.

Parameters

vector ((3,) float or float) – Explode radially around a direction vector or spherically
origin ((3,) float) – Point to explode around

export(file_obj=None, file_type=None, **kwargs)

Export a snapshot of the current scene.

Parameters

file_obj (str, file-like, or None) – File object to export to
file_type (str or None) – What encoding to use for meshes IE: dict, dict64, stl

Returns

export – Only returned if file_obj is None

Return type

bytes

property extents

Return the axis aligned box size of the current scene.

Returns: extents – Bounding box sides length
Return type: (3,) float

property geometry_identifiers

Look up geometries by identifier hash

Returns: identifiers – {Identifier hash: key in self.geometry}
Return type: dict

property has_camera

property is_empty

Does the scene have anything in it.

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

property is_valid

Is every geometry connected to the root node.

Returns: is_valid – Does every geometry have a transform
Return type: bool

property lights

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

Returns: lights – Lights in the scene.
Return type: [trimesh.scene.lighting.Light]

rezero()

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

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

save_image(resolution=None, **kwargs)

Get a PNG image of a scene.

Parameters

resolution ((2,) int) – Resolution to render image
**kwargs – Passed to SceneViewer constructor

Returns

png – Render of scene as a PNG

Return type

bytes

property scale

The approximate scale of the mesh

Returns: scale – The mean of the bounding box edge lengths
Return type: float

scaled(scale)

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

Parameters: scale (float) – Factor to scale meshes and transforms
Returns: scaled – A copy of the current scene but scaled
Return type: 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

strip_visuals(): Strip visuals from every Trimesh geometry and set them to an empty ColorVisuals.

subscene(node)

Get part of a scene that succeeds a specified node.

Parameters: node (any) – Hashable key in scene.graph
Returns: subscene – Partial scene generated from current.
Return type: Scene

property triangles

Return a correctly transformed polygon soup of the current scene.

Returns: triangles – Triangles in space
Return type: (n, 3, 3) float

property triangles_node

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

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

property units

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

Returns: units – Units for every model in the scene
Return type: str

trimesh.scene.split_scene(geometry, **kwargs)

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