trimesh.scene.scene module¶

Classes

Scene([geometry, base_frame, metadata, …])

A simple scene graph which can be rendered directly via pyglet/openGL or through other endpoints such as a raytracer.

Functions

`append_scenes`(iterable[, common])	Concatenate multiple scene objects into one scene.
`split_scene`(geometry)	Given a geometry, list of geometries, or a Scene return them as a single Scene object.

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.

Methods

`add_geometry`(geometry[, node_name, …])	Add a geometry to the scene.
`apply_transform`(transform)	Apply a transform to every geometry in the scene.
`camera_rays`()	Calculate the trimesh.scene.Camera origin and ray direction vectors.
`convert_units`(desired[, guess])	If geometry has units defined convert them to new units.
`copy`()	Return a deep copy of the current scene
`dump`([concatenate])	Append all meshes in scene to a list of meshes.
`explode`([vector, origin])	Explode a scene around a point and vector.
`export`([file_obj, file_type])	Export a snapshot of the current scene.
`md5`()	MD5 of scene which will change when meshes or
`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, …])	Create a camera object for self.camera, and add a transform to self.graph for it.
`show`([viewer])	Display the current scene.

Attributes

`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.
`camera`	Get the single camera for the scene.
`camera_transform`	Get camera transform in the base frame
`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.
`lights`	Get a list of the lights in the scene.
`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.

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)¶

Apply a transform to every geometry in the scene.

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

property bounds¶

Return the overall bounding box of the scene.

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

property bounds_corners¶

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

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

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

property camera¶

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

Returns: camera – Camera object defined for the scene
Return type: 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

origins ((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

dump(concatenate=False)¶

Append all meshes in scene to a list of meshes.

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

property duplicate_nodes¶

Return a sequence of node keys of identical meshes.

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

Returns

duplicates – Keys of self.nodes that represent identical geometry

Return type

sequenc

explode(vector=None, origin=None)¶

Explode a scene around a point and vector.

Parameters

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

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

Export a snapshot of the current scene.

Parameters: file_type (what encoding to use for meshes) – ie: dict, dict64, stl
Returns: export – Only returned if file_obj is None
Return type: bytes

property extents¶

Return the axis aligned box size of the current scene.

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

property geometry_identifiers¶

Look up geometries by identifier MD5

Returns: identifiers – {Identifier MD5: key in self.geometry}
Return type: dict

property 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 – MD5 hash of scene
Return type: str

rezero()¶

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

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

save_image(resolution=None, **kwargs)¶

Get a PNG image of a scene.

Parameters

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

Returns

png – Render of scene as a PNG

Return type

bytes

property scale¶

The approximate scale of the mesh

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

scaled(scale)¶

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

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