trimesh.voxel

• trimesh.voxel.base
  • voxel.py
• trimesh.voxel.creation
• trimesh.voxel.encoding
• trimesh.voxel.morphology
• trimesh.voxel.ops
• trimesh.voxel.runlength
• trimesh.voxel.transforms

Classes

VoxelGrid(encoding[, transform, metadata])

Store 3D voxels.

class trimesh.voxel.VoxelGrid(encoding, transform=None, metadata=None)

Bases: trimesh.parent.Geometry

Store 3D voxels.

Methods

apply_transform(matrix)
as_boxes([colors])	A rough Trimesh representation of the voxels with a box for each filled voxel.
copy()
crc()
fill([method])	Mutates self by filling in the encoding according to morphology.fill.
hollow([structure])	Mutates self by removing internal voxels leaving only surface elements.
indices_to_points(indices)
is_filled(point)	Query points to see if the voxel cells they lie in are filled or not.
md5()
points_to_indices(points)	Convert points to indices in the matrix array.
revoxelized(shape)	Create a new VoxelGrid without rotations, reflections or shearing.
show(*args, **kwargs)	Convert the current set of voxels into a trimesh for visualization and show that via its built- in preview method.
strip()	Mutate self by stripping leading/trailing planes of zeros.

Attributes

bounds
element_volume
encoding	Encoding object providing the occupancy grid.
extents
filled_count	int, number of occupied voxels in the grid.
is_empty
marching_cubes	A marching cubes Trimesh representation of the voxels.
matrix	Return a DENSE matrix of the current voxel encoding
origin	Deprecated.
pitch	Uniform scaling factor representing the side length of each voxel.
points	The center of each filled cell as a list of points.
scale	3-element float representing per-axis scale.
shape	3-tuple of ints denoting shape of occupancy grid.
sparse_indices	(n, 3) int array of sparse indices of occupied voxels.
transform	4x4 homogeneous transformation matrix.
translation	Location of voxel at [0, 0, 0].
volume	What is the volume of the filled cells in the current voxel object.

apply_transform(matrix)

as_boxes(colors=None, **kwargs)

A rough Trimesh representation of the voxels with a box for each filled voxel.

Parameters

colors ((3,) or (4,) float or uint8) – (X, Y, Z, 3) or (X, Y, Z, 4) float or uint8 Where matrix.shape == (X, Y, Z)

Returns

mesh – Mesh with one box per filled cell.

Return type

trimesh.Trimesh

property bounds

copy()

crc()

property element_volume

property encoding

Encoding object providing the occupancy grid.

See trimesh.voxel.encoding for implementations.

property extents

fill(method='holes', **kwargs)

Mutates self by filling in the encoding according to morphology.fill.

Parameters

• method (implementation key, one of) – trimesh.voxel.morphology.fill.fillers keys

• **kwargs (additional kwargs passed to the keyed implementation) –

Returns

Return type

self after replacing encoding with a filled version.

property filled_count

int, number of occupied voxels in the grid.

hollow(structure=None)

Mutates self by removing internal voxels leaving only surface elements.

Surviving elements are those in encoding that are adjacent to an empty voxel, where adjacency is controlled by structure.

Parameters

structure (adjacency structure. If None, square connectivity is used.) –

Returns

Return type

self after replacing encoding with a surface version.

indices_to_points(indices)

property is_empty

is_filled(point)

Query points to see if the voxel cells they lie in are filled or not.

Parameters

point ((n, 3) float) – Points in space

Returns

is_filled – Is cell occupied or not for each point

Return type

(n,) bool

property 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 scikit-image measure.marching_cubes function to self.encoding.dense.

Returns

meshed – object, as returned by marching cubes algorithm.

Return type

Trimesh object representing the current voxel

property matrix

Return a DENSE matrix of the current voxel encoding

Returns

dense – Numpy array of dense matrix Shortcut to voxel.encoding.dense

Return type

(a, b, c) bool

md5()

property origin

Deprecated. Use self.translation.

property pitch

Uniform scaling factor representing the side length of each voxel.

Returns

pitch – Pitch of the voxels.

Return type

float

Raises

RuntimeError – If self.transformation has rotation or shear components of has non-uniform scaling.

property points

The center of each filled cell as a list of points.

Returns

points

Return type

(self.filled, 3) float, list of points

points_to_indices(points)

Convert points to indices in the matrix array.

Parameters

points ((n, 3) float, point in space) –

Returns

indices

Return type

(n, 3) int array of indices into self.encoding

revoxelized(shape)

Create a new VoxelGrid without rotations, reflections or shearing.

Parameters

shape (3-tuple of ints denoting the shape of the returned VoxelGrid.) –

Returns

• VoxelGrid of the given shape with (possibly non-uniform) scale and

• translation transformation matrix.

property scale

3-element float representing per-axis scale.

Raises a RuntimeError if self.transform has rotation or shear components.

property shape

3-tuple of ints denoting shape of occupancy grid.

show(*args, **kwargs)

Convert the current set of voxels into a trimesh for visualization and show that via its built- in preview method.

property sparse_indices

(n, 3) int array of sparse indices of occupied voxels.

strip()

Mutate self by stripping leading/trailing planes of zeros.

Returns

Return type

self after mutation occurs in-place

property transform

4x4 homogeneous transformation matrix.

property translation

Location of voxel at [0, 0, 0].

property volume

What is the volume of the filled cells in the current voxel object.

Returns

volume

Return type

float, volume of filled cells