Show basic use of slam

# Authors: Guillaume Auzias <guillaume.auzias@univ-amu.fr>

# License: MIT
# sphinx_gallery_thumbnail_number = 2

This script shows examples of basic functionalities offered by SLAM. Some (most) of these are actually inherited from Trimesh This script does not plot anything, see example_plot.py for that purpose

import numpy as np
import trimesh
import slam.io as sio

# loading a mesh stored on the disc as a gifti file,
# this is a feature of SLAM
mesh = sio.load_mesh("../examples/data/example_mesh.gii")

affine transformations can be applied to mesh objects

mesh.apply_transform(mesh.principal_inertia_transform)
# laplacian smoothing is available in Trimesh
# mesh_s = sm.filter_laplacian(mesh, iterations=20)

<trimesh.Trimesh(vertices.shape=(2328, 3), faces.shape=(4652, 3))>

mesh.fill_holes() is able to fill missing face but do not handle larger holes, see example_topology for that purpose

interesting properties / functions of a mesh see base.py for more details what’s the euler number for the mesh?

print("mesh.euler_number=", mesh.euler_number)

mesh.euler_number= 2

access mesh edges

mesh.edges

array([[   0, 1488],
       [1488, 1506],
       [1506,    0],
       ...,
       [2318, 2319],
       [2319, 2320],
       [2320, 2318]])

access mesh faces

mesh.faces

TrackedArray([[   0, 1488, 1506],
              [   0, 1506,  656],
              [   0,  656,  659],
              ...,
              [2316, 2324, 2317],
              [2316, 2317, 2318],
              [2318, 2319, 2320]])

access mesh vertices

mesh.vertices

TrackedArray([[ -3.57061983, -17.94052699,   4.15675116],
              [ -4.21303892, -18.23071292,   2.84670091],
              [  1.28853808, -15.82085613,  11.84370996],
              ...,
              [ -5.71436597,  19.29592131,  -9.90463253],
              [ -5.29037668,  20.25637816,  -9.60190864],
              [ -4.34501887,  19.65690802, -12.83836933]])

access mesh edges

mesh.edges

array([[   0, 1488],
       [1488, 1506],
       [1506,    0],
       ...,
       [2318, 2319],
       [2319, 2320],
       [2320, 2318]])

what’s the area of the mesh

print("mesh.area=", mesh.area)

mesh.area= 6436.883746592521

compute the area of each face

mesh.area_faces

array([1.03160007, 0.69458893, 0.64635087, ..., 0.6087503 , 0.61997348,
       1.40925126])

access mesh faces angles

mesh.face_angles

array([[2.41774571, 0.49611365, 0.22773329],
       [0.32077545, 0.52701962, 2.29379758],
       [1.13467742, 0.50239582, 1.50451941],
       ...,
       [1.5336805 , 0.88605957, 0.72185258],
       [0.77351636, 1.44372687, 0.92434943],
       [0.79314939, 1.8842767 , 0.46416657]])

access mesh volume

mesh.volume

30652.090624082153

get the face_normal of the mesh

mesh.face_normals

array([[-0.82908057, -0.27021556,  0.48949868],
       [-0.82814367, -0.27374774,  0.4891219 ],
       [-0.55380453,  0.82911912, -0.07656392],
       ...,
       [-0.98404594,  0.17680358, -0.01985127],
       [-0.99132364,  0.12302581, -0.04628271],
       [-0.99042597,  0.11478389, -0.07668803]])

get the vertex_normals of the mesh

mesh.vertex_normals

array([[-0.88029842,  0.33822583,  0.33268299],
       [-0.94299175,  0.24092184,  0.2296154 ],
       [-0.51322472, -0.72001172,  0.46710118],
       ...,
       [-0.92601497,  0.33075405, -0.18192862],
       [-0.72862022,  0.633568  , -0.26020025],
       [-0.47962995,  0.8029129 , -0.35395761]])

access mesh vertex connectivity

mesh.vertex_neighbors

[[1, 1506, 656, 1488, 658, 659], [0, 657, 658, 1488], [1543, 1614, 1617, 1533, 1534], [128, 6, 1736, 10, 1710, 1655], [691, 1756, 701, 102], [135, 8, 103, 113, 121, 1691], [128, 3, 141, 1710, 115, 1654], [1730, 1765, 1766, 1767, 701, 703], [5, 134, 135, 113, 730], [130, 139, 142, 1752, 1753, 1790], [128, 3, 1736, 1930, 333, 1917, 319], [736, 737, 1888, 1889, 749], [1857, 1979, 1908, 1911], [1898, 1899, 15, 754, 755, 21, 1974], [1956, 143, 1908, 150, 766], [1829, 1899, 13, 1935, 1872, 1974], [740, 1877, 758, 759, 729, 154, 764], [775, 1969, 18, 146, 762, 1948], [1891, 17, 146, 1969, 1946, 763, 1822], [776, 1934, 753, 20, 1947, 1950], [746, 753, 19, 762, 1947, 1948], [1992, 13, 755, 1974, 26], [765, 2012, 164, 157], [1922, 164, 167, 1937, 1977, 2013, 2014], [1960, 337, 333, 799], [775, 812, 1969, 1970, 790, 2008], [1992, 21, 1974, 2011, 29], [1952, 1953, 163, 179, 153, 28], [162, 772, 178, 179, 153, 27], [37, 1992, 842, 172, 26, 2011, 31], [2049, 195, 838, 839, 2063, 347], [2050, 37, 172, 2009, 29, 2073], [33, 40, 2089, 42, 179], [32, 38, 42, 843, 178, 179], [41, 43, 844, 205, 2013, 2012, 189], [44, 175, 176, 2071, 213, 182, 183, 2070], [2084, 839, 841, 2072, 350], [2088, 842, 2073, 29, 350, 31], [33, 197, 42, 843, 46, 857], [198, 40, 2089, 179, 188], [32, 2089, 179, 39], [34, 198, 205, 49, 2129, 2130, 189], [32, 33, 38, 2089, 46, 49], [34, 844, 205, 206, 2103], [35, 2095, 50, 213, 2070], [195, 2116, 2098, 214, 347], [2146, 197, 38, 42, 49, 2102], [933, 901, 199, 219, 191], [195, 2118, 203, 2062, 214], [2146, 198, 41, 42, 2089, 46, 2129], [44, 2095, 52, 213, 2141, 2111], [354, 2182, 2095, 2169, 2141, 2110], [2183, 2152, 50, 2170, 2141, 2111], [2114, 2116, 234, 939, 2186, 56, 2171], [939, 2117, 2143, 231], [2180, 2181, 2182, 2183, 1001, 1002, 978, 2194, 983, 2207], [234, 2186, 237, 1009, 53, 246, 1015, 2197], [960, 235, 2253, 239, 987, 253], [2240, 2210, 226, 242, 243, 990], [250, 236, 245, 2197, 986, 2269], [68, 1029, 2245, 1003, 1005, 1011, 2237, 61], [65, 68, 71, 72, 1011, 60], [998, 237, 1041, 1042, 247, 252], [67, 2255, 2256, 242, 243, 2239], [257, 2249, 2228, 2263, 249], [1030, 72, 1011, 1112, 61], [2247, 246, 1015, 254, 255], [2274, 2255, 2256, 63, 1055], [1029, 71, 1035, 60, 61], [1030, 1064, 73, 1065, 1096, 1037], [2275, 71, 265, 1035, 268], [68, 70, 72, 74, 1035, 268, 61], [65, 71, 74, 1112, 61], [1096, 1112, 69, 1030], [71, 72, 76, 268, 1112], [1152, 2278, 266, 1100, 1133, 280], [74, 268, 78, 81, 2294, 1175, 1112], [84, 1141, 277, 283, 1084], [81, 76, 1175], [2294, 278, 2296, 1175, 1149], [291, 1131, 1132, 270, 274, 275, 83], [1224, 76, 78, 1175, 1112, 1176], [292, 1228, 1139, 84, 2292, 283, 2302], [80, 1131, 290, 291], [1187, 1254, 1228, 77, 82, 1141, 283], [288, 289, 294, 2311, 280], [2306, 2307, 2312, 299, 1263, 2320], [2308, 2312, 2313, 300, 2322, 1267, 1342], [290, 291, 297, 2315, 2323], [1284, 1384, 1323, 1324, 1363], [1474, 1482, 1494, 92, 93], [1474, 1512, 1513, 1490, 667, 92], [1474, 1512, 1516, 90, 91, 93], [1516, 1518, 1494, 90, 92], [1575, 1544, 656, 659, 661, 1530, 670], [672, 683, 1580, 1549, 1518, 366, 1652], [673, 1570, 100, 1607, 684, 1645, 1680, 1681, 1722], [678, 681, 682, 1578, 1618, 309, 667], [676, 685, 686, 1613, 1616, 1649, 1651, 310], [1671, 115, 116, 1654, 696, 1631], [96, 673, 684, 688, 689, 697], [1671, 1673, 110, 111, 696, 1658], [4, 107, 691, 1683, 1687, 1688, 1756], [5, 113, 1687, 1690, 1691, 700], [1696, 105, 108, 1746, 122, 123], [1696, 104, 1704, 1769, 1746], [1673, 1674, 111, 124, 1716, 1660], [1756, 133, 134, 102, 1687, 700], [1696, 104, 121, 122, 1691], [672, 707, 708, 683, 695, 376, 379], [705, 101, 709, 111, 721, 696], [709, 101, 712, 1673, 106, 110, 124], [1752, 1716, 124, 125], [5, 134, 103, 8, 700], [707, 1779, 693, 694, 695, 1781], [129, 99, 6, 1862, 141, 116, 1654], [129, 99, 718, 115, 117, 696], [718, 719, 116, 118, 696], [705, 719, 721, 117, 696], [131, 132, 688, 120, 697], [132, 119, 697, 699, 127], [5, 135, 136, 108, 122, 1691], [104, 136, 108, 121, 123], [104, 137, 136, 138, 1769, 1746, 122], [130, 712, 713, 106, 111, 112, 722, 1716, 125], [112, 130, 124, 1752], [714, 1803, 1807, 1808, 1759, 693, 1689, 702, 1727], [1763, 132, 1798, 1811, 120, 699], [3, 6, 10, 141, 1917, 1918], [1862, 718, 720, 115, 116], [738, 9, 713, 142, 725, 1752, 124, 125], [1792, 132, 711, 688, 1873, 119, 1722], [131, 1798, 1904, 1873, 1875, 119, 120, 127], [740, 134, 1801, 107, 729, 1756], [740, 133, 8, 107, 140, 113, 730, 700], [5, 8, 136, 121, 730, 731], [135, 137, 734, 121, 122, 123, 731], [136, 138, 123, 734], [1857, 137, 1769, 123, 734], [1920, 1893, 9, 1868, 142, 726, 1919, 1790, 1791], [730, 740, 134, 1922], [128, 1862, 6, 115, 1918], [1920, 738, 130, 9, 139, 752, 147], [1857, 14, 1908, 150, 1878, 732, 733, 734], [1857, 1926, 1769, 1815, 1911, 158], [152, 752, 147, 761], [1865, 746, 17, 18, 762, 1822], [1920, 1988, 142, 334, 752, 145, 152], [1901, 1902, 1936, 1906, 756, 757, 1975, 1951], [1878, 1922, 1937, 150], [1956, 14, 143, 1937, 149, 1878, 1977, 1978], [1961, 1962, 1886, 1982, 1941, 1918, 1887], [1985, 1988, 145, 147, 1944, 761], [1953, 772, 764, 758, 27, 28], [1952, 1953, 1954, 1955, 16, 759, 764, 157], [769, 450, 741, 774, 747, 782, 463, 794], [1992, 1933, 754, 1971, 755, 1973], [1955, 22, 759, 154, 2012, 765], [1926, 168, 169, 144, 466, 1911, 1913], [1963, 1964, 1965, 2001, 2002, 2004], [776, 777, 813, 2032, 790, 2010, 1947], [162, 772, 166, 843, 178, 757], [161, 178, 28, 772], [1952, 1954, 179, 180, 27, 2012], [1922, 2013, 22, 23, 2012, 765], [779, 815, 816, 1975, 792, 185], [161, 185, 843, 757, 1976, 857], [804, 1993, 2026, 817, 820, 23, 1977, 2014], [2054, 169, 1996, 181, 1911, 2040, 1979, 158], [168, 466, 211, 500, 181, 158], [2018, 2019, 1961, 1962, 2028, 1982], [173, 2029, 2001, 2002, 2003, 191], [1992, 1973, 2009, 29, 31], [192, 193, 171, 174, 2003, 2005, 191], [193, 2020, 173, 2005, 182], [35, 2020, 2021, 2023, 182, 183], [35, 2023, 2070, 2007, 183, 2042], [2048, 2050, 1989, 1991, 2007, 184, 2009], [33, 162, 161, 843, 179, 28], [32, 33, 163, 39, 40, 178, 188, 180, 27, 28], [163, 188, 179, 2012, 189], [2054, 168, 169, 210, 211], [193, 867, 35, 2020, 174, 175, 2071], [176, 2023, 35, 175], [2048, 2080, 177, 2007, 2042, 2047], [2052, 165, 166, 816, 2037, 1975, 1976, 857], [817, 859, 844, 2014], [820, 190, 2039], [198, 39, 179, 180, 189], [34, 198, 41, 2012, 180, 188], [2053, 2066, 820, 2039, 187], [192, 832, 901, 199, 171, 173, 2029, 47, 212], [193, 200, 173, 212, 2069, 191], [192, 867, 200, 173, 174, 182], [2090, 845, 206, 817, 859], [45, 2062, 2063, 48, 214, 347, 30], [197, 870, 2101, 216, 857], [196, 38, 46, 2101, 2102, 857], [39, 41, 2089, 49, 188, 189], [832, 899, 933, 47, 191], [192, 193, 867, 2069, 213, 2071, 2076], [2048, 2080, 2050, 2081, 2086, 202, 2047], [2050, 2086, 2087, 2088, 201, 2073], [868, 2118, 2122, 204, 2062, 48, 215, 856], [868, 2052, 870, 203, 215, 216], [34, 41, 43, 2130, 2103], [194, 2090, 43, 844, 2103, 859, 924, 926], [2147, 2148, 2090, 208, 2064, 222], [2148, 2053, 207, 2064, 2065, 2066], [2054, 2065, 210, 916, 217], [2054, 209, 211, 916, 181], [519, 169, 943, 210, 500, 181, 916, 218], [192, 901, 2069, 2075, 2076, 191], [35, 200, 44, 50, 2071, 922, 2075, 2076, 2111], [195, 2116, 2118, 45, 48], [2119, 2122, 203, 204, 2124, 216], [196, 870, 204, 2124, 2126, 2101, 215], [928, 229, 209, 2065, 916, 950], [229, 238, 943, 975, 211, 916], [933, 901, 47, 979, 920, 223], [230, 2153, 2168, 2108, 2142], [226, 227, 2130, 2103, 924, 990], [2147, 228, 2090, 207, 926], [993, 969, 979, 920, 219], [2114, 2184, 2153, 938, 2185], [231, 2120, 2154, 970, 2143], [2157, 242, 2130, 58, 221, 990], [228, 974, 990, 924, 221, 926], [2147, 227, 974, 222, 926, 2175], [2189, 238, 916, 950, 217, 218, 991], [2153, 236, 2168, 984, 220], [225, 998, 970, 939, 237, 54, 2143], [2189, 974, 950, 951, 2202, 2203, 2175], [2152, 2195, 2196, 2150], [56, 237, 939, 53], [960, 961, 239, 57, 988], [2208, 986, 230, 2153, 1007, 244, 984, 250, 59], [998, 231, 234, 939, 246, 247, 56, 62], [1024, 229, 975, 249, 218, 1049, 991], [235, 241, 248, 57, 988, 253], [963, 2157, 2256, 241, 242, 988], [2254, 239, 240, 2256, 248, 988], [226, 2157, 240, 2256, 243, 58, 63], [2240, 242, 58, 63, 2239], [2246, 1031, 236, 1007, 250, 1051, 2269, 2238], [258, 259, 251, 2197, 59, 2269, 2270], [66, 237, 1041, 274, 275, 1015, 247, 56, 255], [1041, 237, 62, 246], [2273, 2254, 239, 241, 253], [64, 257, 2189, 238, 2228, 1048, 1049, 991], [2269, 59, 236, 244], [2247, 1009, 2197, 245, 1015, 2270, 254], [998, 2253, 1042, 987, 62], [2273, 2253, 239, 248, 57, 2271], [66, 260, 2247, 270, 251, 2270, 255], [66, 270, 274, 246, 254], [1057, 264, 1067, 2286, 2260, 1046, 2262], [64, 1089, 264, 1106, 2262, 2263, 1048, 249], [259, 2283, 2284, 245, 1051, 2269], [258, 260, 2284, 269, 245, 2270], [259, 269, 270, 273, 2270, 254], [1072, 2279, 1052, 2271], [1061, 1062, 1070, 590, 592, 1077], [2276, 266, 1041, 275, 1043, 280], [256, 257, 2286, 1106, 2262], [2275, 70, 1063, 2281, 268, 2290], [2276, 2278, 263, 75, 280], [1090, 1059, 616, 617, 630], [70, 71, 265, 74, 76, 2290, 2294], [259, 260, 1129, 2282, 2284, 273, 279, 1178, 1149, 287], [260, 1131, 80, 273, 274, 254, 255], [1067, 2285, 2288, 1139, 2292, 283, 1084], [1129, 2282, 2283, 2289, 2291, 278], [260, 1131, 269, 270, 279], [270, 80, 275, 246, 255], [263, 1132, 80, 1041, 274, 246, 280], [2279, 1101, 1103, 1072, 1136, 2287, 281], [1067, 77, 1141, 1084, 1086, 1119], [1129, 79, 272, 2289, 2290, 2294, 1149], [290, 297, 1131, 269, 273, 1179, 287], [288, 289, 1152, 263, 266, 75, 1132, 275, 85], [1153, 1133, 1101, 1136, 276], [1166, 1103, 1104, 1136, 2295, 1117], [77, 271, 82, 1139, 84, 1084], [1153, 1165, 1136, 2298, 285], [1166, 1136, 2300, 2298, 1211, 284], [2305, 293, 295, 2296, 1178, 1149], [1285, 296, 269, 279, 1178, 1179], [291, 294, 1132, 85, 280], [1152, 2306, 2309, 2311, 85, 280, 2297], [291, 297, 1131, 83, 279, 88], [288, 290, 294, 2310, 2315, 1132, 80, 83, 88], [1226, 1228, 82, 1270, 1271, 2302], [1284, 295, 1224, 1323, 1175, 2296, 286], [288, 291, 2310, 2311, 85], [2305, 1284, 1285, 293, 286], [1285, 297, 298, 301, 1179, 287], [290, 296, 301, 302, 2323, 279, 88, 1179], [1409, 1285, 296, 1324, 301, 305], [2312, 300, 2320, 86, 1339], [2312, 299, 303, 1391, 1392, 87, 1339, 1342], [1408, 1409, 296, 297, 298, 302], [1408, 1411, 297, 301, 2323], [300, 1392, 1395, 1396, 1342], [1411, 2317, 2319, 306, 1428, 2324, 2325, 2326], [1409, 1441, 298, 1324, 1425, 1363], [1443, 1444, 304, 1428, 2326], [1537, 1547, 1517, 1526, 1527, 1535], [1545, 1578, 662, 666, 667], [97, 678, 1545, 1578, 1620], [1648, 1649, 98, 685], [1728, 1668, 396, 373, 1625], [320, 321, 327, 1737, 1712, 1657, 316], [322, 1712, 1713, 316, 317], [388, 395, 398, 399, 1715, 1718], [390, 429, 1682, 1778, 1874, 405, 1724], [322, 327, 745, 1712, 312, 313], [322, 323, 324, 394, 1713, 1714, 313], [1764, 396, 1745, 406, 407], [320, 1736, 329, 10, 1737, 333, 1711], [321, 329, 330, 1737, 312, 319], [312, 330, 320, 327], [323, 745, 313, 316, 317], [322, 771, 324, 745, 340, 317], [416, 323, 394, 398, 751, 340, 788, 317], [1921, 1891, 1867, 763, 1822], [417, 1826, 422, 423, 455, 335, 447], [321, 801, 771, 745, 330, 312, 316], [1858, 742, 783, 784, 435, 1912, 1909, 1816, 767], [320, 330, 333, 337, 338, 339, 319], [320, 321, 801, 327, 329, 339], [418, 805, 400, 434, 439], [1927, 459, 336, 465, 435, 467, 1880], [1960, 329, 10, 1930, 337, 24, 319], [1920, 147, 1988, 1987], [326, 423, 494, 473, 474, 447], [2016, 459, 332, 467, 343], [800, 329, 333, 338, 24, 799], [800, 801, 833, 329, 337, 339, 826], [329, 330, 338, 801], [802, 771, 323, 324, 788, 344, 827], [801, 802, 771, 811, 827], [842, 1972, 1974, 791, 2011], [2016, 2017, 2058, 459, 2059, 336, 2046], [827, 340, 788, 836], [866, 835, 346, 891, 349], [835, 836, 837, 904, 345, 892, 349], [2049, 195, 2084, 45, 2098, 2099, 30], [837, 904, 905, 493, 494, 473, 923], [902, 345, 346, 891, 892], [36, 37, 2085, 2088, 841, 842, 2072], [2059, 2093, 2094, 2106, 2107, 2046], [353, 937, 956, 902], [352, 902, 903, 904, 956, 957], [2180, 2181, 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1771, 1708, 1815, 1787], [392, 410, 1653, 409, 378, 1628], [426, 378, 419, 381], [367, 371, 375, 377, 412, 413], [1738, 314, 1715, 398], [417, 1826, 1743, 1777, 1721, 1755, 383], [1743, 1874, 315, 1724, 1723], [418, 1733, 1670, 400, 401, 1784, 1626], [385, 1707, 401, 409, 1628], [427, 375, 411, 412, 382], [324, 1738, 398, 1714, 317], [422, 455, 399, 404, 1718, 314], [1728, 1669, 1733, 431, 1784, 1745, 373, 407, 408, 311, 318], [369, 370, 403, 402], [416, 388, 324, 421, 394, 1738, 399, 314], [421, 455, 395, 398, 314], [418, 391, 331, 401, 434], [1670, 391, 392, 1707, 400, 433, 434, 409], [743, 717, 397, 369, 403, 380], [743, 748, 397, 370, 402, 411, 382], [1826, 422, 395, 1718, 1755], [424, 429, 1778, 1843, 437, 315], [1764, 430, 431, 1845, 438, 407, 318], [406, 396, 318, 431], [418, 396, 431, 439, 1784], [385, 392, 425, 426, 401, 433, 760, 410], [426, 385, 378, 409], [393, 427, 748, 403, 382], [387, 744, 393, 427, 428, 375, 413], [419, 387, 744, 377, 412, 381], [420, 1788, 1774, 1883, 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1995, 1956], [1956, 1957, 1993, 1994, 1996, 1979, 766], [804, 168, 1993, 1995, 821, 2040, 1979], [480, 449, 456, 781, 1998, 1980], [480, 1997, 1980, 477], [420, 453, 470, 471, 509], [2027, 460, 492, 1939, 1940, 442, 1981], [2019, 171, 1963, 2029, 2002, 159], [171, 2001, 2003, 2004, 159], [171, 173, 2002, 2004, 2005], [1965, 2002, 786, 787, 2003, 2005, 2006, 159], [2020, 173, 174, 2003, 2004, 2006], [1985, 2020, 2022, 1967, 1968, 787, 2004, 2005], [1989, 1990, 2023, 176, 177, 184, 2042], [838, 812, 2030, 790, 25, 2010, 2043], [2050, 1991, 172, 177, 1971, 1973, 31], [160, 2030, 2032, 790, 2008], [842, 1974, 342, 26, 29], [34, 163, 164, 1954, 1955, 2013, 180, 22, 189, 157], [34, 164, 844, 23, 2012, 2014], [167, 844, 817, 23, 186, 2013], [481, 783, 784, 465, 476], [2058, 490, 336, 467, 343], [2027, 459, 2060, 343, 1981, 2046], [170, 2028, 1982, 823], [1962, 170, 1963, 2028, 2029, 2001], [2021, 2022, 174, 175, 2005, 2006, 182], [2020, 2022, 2023, 2024, 2025, 175], [1985, 2020, 2021, 2025, 2006], [2021, 1990, 2024, 175, 176, 2007, 183], [803, 1987, 2021, 1990, 2023, 2025], [1985, 1987, 2021, 2022, 2024], [817, 820, 845, 167], [2017, 2060, 492, 2061, 2000, 1981], [832, 2018, 2019, 170, 2029, 823], [832, 2019, 171, 2028, 2001, 191], [2031, 2032, 2008, 2010, 2043], [2030, 2032, 2033, 2036, 2043, 2044], [160, 813, 2030, 2031, 2036, 2010], [2051, 2031, 2035, 2036, 2044], [2035, 2052, 2037], [2051, 2052, 2033, 2034, 2036, 2037], [813, 814, 2031, 815, 2032, 2033, 2035, 2037, 792], [2052, 815, 816, 2034, 2035, 2036, 185], [806, 486, 462, 846, 496, 847, 819, 863], [2066, 820, 822, 2040, 187, 190], [2054, 168, 1996, 2066, 821, 822, 2039], [2056, 465, 490, 2055], [2080, 2095, 176, 2070, 2007, 184, 2078], [838, 2030, 2031, 2063, 2008, 856, 2044], [2051, 868, 2031, 2033, 856, 2043], [480, 487, 877, 2067, 504, 831], [2017, 2059, 2060, 2094, 343, 351], [184, 201, 2080, 2048], [2050, 201, 177, 184, 2047], [347, 2084, 30, 839], [2048, 201, 202, 177, 2009, 2073, 31], [868, 2052, 2033, 2035, 2044], [185, 868, 2051, 870, 204, 2034, 2035, 2037, 857], [845, 208, 2064, 2066, 820, 190], [168, 209, 210, 2065, 2066, 181, 2040], [481, 2056, 2057, 849, 465, 2068, 2041], [2055, 2057, 490, 2058, 2041], [2055, 2056, 2058, 2093, 2068], [2016, 2056, 2057, 490, 2059, 2093, 343], [2058, 2093, 343, 2046, 351], [2017, 2027, 2061, 2094, 2107, 2046], [520, 523, 492, 2060, 2027, 2107], [195, 203, 2063, 48, 856], [195, 838, 2062, 856, 2043, 30], [2053, 2090, 845, 207, 208], [928, 2148, 2054, 208, 209, 2066, 217], [2053, 2054, 208, 2065, 2039, 2040, 190], [518, 487, 2092, 2140, 849, 2068, 504, 476, 2045], [2055, 2057, 2093, 849, 2067, 2140], [192, 212, 2076, 200], [35, 44, 2095, 176, 2042], [867, 35, 200, 213, 182], [2084, 36, 2085, 350], [2050, 37, 2088, 202, 31], [871, 2091, 860, 861, 894], [901, 212, 213, 922, 2076], [200, 212, 2069, 213, 2075], [2080, 2108, 2109, 2078, 2079], [2080, 2095, 2077, 2042, 2109, 2110], [2080, 2081, 2082, 2112, 2097, 2108, 2077], [2081, 201, 184, 2042, 2079, 2077, 2078, 2047], [2080, 2082, 2086, 201, 2079], [2081, 2083, 2086, 2087, 2097, 2079], [2082, 2085, 2087, 2097, 2100], [2049, 36, 2085, 839, 2099, 2100, 2072, 347], [2083, 2084, 2087, 2088, 2100, 2072, 350], [2081, 2082, 2087, 201, 202], [2082, 2083, 2085, 2086, 2088, 202], [2085, 37, 2087, 202, 2073, 350], [32, 198, 39, 40, 42, 49], [194, 845, 206, 207, 2064, 926, 222], [871, 910, 2132, 2133, 2074, 894], [517, 518, 2067, 504, 2105, 2139], [2057, 2058, 2059, 2068, 2106, 2140, 351], [2107, 2060, 2046, 351], [44, 50, 51, 2070, 2110, 2042, 2141, 2078], [2113, 2097, 2099, 2100], [2112, 2113, 2082, 2083, 2096, 2100, 2079], [2114, 2115, 2116, 45, 2099, 347], [2113, 2115, 2084, 2096, 2098, 2100, 347], [2083, 2084, 2085, 2096, 2097, 2099], [196, 197, 2126, 2128, 2102, 216], [2145, 2146, 197, 46, 2127, 2128, 2101], [43, 205, 206, 2130, 924, 221], [514, 2133, 2134, 2135, 2136, 894], [2139, 2092, 2149, 518], [2093, 2164, 2107, 2140, 351], [520, 2060, 2061, 2094, 2164, 2165, 2166, 2167, 2106, 540, 351], [2112, 2077, 2168, 220, 2109, 2142, 2079], [2180, 2078, 2168, 2108, 2077, 2110], [354, 2180, 2095, 51, 2109, 2078], [2151, 2152, 50, 52, 213, 922], [2113, 2097, 2108, 2142, 2079], [2112, 2115, 2153, 938, 2096, 2097, 2099, 2142], [224, 2115, 2116, 2185, 938, 2098, 53, 2171], [2113, 2114, 938, 2098, 2099], [2114, 2117, 2118, 939, 45, 2098, 53, 214], [2116, 2118, 2119, 2121, 939, 54, 2143], [2116, 2117, 2119, 2122, 203, 48, 214], [2117, 2118, 2121, 2122, 2124, 215], [225, 2121, 2154, 2123, 2124, 2143], [2117, 2119, 2120, 2124, 2143], [2119, 203, 2118, 215], [2144, 2120, 2154, 2124, 2125, 2126], [2119, 2120, 2121, 2123, 2126, 215, 216], [2144, 2123, 2126, 2127, 2128], [2123, 2124, 2125, 2128, 2101, 216], [2144, 2145, 2125, 2128, 2102], [2125, 2126, 2127, 2101, 2102], [2146, 41, 2156, 2157, 49, 2130], [226, 41, 205, 2157, 2129, 2103, 221], [524, 941, 911, 912, 529, 530, 2132, 2133], [2091, 910, 911, 2131, 2133], [966, 2091, 941, 2158, 2159, 2131, 2132, 2134, 2104, 537, 894], [2104, 2136, 2133, 2159], [514, 516, 2104, 2138, 2136], [968, 2159, 2161, 2163, 2134, 2135, 2104, 2138], [516, 517, 2160, 2162, 2138, 2139], [516, 2160, 2163, 2135, 2136, 2137], [2149, 517, 2092, 2162, 2137, 2105], [2149, 518, 2093, 2067, 2068, 2164, 2106], [2095, 50, 51, 52, 2169, 2170], [2112, 2113, 2153, 2108, 220], [225, 2117, 231, 2120, 2121, 54], [2145, 2154, 2123, 2155, 2125, 2127], [2144, 2146, 2155, 2156, 2127, 2102], [2145, 2156, 46, 49, 2129, 2102], [2148, 228, 207, 222, 2175], [928, 2147, 207, 208, 2065, 951, 2175], [2176, 518, 2162, 2164, 2105, 2139, 2140], [2152, 233, 2195, 2151], [2150, 936, 2152, 2195, 922, 2111], [2150, 2151, 2183, 233, 52, 2196, 2111], [224, 2113, 230, 2184, 938, 236, 986, 220, 2142], [960, 225, 961, 2144, 2120, 970, 2123, 2155], [2144, 961, 2145, 2154, 2156], [961, 2146, 963, 2145, 2155, 2157, 2129], [226, 963, 2156, 240, 2129, 242, 2130], [546, 964, 941, 2133, 537], [966, 967, 2161, 2133, 2134, 2136], [2137, 2138, 2163, 2162], [968, 2136, 2159, 967], [2176, 2149, 2160, 2163, 2137, 2139], [2176, 2177, 356, 968, 2190, 2160, 2162, 2136, 2138], [2176, 2149, 2165, 2106, 2107, 2140], [2176, 2178, 2192, 2164, 2166, 2107], [555, 2192, 2165, 2167, 2107], [2107, 555, 540, 2166], [2180, 230, 2108, 978, 982, 984, 220, 2109], [2182, 2183, 51, 2170, 2141], [2169, 52, 2141, 2183], [2185, 2114, 53, 2186], [530, 947, 535, 2173, 2174], [535, 2199, 2200, 2172, 2174], [560, 947, 948, 2200, 2172, 2173], [2147, 228, 2148, 232, 974, 951], [2177, 2178, 2179, 2149, 2162, 2163, 2164, 2165], [2176, 2163, 2179, 2190], [2176, 2179, 2192, 2165], [2176, 2177, 2178, 2190, 2191, 2192, 2193, 562], [354, 2181, 978, 55, 2168, 2109, 2110], [354, 2180, 2182, 55], [354, 2181, 2183, 51, 55, 2169], [2182, 2152, 2194, 52, 2196, 55, 2169, 2170], [224, 2153, 2185, 2197, 986], [224, 2114, 2184, 2186, 2197, 2171], [2185, 53, 2197, 56, 2171], [561, 546, 964, 559], [546, 966, 2216, 2218, 561, 537, 2204], [229, 232, 2228, 950, 249, 2202, 991], [2177, 2179, 356, 2191, 2163], [2179, 356, 2220, 2221, 2190, 2222, 562, 2205], [2178, 2179, 555, 2193, 563, 2165, 2166], [2179, 582, 2192, 562, 563, 2236], [992, 2183, 1002, 2195, 2196, 55], [992, 993, 2150, 2151, 936, 233, 969, 2194, 2196], [2183, 2152, 233, 2194, 2195], [2184, 2185, 2186, 251, 1009, 245, 56, 986, 59], [2211, 2212, 535, 559, 2199], [2212, 2198, 535, 2200, 2173], [2212, 2213, 560, 2199, 2173, 2174], [2225, 2202, 2203, 974], [232, 2189, 2225, 2228, 2229, 2201, 2203], [232, 2201, 2202, 974], [548, 965, 966, 2218, 2188, 2205], [356, 548, 2218, 2220, 2191, 2204], [2208, 2209, 1001, 1003, 1005, 1007, 2207], [2209, 1001, 55, 983, 2206], [2209, 236, 1007, 984, 2206], [2208, 982, 983, 984, 2206, 2207], [2240, 2241, 974, 2224, 2225, 58, 990], [2212, 2215, 2216, 559, 2198], [2231, 2211, 2213, 2215, 2198, 2199, 2200, 2230], [2212, 560, 2227, 2230, 2200], [2242, 553, 2250, 560, 2227], [2211, 2212, 2216, 2217, 2231, 2232], [2211, 2215, 2217, 2218, 2219, 2188, 559, 561], [2215, 2216, 2219, 2232, 2235], [2216, 2219, 2188, 2220, 2204, 2205], [2216, 2217, 2218, 2220, 2221, 2235], [2218, 2219, 2221, 2191, 2205], [2219, 2220, 2222, 2191, 2235], [2244, 2221, 2223, 2191, 562, 2235, 2268], [585, 2222, 562, 2236, 2268], [2241, 2210, 2248, 2225, 2226], [2210, 974, 2224, 2226, 2229, 2201, 2202], [2248, 2249, 2224, 2225, 2228, 2229], [2213, 2214, 2250, 560, 2230, 2264], [64, 2249, 2189, 2226, 2229, 249, 2202], [2226, 2225, 2202, 2228], [2212, 2213, 2251, 2227, 2231, 2264], [2212, 2215, 2251, 2230, 2232, 2233, 2234], [2215, 2217, 2231, 2234, 2235], [579, 2251, 2252, 2231, 2234], [2243, 2244, 2252, 2231, 2232, 2233, 2235], [2244, 2217, 2219, 2221, 2222, 2232, 2234], [582, 585, 588, 2223, 2193, 562, 598], [2245, 2246, 1005, 60, 2238], [2246, 1005, 1007, 244, 2237], [2240, 2255, 2257, 243, 63], [2241, 2210, 2257, 243, 2259, 58, 2239], [2240, 2210, 2248, 2224, 2259], [578, 2214, 553, 2250, 566], [2244, 2252, 2234, 2267, 2268], [2243, 2222, 2234, 2235, 2268], [1028, 1029, 2246, 1035, 60, 2237], [1028, 2245, 1031, 244, 2237, 2238], [66, 251, 254, 1015], [2241, 2249, 2224, 2226, 2259, 2261], [64, 2248, 2226, 2260, 2228, 2261, 2262, 2263], [578, 2242, 2214, 587, 2227, 2264, 605], [579, 2265, 2230, 2231, 2264, 2233, 2266], [608, 579, 2243, 2233, 2234, 2267], [2277, 1052, 1042, 1053, 57, 987, 252, 253, 2271], [248, 241, 2273, 2256], [2239, 67, 1066, 2257, 1045, 63, 1055], [2272, 2273, 2274, 67, 2254, 240, 241, 242, 63], [2240, 2255, 2258, 2259, 1045, 2239], [1056, 1057, 2257, 2259, 2260, 1045, 2261], [2240, 2241, 2248, 2257, 2258, 2261], [256, 1057, 2249, 2258, 2261, 1046, 2262], [2248, 2249, 2258, 2259, 2260], [256, 257, 264, 2249, 2260, 2263], [64, 257, 2249, 2262], [615, 2250, 2251, 2227, 596, 2230, 2265, 605], [2251, 621, 596, 2264, 2266], [579, 2251, 621, 622, 2265, 606], [608, 2243, 2280, 2252, 2268], [609, 2243, 2244, 2280, 585, 2222, 2223, 2267], [258, 1051, 244, 245, 250, 59], [259, 260, 245, 251, 254], [2272, 2273, 261, 2253, 1072, 1073, 1052, 253], [2273, 2274, 2256, 1073, 2271], [2272, 2254, 2256, 248, 253, 2271], [2272, 67, 2256, 1073, 1055], [70, 1063, 265, 1035, 1036], [2277, 2278, 263, 266, 1043, 1053], [2276, 2253, 1042, 1043, 1053], [2276, 2279, 266, 75, 1100, 1053], [261, 2278, 1100, 1101, 2287, 1072, 276, 1052, 1053], [608, 609, 625, 2267, 2268], [1063, 265, 2283, 2290, 2291, 1051], [1129, 2283, 2284, 269, 272], [258, 2281, 2282, 2284, 272, 2291, 1051], [258, 259, 2282, 2283, 269], [1056, 1057, 1067, 271, 2288, 1076], [256, 264, 1067, 1106, 1086], [1072, 276, 2279], [2292, 1076, 2285, 271], [272, 2290, 2291, 278], [265, 2281, 268, 2289, 2291, 278, 2294], [2281, 2283, 272, 2289, 2290], [271, 2288, 82, 1139, 1076, 2293, 2302], [1076, 2292, 2295, 1117, 2302], [76, 268, 79, 2290, 278, 1175], [2313, 1226, 1166, 2293, 2301, 282, 1117, 2302], [293, 79, 1175, 1149, 286], [1152, 289, 2306, 1165, 2298], [2306, 1165, 2300, 2297, 2299, 284, 285], [2306, 2307, 2312, 1267, 2298, 2300], [2299, 1267, 2298, 1211, 285], [2308, 2313, 1166, 1267, 2295], [292, 1226, 82, 2292, 2293, 2295], [2304, 651, 1196, 1201, 1242], [651, 1196, 1197, 1240, 2303], [1178, 1285, 286, 295], [289, 2307, 2309, 1263, 86, 2297, 2298, 2299], [2312, 2306, 2299, 86], [2313, 1267, 2301, 87], [289, 2306, 2311, 1263, 2320], [291, 294, 2311, 2315, 2316, 2318], [289, 2309, 294, 2310, 2318, 2320, 85], [2307, 299, 300, 1267, 86, 87, 2299], [2308, 1226, 2322, 1268, 87, 2295, 2301], [1292, 1329, 1330, 1270, 1271], [291, 2310, 2316, 2323, 2324, 88], [2310, 2315, 2317, 2318, 2324], [2316, 2318, 2319, 304, 2324], [2310, 2311, 2316, 2317, 2319, 2320], [2317, 2318, 304, 2320, 2325], [2309, 2311, 299, 2318, 1391, 1263, 2319, 2325, 86, 1339], [654, 1305, 1340, 1309, 1343], [2313, 1329, 1268, 87, 1369, 1370, 1342], [1411, 297, 2315, 302, 2324, 88], [1411, 2315, 2316, 2317, 304, 2323], [1412, 2319, 304, 2320, 1391, 2326], [1412, 1444, 304, 306, 2325], [1412, 1444, 1391, 1393, 1431, 1435]]

compute mesh convex hull

c_h_mesh = mesh.convex_hull

kdtree of the vertices see example_kdtree.py

mesh refinement by subdivision of face

mesh.subdivide()

<trimesh.Trimesh(vertices.shape=(9306, 3), faces.shape=(18608, 3))>

extract 100 mesh vertices picked at random

mesh.sample(100)

TrackedArray([[ 1.23686122e+01,  1.09934794e+01, -1.36636659e+00],
              [ 9.82310740e+00,  1.29122776e+01,  1.16451030e+01],
              [-2.11276671e+00, -1.25070746e+01,  1.40709231e+01],
              [ 1.13574495e+01, -8.89590147e+00,  2.86533273e-02],
              [-1.02595751e+01,  8.90020036e+00,  1.01599489e+01],
              [-2.40072256e+00,  1.22820642e+01,  2.13391564e+01],
              [ 8.47006794e+00, -3.53296153e+00, -1.89434074e+01],
              [-6.70447563e+00,  1.24117043e+01, -1.32431094e+01],
              [ 6.99559272e+00, -2.24735850e+00, -1.32835859e+01],
              [-9.09543963e+00, -1.08865864e+01, -2.45860897e+01],
              [-2.63412384e+00, -1.18790704e+01,  2.10425137e+01],
              [ 1.21607614e+01,  7.13620993e+00, -1.26418894e+01],
              [ 1.95686978e+00, -1.13424596e+01, -1.75160685e+01],
              [ 1.13381794e+01, -2.65717429e+00,  4.53642723e+00],
              [ 1.11760965e+01, -1.49929369e+01,  6.94419593e+00],
              [-7.96705592e+00, -2.67540379e+00, -1.48725853e+01],
              [-1.00729210e+01, -1.55392703e+01, -2.32647961e+01],
              [-5.21037621e+00, -1.16316389e+00,  1.07015423e+01],
              [ 1.39259169e+01,  6.19481269e+00, -5.75245273e+00],
              [-1.06216380e+01,  7.80522939e+00,  1.05320312e+01],
              [ 5.41377997e+00, -1.85830339e+01,  9.51474846e+00],
              [ 9.92816469e+00,  1.25772509e-01, -1.82673893e+01],
              [ 7.04783322e-01,  1.90573206e+00, -3.17213681e+01],
              [ 1.19918982e+01, -1.11577323e+01,  7.55386837e+00],
              [ 1.26043400e+01,  5.44846762e+00,  1.02333002e+01],
              [-9.79196393e+00, -7.93355686e+00, -6.22113571e+00],
              [-8.96879487e+00, -9.95823775e+00,  2.68893500e+01],
              [-3.54090629e+00, -3.95506746e+00,  9.59755088e+00],
              [ 1.13120099e+01,  1.23316604e+00, -8.52883422e+00],
              [ 5.17058487e+00,  1.88030055e+01,  8.28369012e-01],
              [-1.03153265e+01, -6.62912248e+00,  2.32129710e+01],
              [-6.98146005e+00,  7.92076337e+00, -2.19552478e+01],
              [ 7.56679356e+00,  1.65080382e+01, -7.20984506e+00],
              [ 9.91728715e-02, -1.48581204e+01, -1.98906151e+01],
              [ 1.00963818e+01, -1.19181232e+01,  1.48130179e+01],
              [ 1.24625419e+01, -9.99733623e+00,  5.16446292e+00],
              [ 3.84642565e+00,  1.90382065e+01,  6.56489401e+00],
              [-1.97081806e+00, -1.40413778e+01,  6.24667215e+00],
              [-6.19263607e+00,  1.13898298e+01, -2.14710500e+01],
              [-1.82395794e+00,  1.53677733e+01, -2.16846023e+01],
              [-1.14624516e+01, -1.88709152e-01,  2.91834473e+01],
              [-9.00362501e+00,  1.68090875e+00, -4.07877167e+00],
              [ 7.10957085e-01,  1.21326100e+01, -2.48842903e+01],
              [ 6.13752993e-01, -1.58742375e+01,  1.10522163e+01],
              [ 1.12993770e+01, -1.25170454e+01,  1.05689324e+01],
              [ 1.18981638e+01, -3.37707773e+00,  5.05015922e+00],
              [-9.27175340e+00,  4.66019529e+00, -2.65189241e+00],
              [-1.94001015e+00,  9.26865840e+00,  2.53189187e+01],
              [ 3.66419355e+00,  1.75487350e+01, -1.35051855e+01],
              [-5.97707405e+00,  1.11304181e+00,  9.48605214e+00],
              [-8.76210403e+00, -3.37669914e+00, -1.83508810e+01],
              [ 1.35825025e+01,  8.54244897e+00, -4.26544203e+00],
              [-5.05039623e+00,  1.27825352e+01,  1.90608968e+01],
              [ 1.00739554e+01,  3.16654863e+00, -1.88655012e+01],
              [ 3.14744087e+00,  1.97278860e+01, -4.80643369e+00],
              [-6.91989592e+00,  1.84468786e+01,  5.74755058e+00],
              [-7.97544723e+00, -9.16637830e+00, -2.95974330e+01],
              [-6.17783075e+00, -1.38862344e+01, -1.38442442e+01],
              [-2.56210913e+00, -1.61164555e+01, -2.12831826e+01],
              [-4.91105760e+00,  1.78709282e+01, -1.52038513e+01],
              [ 5.91677180e+00,  1.75763199e+01, -9.82061231e+00],
              [ 1.10324450e+01,  1.29656187e+01,  2.44558640e+00],
              [-2.10905966e+00, -1.30294328e+01, -3.06655632e+01],
              [-1.43289774e+00,  7.76587635e-01, -3.25849441e+01],
              [ 3.34324334e+00, -7.67800838e+00,  2.75371467e+01],
              [ 5.20543958e+00, -1.90719012e+01,  8.75084458e+00],
              [ 5.28376442e+00,  1.77708677e+01,  5.51030734e+00],
              [-1.27770587e+00, -1.41993919e+01, -1.55004885e+01],
              [-6.08962680e+00,  1.78097098e+01, -9.09032886e+00],
              [-9.26826309e+00, -8.26269532e+00,  3.28604168e+01],
              [ 1.15741988e+00, -1.27838720e+01,  2.07040077e+01],
              [-7.53945645e+00,  8.06165954e+00, -1.65983874e+01],
              [-3.71140750e+00,  2.16925584e+01, -7.82875592e+00],
              [ 6.67863711e+00, -3.20957966e-01, -6.12026404e+00],
              [ 1.11214163e+01,  6.37387495e-01,  1.32105520e+01],
              [ 7.57183577e+00, -1.09268846e+01,  1.98588558e+01],
              [ 4.18371303e+00,  1.42584721e+01,  1.67484040e+01],
              [-9.67736870e+00,  4.53712843e+00,  3.23032991e+01],
              [-1.05344301e+01,  2.52125223e-01,  2.49607606e+01],
              [-3.59365228e+00, -2.19019705e+00,  3.56120388e+01],
              [-8.76990335e+00,  3.70955544e-01, -2.79949968e-01],
              [-1.49405347e-01,  6.45871330e+00,  2.81008410e+01],
              [-8.36779536e+00, -1.00367401e+01, -8.24506169e+00],
              [ 8.12004917e+00,  8.23080077e+00,  1.79836137e+01],
              [ 6.57566873e+00,  1.02181674e+00,  1.11351894e+00],
              [ 9.17175588e+00,  3.53197948e-01, -2.19187857e+01],
              [ 4.93298399e+00,  1.82326287e+01,  7.93289899e+00],
              [-3.19902073e+00,  2.10550446e+01,  7.14468222e+00],
              [ 4.55217862e+00, -3.33584407e+00,  2.75053951e+01],
              [-1.56599028e+00,  3.24096135e+00,  3.16069614e+01],
              [-9.06474835e+00, -3.52790107e+00, -2.92515118e+00],
              [-2.35085841e+00,  1.77518826e+01,  1.53224994e+01],
              [-7.88472285e+00,  4.55083714e+00,  2.00261283e+01],
              [-9.09800988e+00, -9.79052615e+00,  2.43807782e+01],
              [-2.13763258e+00, -8.26535682e+00, -3.25488868e+01],
              [-9.39459282e+00,  3.45369552e+00, -4.24590210e+00],
              [ 4.61438235e+00,  1.84830135e+01,  6.88188604e+00],
              [ 6.72108703e+00, -8.94295960e+00, -2.40544671e+01],
              [-1.16916833e+00,  1.96557767e+01,  1.11092777e+01],
              [ 4.88591789e+00, -8.28599260e+00, -6.39575667e+00]])

voxelize the mesh

mesh.voxelized(2)

<trimesh.VoxelGrid(14, 23, 36)>

boundary of the mesh or list of faces this functionnality requires to install the optional package shapely mesh.outline()

the convex hull is another Trimesh object that is available as a property lets compare the volume of our mesh with the volume of its convex hull

np.divide(mesh.volume, mesh.convex_hull.volume)

0.7994007397533586

since the mesh is watertight, it means there is a volumetric center of mass which we can set as the origin for our mesh

mesh.vertices -= mesh.center_mass

what’s the moment of inertia for the mesh?

mesh.moment_inertia

array([[ 1.04733006e+07, -1.64533655e-09,  3.10440858e-11],
       [-1.64533655e-09,  8.74194416e+06,  9.31322575e-11],
       [ 3.10440858e-11,  9.31322575e-11,  3.48350686e+06]])

if there are multiple bodies in the mesh we can split the mesh by connected components of face adjacency since this example mesh is a single watertight body we get a list of one mesh mesh.split()

find groups of coplanar adjacent faces

facets = mesh.facets

transform method can be passed a (4,4) matrix and will cleanly apply the transform

mesh.apply_transform(trimesh.transformations.random_rotation_matrix())

<trimesh.Trimesh(vertices.shape=(2328, 3), faces.shape=(4652, 3))>

axis aligned bounding box is available

mesh.bounding_box.extents

array([47.32439792, 36.08899042, 63.59726973])

a minimum volume oriented bounding box also available primitives are subclasses of Trimesh objects which automatically generate faces and vertices from data stored in the ‘primitive’ attribute

mesh.bounding_box_oriented.primitive.extents
mesh.bounding_box_oriented.primitive.transform

TrackedArray([[-0.29903696,  0.65983125,  0.68934724, -0.46047914],
              [ 0.87217555,  0.48208403, -0.0830951 ,  1.00954174],
              [-0.38715203,  0.57638331, -0.71964963, -0.14995535],
              [ 0.        ,  0.        ,  0.        ,  1.        ]])

bounding spheres and bounding cylinders of meshes are also available, and will be the minimum volume version of each except in certain degenerate cases, where they will be no worse than a least squares fit version of the primitive.

print(
    mesh.bounding_box_oriented.volume,
    mesh.bounding_cylinder.volume,
    mesh.bounding_sphere.volume,
)

71923.6031645266 94301.88291268659 182279.85405427602