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]], shape=(13956, 2))

access mesh faces

mesh.faces

TrackedArray([[   0, 1488, 1506],
              [   0, 1506,  656],
              [   0,  656,  659],
              ...,
              [2316, 2324, 2317],
              [2316, 2317, 2318],
              [2318, 2319, 2320]], shape=(4652, 3))

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]], shape=(2328, 3))

access mesh edges

mesh.edges

array([[   0, 1488],
       [1488, 1506],
       [1506,    0],
       ...,
       [2318, 2319],
       [2319, 2320],
       [2320, 2318]], shape=(13956, 2))

what’s the area of the mesh

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

mesh.area= 6436.883746592518

compute the area of each face

mesh.area_faces

array([1.03160007, 0.69458893, 0.64635087, ..., 0.6087503 , 0.61997348,
       1.40925126], shape=(4652,))

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]], shape=(4652, 3))

access mesh volume

mesh.volume

np.float64(30652.090624082135)

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]], shape=(4652, 3))

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]], shape=(2328, 3))

access mesh vertex connectivity

mesh.vertex_neighbors

[[np.int64(1), np.int64(1506), np.int64(656), np.int64(1488), np.int64(658), np.int64(659)], [np.int64(0), np.int64(657), np.int64(658), np.int64(1488)], [np.int64(1543), np.int64(1614), np.int64(1617), np.int64(1533), np.int64(1534)], [np.int64(128), np.int64(6), np.int64(1736), np.int64(10), np.int64(1710), np.int64(1655)], [np.int64(691), np.int64(1756), np.int64(701), np.int64(102)], [np.int64(135), np.int64(8), np.int64(103), np.int64(113), np.int64(121), np.int64(1691)], [np.int64(128), np.int64(3), np.int64(141), np.int64(1710), np.int64(115), np.int64(1654)], [np.int64(1730), np.int64(1765), np.int64(1766), np.int64(1767), np.int64(701), np.int64(703)], [np.int64(5), np.int64(134), np.int64(135), np.int64(113), np.int64(730)], [np.int64(130), np.int64(139), np.int64(142), np.int64(1752), np.int64(1753), np.int64(1790)], [np.int64(128), np.int64(3), np.int64(1736), np.int64(1930), np.int64(333), np.int64(1917), np.int64(319)], [np.int64(736), np.int64(737), np.int64(1888), np.int64(1889), np.int64(749)], [np.int64(1857), np.int64(1979), np.int64(1908), np.int64(1911)], [np.int64(1898), np.int64(1899), np.int64(15), np.int64(754), np.int64(755), np.int64(21), np.int64(1974)], [np.int64(1956), np.int64(143), np.int64(1908), np.int64(150), np.int64(766)], [np.int64(1829), np.int64(1899), np.int64(13), np.int64(1935), np.int64(1872), np.int64(1974)], [np.int64(740), np.int64(1877), np.int64(758), np.int64(759), np.int64(729), np.int64(154), np.int64(764)], [np.int64(775), np.int64(1969), np.int64(18), np.int64(146), np.int64(762), np.int64(1948)], [np.int64(1891), np.int64(17), np.int64(146), np.int64(1969), np.int64(1946), np.int64(763), np.int64(1822)], [np.int64(776), np.int64(1934), np.int64(753), np.int64(20), np.int64(1947), np.int64(1950)], [np.int64(746), np.int64(753), np.int64(19), np.int64(762), np.int64(1947), np.int64(1948)], [np.int64(1992), np.int64(13), np.int64(755), np.int64(1974), np.int64(26)], [np.int64(765), np.int64(2012), np.int64(164), np.int64(157)], [np.int64(1922), np.int64(164), np.int64(167), np.int64(1937), np.int64(1977), np.int64(2013), np.int64(2014)], [np.int64(1960), np.int64(337), np.int64(333), np.int64(799)], [np.int64(775), np.int64(812), np.int64(1969), np.int64(1970), np.int64(790), np.int64(2008)], [np.int64(1992), np.int64(21), np.int64(1974), np.int64(2011), np.int64(29)], [np.int64(1952), np.int64(1953), np.int64(163), np.int64(179), np.int64(153), np.int64(28)], [np.int64(162), np.int64(772), np.int64(178), np.int64(179), np.int64(153), np.int64(27)], [np.int64(37), np.int64(1992), np.int64(842), np.int64(172), np.int64(26), np.int64(2011), np.int64(31)], [np.int64(2049), np.int64(195), np.int64(838), np.int64(839), np.int64(2063), np.int64(347)], [np.int64(2050), np.int64(37), np.int64(172), np.int64(2009), np.int64(29), np.int64(2073)], [np.int64(33), np.int64(40), np.int64(2089), np.int64(42), np.int64(179)], [np.int64(32), np.int64(38), np.int64(42), np.int64(843), np.int64(178), np.int64(179)], [np.int64(41), np.int64(43), np.int64(844), np.int64(205), np.int64(2013), np.int64(2012), np.int64(189)], [np.int64(44), np.int64(175), np.int64(176), np.int64(2071), np.int64(213), np.int64(182), np.int64(183), np.int64(2070)], [np.int64(2084), np.int64(839), np.int64(841), np.int64(2072), np.int64(350)], [np.int64(2088), np.int64(842), np.int64(2073), np.int64(29), np.int64(350), np.int64(31)], [np.int64(33), np.int64(197), np.int64(42), np.int64(843), np.int64(46), np.int64(857)], [np.int64(198), np.int64(40), np.int64(2089), np.int64(179), np.int64(188)], [np.int64(32), np.int64(2089), np.int64(179), np.int64(39)], [np.int64(34), np.int64(198), np.int64(205), np.int64(49), np.int64(2129), np.int64(2130), np.int64(189)], [np.int64(32), np.int64(33), np.int64(38), np.int64(2089), np.int64(46), np.int64(49)], [np.int64(34), np.int64(844), np.int64(205), np.int64(206), np.int64(2103)], [np.int64(35), np.int64(2095), np.int64(50), np.int64(213), np.int64(2070)], [np.int64(195), np.int64(2116), np.int64(2098), np.int64(214), np.int64(347)], [np.int64(2146), np.int64(197), np.int64(38), np.int64(42), np.int64(49), np.int64(2102)], [np.int64(933), np.int64(901), np.int64(199), np.int64(219), np.int64(191)], [np.int64(195), np.int64(2118), np.int64(203), np.int64(2062), np.int64(214)], [np.int64(2146), np.int64(198), np.int64(41), np.int64(42), np.int64(2089), np.int64(46), np.int64(2129)], [np.int64(44), np.int64(2095), np.int64(52), np.int64(213), np.int64(2141), np.int64(2111)], [np.int64(354), np.int64(2182), np.int64(2095), np.int64(2169), np.int64(2141), np.int64(2110)], [np.int64(2183), np.int64(2152), np.int64(50), np.int64(2170), np.int64(2141), np.int64(2111)], [np.int64(2114), np.int64(2116), np.int64(234), np.int64(939), np.int64(2186), np.int64(56), np.int64(2171)], [np.int64(939), np.int64(2117), np.int64(2143), np.int64(231)], [np.int64(2180), np.int64(2181), np.int64(2182), np.int64(2183), np.int64(1001), np.int64(1002), np.int64(978), np.int64(2194), np.int64(983), np.int64(2207)], [np.int64(234), np.int64(2186), np.int64(237), np.int64(1009), np.int64(53), np.int64(246), np.int64(1015), np.int64(2197)], [np.int64(960), np.int64(235), np.int64(2253), np.int64(239), np.int64(987), np.int64(253)], [np.int64(2240), np.int64(2210), np.int64(226), np.int64(242), np.int64(243), np.int64(990)], [np.int64(250), np.int64(236), np.int64(245), np.int64(2197), np.int64(986), np.int64(2269)], [np.int64(68), np.int64(1029), np.int64(2245), np.int64(1003), np.int64(1005), np.int64(1011), np.int64(2237), np.int64(61)], [np.int64(65), np.int64(68), np.int64(71), np.int64(72), np.int64(1011), np.int64(60)], [np.int64(998), np.int64(237), np.int64(1041), np.int64(1042), np.int64(247), np.int64(252)], [np.int64(67), np.int64(2255), np.int64(2256), np.int64(242), np.int64(243), np.int64(2239)], [np.int64(257), np.int64(2249), np.int64(2228), np.int64(2263), np.int64(249)], [np.int64(1030), np.int64(72), np.int64(1011), np.int64(1112), np.int64(61)], [np.int64(2247), np.int64(246), np.int64(1015), np.int64(254), np.int64(255)], [np.int64(2274), np.int64(2255), np.int64(2256), np.int64(63), np.int64(1055)], [np.int64(1029), np.int64(71), np.int64(1035), np.int64(60), np.int64(61)], [np.int64(1030), np.int64(1064), np.int64(73), np.int64(1065), np.int64(1096), np.int64(1037)], [np.int64(2275), np.int64(71), np.int64(265), np.int64(1035), np.int64(268)], [np.int64(68), np.int64(70), np.int64(72), np.int64(74), np.int64(1035), np.int64(268), np.int64(61)], [np.int64(65), np.int64(71), np.int64(74), np.int64(1112), np.int64(61)], [np.int64(1096), np.int64(1112), np.int64(69), np.int64(1030)], [np.int64(71), np.int64(72), np.int64(76), np.int64(268), np.int64(1112)], [np.int64(1152), np.int64(2278), np.int64(266), np.int64(1100), np.int64(1133), np.int64(280)], [np.int64(74), np.int64(268), np.int64(78), np.int64(81), np.int64(2294), np.int64(1175), np.int64(1112)], [np.int64(84), np.int64(1141), np.int64(277), np.int64(283), np.int64(1084)], [np.int64(81), np.int64(76), np.int64(1175)], [np.int64(2294), np.int64(278), np.int64(2296), np.int64(1175), np.int64(1149)], [np.int64(291), np.int64(1131), np.int64(1132), np.int64(270), np.int64(274), np.int64(275), np.int64(83)], [np.int64(1224), np.int64(76), np.int64(78), np.int64(1175), np.int64(1112), np.int64(1176)], [np.int64(292), np.int64(1228), np.int64(1139), np.int64(84), np.int64(2292), np.int64(283), np.int64(2302)], [np.int64(80), np.int64(1131), np.int64(290), np.int64(291)], [np.int64(1187), np.int64(1254), np.int64(1228), np.int64(77), np.int64(82), np.int64(1141), np.int64(283)], [np.int64(288), np.int64(289), np.int64(294), np.int64(2311), np.int64(280)], [np.int64(2306), np.int64(2307), np.int64(2312), np.int64(299), np.int64(1263), np.int64(2320)], [np.int64(2308), np.int64(2312), np.int64(2313), np.int64(300), np.int64(2322), np.int64(1267), np.int64(1342)], [np.int64(290), np.int64(291), np.int64(297), np.int64(2315), np.int64(2323)], [np.int64(1284), np.int64(1384), np.int64(1323), np.int64(1324), np.int64(1363)], [np.int64(1474), np.int64(1482), np.int64(1494), np.int64(92), np.int64(93)], [np.int64(1474), np.int64(1512), np.int64(1513), np.int64(1490), np.int64(667), np.int64(92)], [np.int64(1474), np.int64(1512), np.int64(1516), np.int64(90), np.int64(91), np.int64(93)], [np.int64(1516), np.int64(1518), np.int64(1494), np.int64(90), np.int64(92)], [np.int64(1575), np.int64(1544), np.int64(656), np.int64(659), np.int64(661), np.int64(1530), np.int64(670)], [np.int64(672), np.int64(683), np.int64(1580), np.int64(1549), np.int64(1518), np.int64(366), np.int64(1652)], [np.int64(673), np.int64(1570), np.int64(100), np.int64(1607), np.int64(684), np.int64(1645), np.int64(1680), np.int64(1681), np.int64(1722)], [np.int64(678), np.int64(681), np.int64(682), np.int64(1578), np.int64(1618), np.int64(309), np.int64(667)], [np.int64(676), np.int64(685), np.int64(686), np.int64(1613), np.int64(1616), np.int64(1649), np.int64(1651), np.int64(310)], [np.int64(1671), np.int64(115), np.int64(116), np.int64(1654), np.int64(696), np.int64(1631)], [np.int64(96), np.int64(673), np.int64(684), np.int64(688), np.int64(689), np.int64(697)], [np.int64(1671), np.int64(1673), np.int64(110), np.int64(111), np.int64(696), np.int64(1658)], [np.int64(4), np.int64(107), np.int64(691), np.int64(1683), np.int64(1687), np.int64(1688), np.int64(1756)], [np.int64(5), np.int64(113), np.int64(1687), np.int64(1690), np.int64(1691), np.int64(700)], [np.int64(1696), np.int64(105), np.int64(108), np.int64(1746), np.int64(122), np.int64(123)], [np.int64(1696), np.int64(104), np.int64(1704), np.int64(1769), np.int64(1746)], [np.int64(1673), np.int64(1674), np.int64(111), np.int64(124), np.int64(1716), np.int64(1660)], [np.int64(1756), np.int64(133), np.int64(134), np.int64(102), np.int64(1687), np.int64(700)], [np.int64(1696), np.int64(104), np.int64(121), np.int64(122), np.int64(1691)], [np.int64(672), np.int64(707), np.int64(708), np.int64(683), np.int64(695), np.int64(376), np.int64(379)], [np.int64(705), np.int64(101), np.int64(709), np.int64(111), np.int64(721), np.int64(696)], [np.int64(709), np.int64(101), np.int64(712), np.int64(1673), np.int64(106), np.int64(110), np.int64(124)], [np.int64(1752), np.int64(1716), np.int64(124), np.int64(125)], [np.int64(5), np.int64(134), np.int64(103), np.int64(8), np.int64(700)], [np.int64(707), np.int64(1779), np.int64(693), np.int64(694), np.int64(695), np.int64(1781)], [np.int64(129), np.int64(99), np.int64(6), np.int64(1862), np.int64(141), np.int64(116), np.int64(1654)], [np.int64(129), np.int64(99), np.int64(718), np.int64(115), np.int64(117), np.int64(696)], [np.int64(718), np.int64(719), np.int64(116), np.int64(118), np.int64(696)], [np.int64(705), np.int64(719), np.int64(721), np.int64(117), np.int64(696)], [np.int64(131), np.int64(132), np.int64(688), np.int64(120), np.int64(697)], [np.int64(132), 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np.int64(2230), np.int64(2200)], [np.int64(2242), np.int64(553), np.int64(2250), np.int64(560), np.int64(2227)], [np.int64(2211), np.int64(2212), np.int64(2216), np.int64(2217), np.int64(2231), np.int64(2232)], [np.int64(2211), np.int64(2215), np.int64(2217), np.int64(2218), np.int64(2219), np.int64(2188), np.int64(559), np.int64(561)], [np.int64(2215), np.int64(2216), np.int64(2219), np.int64(2232), np.int64(2235)], [np.int64(2216), np.int64(2219), np.int64(2188), np.int64(2220), np.int64(2204), np.int64(2205)], [np.int64(2216), np.int64(2217), np.int64(2218), np.int64(2220), np.int64(2221), np.int64(2235)], [np.int64(2218), np.int64(2219), np.int64(2221), np.int64(2191), np.int64(2205)], [np.int64(2219), np.int64(2220), np.int64(2222), np.int64(2191), np.int64(2235)], [np.int64(2244), np.int64(2221), np.int64(2223), np.int64(2191), np.int64(562), np.int64(2235), np.int64(2268)], [np.int64(585), np.int64(2222), np.int64(562), np.int64(2236), np.int64(2268)], [np.int64(2241), np.int64(2210), np.int64(2248), np.int64(2225), np.int64(2226)], [np.int64(2210), np.int64(974), np.int64(2224), np.int64(2226), np.int64(2229), np.int64(2201), np.int64(2202)], [np.int64(2248), np.int64(2249), np.int64(2224), np.int64(2225), np.int64(2228), np.int64(2229)], [np.int64(2213), np.int64(2214), np.int64(2250), np.int64(560), np.int64(2230), np.int64(2264)], [np.int64(64), np.int64(2249), np.int64(2189), np.int64(2226), np.int64(2229), np.int64(249), np.int64(2202)], [np.int64(2226), np.int64(2225), np.int64(2202), np.int64(2228)], [np.int64(2212), np.int64(2213), np.int64(2251), np.int64(2227), np.int64(2231), np.int64(2264)], [np.int64(2212), np.int64(2215), np.int64(2251), np.int64(2230), np.int64(2232), np.int64(2233), np.int64(2234)], [np.int64(2215), np.int64(2217), np.int64(2231), np.int64(2234), np.int64(2235)], [np.int64(579), np.int64(2251), np.int64(2252), np.int64(2231), np.int64(2234)], [np.int64(2243), np.int64(2244), np.int64(2252), np.int64(2231), np.int64(2232), np.int64(2233), np.int64(2235)], [np.int64(2244), np.int64(2217), np.int64(2219), np.int64(2221), np.int64(2222), np.int64(2232), np.int64(2234)], [np.int64(582), np.int64(585), np.int64(588), np.int64(2223), np.int64(2193), np.int64(562), np.int64(598)], [np.int64(2245), np.int64(2246), np.int64(1005), np.int64(60), np.int64(2238)], [np.int64(2246), np.int64(1005), np.int64(1007), np.int64(244), np.int64(2237)], [np.int64(2240), np.int64(2255), np.int64(2257), np.int64(243), np.int64(63)], [np.int64(2241), np.int64(2210), np.int64(2257), np.int64(243), np.int64(2259), np.int64(58), np.int64(2239)], [np.int64(2240), np.int64(2210), np.int64(2248), np.int64(2224), np.int64(2259)], [np.int64(578), np.int64(2214), np.int64(553), np.int64(2250), np.int64(566)], [np.int64(2244), np.int64(2252), np.int64(2234), np.int64(2267), np.int64(2268)], [np.int64(2243), np.int64(2222), np.int64(2234), np.int64(2235), np.int64(2268)], [np.int64(1028), np.int64(1029), np.int64(2246), np.int64(1035), np.int64(60), np.int64(2237)], [np.int64(1028), np.int64(2245), np.int64(1031), np.int64(244), np.int64(2237), np.int64(2238)], [np.int64(66), np.int64(251), np.int64(254), np.int64(1015)], [np.int64(2241), np.int64(2249), np.int64(2224), np.int64(2226), np.int64(2259), np.int64(2261)], [np.int64(64), np.int64(2248), np.int64(2226), np.int64(2260), np.int64(2228), np.int64(2261), np.int64(2262), np.int64(2263)], [np.int64(578), np.int64(2242), np.int64(2214), np.int64(587), np.int64(2227), np.int64(2264), np.int64(605)], [np.int64(579), np.int64(2265), np.int64(2230), np.int64(2231), np.int64(2264), np.int64(2233), np.int64(2266)], [np.int64(608), np.int64(579), np.int64(2243), np.int64(2233), np.int64(2234), np.int64(2267)], [np.int64(2277), np.int64(1052), np.int64(1042), np.int64(1053), np.int64(57), np.int64(987), np.int64(252), np.int64(253), np.int64(2271)], [np.int64(248), np.int64(241), np.int64(2273), np.int64(2256)], [np.int64(2239), np.int64(67), np.int64(1066), np.int64(2257), np.int64(1045), np.int64(63), np.int64(1055)], [np.int64(2272), np.int64(2273), np.int64(2274), np.int64(67), np.int64(2254), np.int64(240), np.int64(241), np.int64(242), np.int64(63)], [np.int64(2240), np.int64(2255), np.int64(2258), np.int64(2259), np.int64(1045), np.int64(2239)], [np.int64(1056), np.int64(1057), np.int64(2257), np.int64(2259), np.int64(2260), np.int64(1045), np.int64(2261)], [np.int64(2240), np.int64(2241), np.int64(2248), np.int64(2257), np.int64(2258), np.int64(2261)], [np.int64(256), np.int64(1057), np.int64(2249), np.int64(2258), np.int64(2261), np.int64(1046), np.int64(2262)], [np.int64(2248), np.int64(2249), np.int64(2258), np.int64(2259), np.int64(2260)], [np.int64(256), np.int64(257), np.int64(264), np.int64(2249), np.int64(2260), np.int64(2263)], [np.int64(64), np.int64(257), np.int64(2249), np.int64(2262)], [np.int64(615), np.int64(2250), np.int64(2251), np.int64(2227), np.int64(596), np.int64(2230), np.int64(2265), np.int64(605)], [np.int64(2251), np.int64(621), np.int64(596), np.int64(2264), np.int64(2266)], [np.int64(579), np.int64(2251), np.int64(621), np.int64(622), np.int64(2265), np.int64(606)], [np.int64(608), np.int64(2243), np.int64(2280), np.int64(2252), np.int64(2268)], [np.int64(609), np.int64(2243), np.int64(2244), np.int64(2280), np.int64(585), np.int64(2222), np.int64(2223), np.int64(2267)], [np.int64(258), np.int64(1051), np.int64(244), np.int64(245), np.int64(250), np.int64(59)], [np.int64(259), np.int64(260), np.int64(245), np.int64(251), np.int64(254)], [np.int64(2272), np.int64(2273), np.int64(261), np.int64(2253), np.int64(1072), np.int64(1073), np.int64(1052), np.int64(253)], [np.int64(2273), np.int64(2274), np.int64(2256), np.int64(1073), np.int64(2271)], [np.int64(2272), np.int64(2254), np.int64(2256), np.int64(248), np.int64(253), np.int64(2271)], [np.int64(2272), np.int64(67), np.int64(2256), np.int64(1073), np.int64(1055)], [np.int64(70), np.int64(1063), np.int64(265), np.int64(1035), np.int64(1036)], [np.int64(2277), np.int64(2278), np.int64(263), np.int64(266), np.int64(1043), np.int64(1053)], [np.int64(2276), np.int64(2253), np.int64(1042), np.int64(1043), np.int64(1053)], [np.int64(2276), np.int64(2279), np.int64(266), np.int64(75), np.int64(1100), np.int64(1053)], [np.int64(261), np.int64(2278), np.int64(1100), np.int64(1101), np.int64(2287), np.int64(1072), np.int64(276), np.int64(1052), np.int64(1053)], [np.int64(608), np.int64(609), np.int64(625), np.int64(2267), np.int64(2268)], [np.int64(1063), np.int64(265), np.int64(2283), np.int64(2290), np.int64(2291), np.int64(1051)], [np.int64(1129), np.int64(2283), np.int64(2284), np.int64(269), np.int64(272)], [np.int64(258), np.int64(2281), np.int64(2282), np.int64(2284), np.int64(272), np.int64(2291), np.int64(1051)], [np.int64(258), np.int64(259), np.int64(2282), np.int64(2283), np.int64(269)], [np.int64(1056), np.int64(1057), np.int64(1067), np.int64(271), np.int64(2288), np.int64(1076)], [np.int64(256), np.int64(264), np.int64(1067), np.int64(1106), np.int64(1086)], [np.int64(1072), np.int64(276), np.int64(2279)], [np.int64(2292), np.int64(1076), np.int64(2285), np.int64(271)], [np.int64(272), np.int64(2290), np.int64(2291), np.int64(278)], [np.int64(265), np.int64(2281), np.int64(268), np.int64(2289), np.int64(2291), np.int64(278), np.int64(2294)], [np.int64(2281), np.int64(2283), np.int64(272), np.int64(2289), np.int64(2290)], [np.int64(271), np.int64(2288), np.int64(82), np.int64(1139), np.int64(1076), np.int64(2293), np.int64(2302)], [np.int64(1076), np.int64(2292), np.int64(2295), np.int64(1117), np.int64(2302)], [np.int64(76), np.int64(268), np.int64(79), np.int64(2290), np.int64(278), np.int64(1175)], [np.int64(2313), np.int64(1226), np.int64(1166), np.int64(2293), np.int64(2301), np.int64(282), np.int64(1117), np.int64(2302)], [np.int64(293), np.int64(79), np.int64(1175), np.int64(1149), np.int64(286)], [np.int64(1152), np.int64(289), np.int64(2306), np.int64(1165), np.int64(2298)], [np.int64(2306), np.int64(1165), np.int64(2300), np.int64(2297), np.int64(2299), np.int64(284), np.int64(285)], [np.int64(2306), np.int64(2307), np.int64(2312), np.int64(1267), np.int64(2298), np.int64(2300)], [np.int64(2299), np.int64(1267), np.int64(2298), np.int64(1211), np.int64(285)], [np.int64(2308), np.int64(2313), np.int64(1166), np.int64(1267), np.int64(2295)], [np.int64(292), np.int64(1226), np.int64(82), np.int64(2292), np.int64(2293), np.int64(2295)], [np.int64(2304), np.int64(651), np.int64(1196), np.int64(1201), np.int64(1242)], [np.int64(651), np.int64(1196), np.int64(1197), np.int64(1240), np.int64(2303)], [np.int64(1178), np.int64(1285), np.int64(286), np.int64(295)], [np.int64(289), np.int64(2307), np.int64(2309), np.int64(1263), np.int64(86), np.int64(2297), np.int64(2298), np.int64(2299)], [np.int64(2312), np.int64(2306), np.int64(2299), np.int64(86)], [np.int64(2313), np.int64(1267), np.int64(2301), np.int64(87)], [np.int64(289), np.int64(2306), np.int64(2311), np.int64(1263), np.int64(2320)], [np.int64(291), np.int64(294), np.int64(2311), np.int64(2315), np.int64(2316), np.int64(2318)], [np.int64(289), np.int64(2309), np.int64(294), np.int64(2310), np.int64(2318), np.int64(2320), np.int64(85)], [np.int64(2307), np.int64(299), np.int64(300), np.int64(1267), np.int64(86), np.int64(87), np.int64(2299)], [np.int64(2308), np.int64(1226), np.int64(2322), np.int64(1268), np.int64(87), np.int64(2295), np.int64(2301)], [np.int64(1292), np.int64(1329), np.int64(1330), np.int64(1270), np.int64(1271)], [np.int64(291), np.int64(2310), np.int64(2316), np.int64(2323), np.int64(2324), np.int64(88)], [np.int64(2310), np.int64(2315), np.int64(2317), np.int64(2318), np.int64(2324)], [np.int64(2316), np.int64(2318), np.int64(2319), np.int64(304), np.int64(2324)], [np.int64(2310), np.int64(2311), np.int64(2316), np.int64(2317), np.int64(2319), np.int64(2320)], [np.int64(2317), np.int64(2318), np.int64(304), np.int64(2320), np.int64(2325)], [np.int64(2309), np.int64(2311), np.int64(299), np.int64(2318), np.int64(1391), np.int64(1263), np.int64(2319), np.int64(2325), np.int64(86), np.int64(1339)], [np.int64(654), np.int64(1305), np.int64(1340), np.int64(1309), np.int64(1343)], [np.int64(2313), np.int64(1329), np.int64(1268), np.int64(87), np.int64(1369), np.int64(1370), np.int64(1342)], [np.int64(1411), np.int64(297), np.int64(2315), np.int64(302), np.int64(2324), np.int64(88)], [np.int64(1411), np.int64(2315), np.int64(2316), np.int64(2317), np.int64(304), np.int64(2323)], [np.int64(1412), np.int64(2319), np.int64(304), np.int64(2320), np.int64(1391), np.int64(2326)], [np.int64(1412), np.int64(1444), np.int64(304), np.int64(306), np.int64(2325)], [np.int64(1412), np.int64(1444), np.int64(1391), np.int64(1393), np.int64(1431), np.int64(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([[  5.50182347,  10.79631675,  19.37730673],
              [  4.89166273,  -9.25857858,  -5.98777425],
              [ -9.09109049,  -5.9724155 , -17.85282893],
              [ -8.0245116 ,   5.5197791 , -17.81069569],
              [  7.12296054,  16.90266586,  -6.00282039],
              [  5.60062198,  -3.12253801,  -1.59916334],
              [  9.77725068,   7.84906684, -17.43436579],
              [ 11.85773102,   4.73093104,   3.87176591],
              [ -1.43920896,  20.84681735, -10.21516624],
              [  3.37120587, -19.93926691,   6.68294779],
              [  7.20895954, -20.63862138,   2.98890555],
              [ -5.79741159,  11.00063293,  20.32127108],
              [  3.67520629,  -6.97621446, -17.99091217],
              [  0.42180617, -19.13594294,   6.8944945 ],
              [  9.19648473,   2.29059839,   4.33826111],
              [  5.84465728,  18.06384098,  -4.52895937],
              [ 12.98688495,   5.64313211,   8.07483038],
              [ -2.87076197,  17.49850633, -18.04491656],
              [ -6.44733904,   9.3680218 , -23.65329544],
              [ -1.52275672,  21.28337343,   6.62261993],
              [ -8.03195479, -15.35310387, -17.10955553],
              [ -8.09829127,  -1.13116737, -14.51685795],
              [ -7.83224181,  -7.88445752, -29.54880017],
              [ -7.41867764,   4.64861702, -24.93212567],
              [ -1.02978252, -15.40267766,   9.63378852],
              [ -7.06532577,  11.39821297, -12.91480682],
              [ -9.99920372,  -6.03796892,   3.29472487],
              [  7.31595883,   6.41112617,  19.93780424],
              [ 12.0024656 ,  -9.70268682,   1.16474764],
              [ 12.51265633,   4.90248517,   0.64553609],
              [  6.23913779, -14.83368356,  15.49018492],
              [ -0.79930921,   6.05294315,  28.88932094],
              [  6.40609434,   0.17096269, -28.40572742],
              [ -9.93776817, -10.85122405, -19.45726516],
              [ -1.1831023 ,  -8.23170668,  31.92859569],
              [ -6.78453996,  18.06538038,   8.91643646],
              [ -0.6379406 ,  19.40460175, -13.29614834],
              [ 12.14075244,  -6.09905765,   7.92159995],
              [ 11.14801785,   3.73134905,   1.3716134 ],
              [ -1.68162971,   6.43310841,  29.0056731 ],
              [  9.03138952,   2.30410942,  -1.99495576],
              [ -0.42727741,  21.11957498,   6.43398137],
              [-10.51781215,  -5.47308151,  34.32784976],
              [ -7.67586669,  -9.07281866, -30.32509485],
              [  4.00576645,  15.9503085 , -16.68202984],
              [  1.76758382,  -0.11807419,  30.5608439 ],
              [ -6.088306  ,  18.9721623 ,  -7.19000893],
              [  6.46281765,   0.90348951,   0.54582423],
              [  0.82451774,  19.37144287,  11.35287219],
              [-11.74923387,  -4.65934509,  30.05464917],
              [ -6.51001256,  11.80179405, -17.15288396],
              [ -2.58296991,   4.60185461,  31.31555762],
              [ -1.07368913, -18.68606271,  -3.99133311],
              [-10.51192874,   4.45588573,  25.98444055],
              [ 12.3460222 , -11.04722355,   4.62926871],
              [  2.69365383,   5.6690922 ,  26.62781778],
              [ -5.06235519,  -0.34252298,   9.84444188],
              [ 11.53195771, -13.01881771,   8.44675034],
              [  8.33976634,   2.93365763,  19.45112413],
              [ 11.34301222,   1.21777013,   6.82439665],
              [ -4.61510566,  -8.77691023,  14.06931806],
              [ -8.73406267,   1.19636967,  -2.63776208],
              [ -4.36386832,   1.70417676,  34.41164243],
              [ 11.31309035,  12.52068621,   1.35625021],
              [ -2.94327538,   1.20321223, -32.5385266 ],
              [ -2.09033358,  22.48415739,  -2.00110964],
              [ -2.69353364, -10.64619843,  28.23359298],
              [  4.62132497,  -2.41426013,  27.35375653],
              [  9.29297851,  14.27560005,  -9.76624377],
              [  6.51512031,  -3.37377064, -15.75947749],
              [  4.85485374,  -0.85305734,  26.8907792 ],
              [ -7.78142713,   3.19945414, -21.01841015],
              [ -8.56770041,  -9.64751169,  30.23516132],
              [ 11.5492838 ,   2.706765  ,  12.35626323],
              [ -9.54424976, -15.86733963, -22.06724824],
              [ -1.36801672,   9.65336218, -28.18859726],
              [ -7.47122298,   8.94604184, -15.07574864],
              [-10.53679994,  -8.83956105,  29.33536602],
              [  3.12898211,  -5.07008792,  29.22221349],
              [ -7.41753543,  -9.4823883 ,  31.62106232],
              [  2.13871766,  -2.55951836, -31.53726197],
              [ -3.13139143,  -9.96493966,  10.18067869],
              [  7.33488383,  -5.94949011, -20.17092774],
              [  6.48794113,  -5.89492162, -26.95098354],
              [ -8.77916757,  -5.44386861, -15.75330083],
              [-10.28473841, -12.20375947, -16.69091296],
              [ 12.78501144,   6.84071888, -11.27257226],
              [ 11.09693629,  -4.4470949 ,  14.4395959 ],
              [  5.58634463,  -6.59186526,  -3.88951416],
              [ -5.97276514,   1.20374866, -30.80396006],
              [  7.95991358,   3.09263159, -24.47928262],
              [ -5.7397367 ,  14.81779588, -17.14068773],
              [  3.0693769 ,  19.5571502 ,   6.82267999],
              [ -9.1747753 ,  -5.02385972, -21.68079339],
              [ 10.60904648,   3.5552185 ,   2.29949619],
              [ -9.5202512 ,   6.1292429 ,  28.06202663],
              [ -9.65768321,   4.30181247,   6.08212362],
              [ -4.54368277,   8.14218746,  27.5654175 ],
              [  6.82177599,  -8.71431341, -22.23474894],
              [  5.97779549,  -1.00721164,  -1.85271302]])

voxelize the mesh

mesh.voxelized(2)

<trimesh.VoxelGrid(np.int64(14), np.int64(23), np.int64(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)

np.float64(0.7994007397533587)

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, 3.72529030e-10, 1.86264515e-10],
       [3.72529030e-10, 8.74194416e+06, 1.24176343e-10],
       [1.86264515e-10, 1.24176343e-10, 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([51.28428495, 43.65246145, 56.93709199])

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([[ 0.35739662, -0.56763439,  0.74165953, -0.34314341],
              [-0.85912164,  0.11164159,  0.49944586,  1.20038305],
              [-0.36630269, -0.81567601, -0.44776666,  0.33091658],
              [ 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,
)

72240.0037667272 100258.8176502259 182279.85405427447