forked from s_ranjbar/city_retrofit
299 lines
16 KiB
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299 lines
16 KiB
Plaintext
Metadata-Version: 2.1
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Name: trimesh
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Version: 3.7.0
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Summary: Import, export, process, analyze and view triangular meshes.
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Home-page: https://github.com/mikedh/trimesh
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Author: Michael Dawson-Haggerty
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Author-email: mikedh@kerfed.com
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License: MIT
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Keywords: graphics mesh geometry 3D
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Platform: UNKNOWN
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Classifier: Development Status :: 4 - Beta
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Classifier: License :: OSI Approved :: MIT License
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Classifier: Programming Language :: Python
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Classifier: Programming Language :: Python :: 2.7
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Classifier: Programming Language :: Python :: 3.3
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Classifier: Programming Language :: Python :: 3.4
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Classifier: Programming Language :: Python :: 3.5
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Classifier: Programming Language :: Python :: 3.6
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Classifier: Programming Language :: Python :: 3.7
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Classifier: Natural Language :: English
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Classifier: Topic :: Scientific/Engineering
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Description-Content-Type: text/markdown
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Requires-Dist: setuptools
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Requires-Dist: numpy
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Provides-Extra: all
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Requires-Dist: scipy ; extra == 'all'
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Requires-Dist: meshio ; extra == 'all'
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Requires-Dist: pillow ; extra == 'all'
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Requires-Dist: xxhash ; extra == 'all'
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Requires-Dist: shapely ; extra == 'all'
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Requires-Dist: pyglet ; extra == 'all'
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Requires-Dist: pycollada ; extra == 'all'
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Requires-Dist: msgpack ; extra == 'all'
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Requires-Dist: colorlog ; extra == 'all'
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Requires-Dist: scikit-image ; extra == 'all'
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Requires-Dist: chardet ; extra == 'all'
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Requires-Dist: networkx ; extra == 'all'
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Requires-Dist: rtree ; extra == 'all'
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Requires-Dist: sympy ; extra == 'all'
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Requires-Dist: psutil ; extra == 'all'
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Requires-Dist: requests ; extra == 'all'
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Requires-Dist: setuptools ; extra == 'all'
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Requires-Dist: glooey ; extra == 'all'
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Requires-Dist: triangle ; extra == 'all'
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Requires-Dist: jsonschema ; extra == 'all'
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Requires-Dist: python-fcl ; extra == 'all'
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Requires-Dist: svg.path ; extra == 'all'
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Requires-Dist: lxml ; extra == 'all'
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Provides-Extra: easy
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Requires-Dist: chardet ; extra == 'easy'
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Requires-Dist: scipy ; extra == 'easy'
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Requires-Dist: networkx ; extra == 'easy'
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Requires-Dist: pycollada ; extra == 'easy'
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Requires-Dist: rtree ; extra == 'easy'
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Requires-Dist: sympy ; extra == 'easy'
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Requires-Dist: pillow ; extra == 'easy'
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Requires-Dist: requests ; extra == 'easy'
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Requires-Dist: xxhash ; extra == 'easy'
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Requires-Dist: setuptools ; extra == 'easy'
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Requires-Dist: shapely ; extra == 'easy'
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Requires-Dist: pyglet ; extra == 'easy'
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Requires-Dist: msgpack ; extra == 'easy'
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Requires-Dist: jsonschema ; extra == 'easy'
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Requires-Dist: svg.path ; extra == 'easy'
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Requires-Dist: colorlog ; extra == 'easy'
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Requires-Dist: lxml ; extra == 'easy'
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Provides-Extra: test
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Requires-Dist: pytest-cov ; extra == 'test'
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Requires-Dist: pyinstrument ; extra == 'test'
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Requires-Dist: pytest ; extra == 'test'
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Requires-Dist: coveralls ; extra == 'test'
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[](http://trimsh.org)
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-----------
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[](https://github.com/mikedh/trimesh/actions) [](https://coveralls.io/github/mikedh/trimesh) [](https://badge.fury.io/py/trimesh) [](https://gitter.im/trimsh/Lobby?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
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Trimesh is a pure Python (2.7-3.4+) library for loading and using [triangular meshes](https://en.wikipedia.org/wiki/Triangle_mesh) with an emphasis on watertight surfaces. The goal of the library is to provide a full featured and well tested Trimesh object which allows for easy manipulation and analysis, in the style of the Polygon object in the [Shapely library](https://github.com/Toblerity/Shapely).
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The API is mostly stable, but this should not be relied on and is not guaranteed: install a specific version if you plan on deploying something using trimesh.
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Pull requests are appreciated and responded to promptly! If you'd like to contribute, here is an [up to date list of potential enhancements](https://github.com/mikedh/trimesh/issues/199) although things not on that list are also welcome. Here are some [tips for writing mesh code in Python.](https://github.com/mikedh/trimesh/blob/master/trimesh/exchange/README.md)
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## Basic Installation
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Keeping `trimesh` easy to install is a core goal, thus the *only* hard dependency is [numpy](http://www.numpy.org/). Installing other packages adds functionality but is not required. For the easiest install with just numpy, `pip` can generally install `trimesh` cleanly on Windows, Linux, and OSX:
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```bash
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pip install trimesh
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```
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For more functionality, like convex hulls (`scipy`), graph operations (`networkx`), faster ray queries (`pyembree`), vector path handling (`shapely` and `rtree`), preview windows (`pyglet`), faster cache checks (`xxhash`) and more, the easiest way to get a full `trimesh` install is a [conda environment](https://conda.io/miniconda.html):
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```bash
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# this will install all soft dependencies available on your current platform
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conda install -c conda-forge trimesh
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```
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To install `trimesh` with the soft dependencies which install cleanly on Linux, OSX, and Windows* using `pip`:
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```bash
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pip install trimesh[easy]
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```
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Further information is available in the [advanced installation documentation](https://trimsh.org/install.html).
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## Quick Start
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Here is an example of loading a mesh from file and colorizing its faces. Here is a nicely formatted
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[ipython notebook version](https://trimsh.org/examples/quick_start.html) of this example. Also check out the [cross section example](https://trimsh.org/examples/section.html) or possibly the [integration of a function over a mesh example](https://github.com/mikedh/trimesh/blob/master/examples/integrate.ipynb).
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```python
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import numpy as np
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import trimesh
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# attach to logger so trimesh messages will be printed to console
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trimesh.util.attach_to_log()
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# mesh objects can be created from existing faces and vertex data
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mesh = trimesh.Trimesh(vertices=[[0, 0, 0], [0, 0, 1], [0, 1, 0]],
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faces=[[0, 1, 2]])
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# by default, Trimesh will do a light processing, which will
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# remove any NaN values and merge vertices that share position
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# if you want to not do this on load, you can pass `process=False`
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mesh = trimesh.Trimesh(vertices=[[0, 0, 0], [0, 0, 1], [0, 1, 0]],
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faces=[[0, 1, 2]],
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process=False)
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# mesh objects can be loaded from a file name or from a buffer
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# you can pass any of the kwargs for the `Trimesh` constructor
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# to `trimesh.load`, including `process=False` if you would like
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# to preserve the original loaded data without merging vertices
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# STL files will be a soup of disconnected triangles without
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# merging vertices however and will not register as watertight
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mesh = trimesh.load('../models/featuretype.STL')
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# is the current mesh watertight?
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mesh.is_watertight
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# what's the euler number for the mesh?
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mesh.euler_number
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# the convex hull is another Trimesh object that is available as a property
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# lets compare the volume of our mesh with the volume of its convex hull
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print(mesh.volume / mesh.convex_hull.volume)
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# since the mesh is watertight, it means there is a
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# volumetric center of mass which we can set as the origin for our mesh
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mesh.vertices -= mesh.center_mass
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# what's the moment of inertia for the mesh?
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mesh.moment_inertia
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# if there are multiple bodies in the mesh we can split the mesh by
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# connected components of face adjacency
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# since this example mesh is a single watertight body we get a list of one mesh
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mesh.split()
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# facets are groups of coplanar adjacent faces
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# set each facet to a random color
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# colors are 8 bit RGBA by default (n, 4) np.uint8
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for facet in mesh.facets:
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mesh.visual.face_colors[facet] = trimesh.visual.random_color()
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# preview mesh in an opengl window if you installed pyglet with pip
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mesh.show()
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# transform method can be passed a (4, 4) matrix and will cleanly apply the transform
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mesh.apply_transform(trimesh.transformations.random_rotation_matrix())
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# axis aligned bounding box is available
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mesh.bounding_box.extents
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# a minimum volume oriented bounding box also available
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# primitives are subclasses of Trimesh objects which automatically generate
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# faces and vertices from data stored in the 'primitive' attribute
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mesh.bounding_box_oriented.primitive.extents
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mesh.bounding_box_oriented.primitive.transform
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# show the mesh appended with its oriented bounding box
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# the bounding box is a trimesh.primitives.Box object, which subclasses
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# Trimesh and lazily evaluates to fill in vertices and faces when requested
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# (press w in viewer to see triangles)
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(mesh + mesh.bounding_box_oriented).show()
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# bounding spheres and bounding cylinders of meshes are also
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# available, and will be the minimum volume version of each
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# except in certain degenerate cases, where they will be no worse
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# than a least squares fit version of the primitive.
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print(mesh.bounding_box_oriented.volume,
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mesh.bounding_cylinder.volume,
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mesh.bounding_sphere.volume)
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```
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## Features
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* Import meshes from binary/ASCII STL, Wavefront OBJ, ASCII OFF, binary/ASCII PLY, GLTF/GLB 2.0, 3MF, XAML, 3DXML, etc.
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* Import and export 2D or 3D vector paths from/to DXF or SVG files
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* Import geometry files using the GMSH SDK if installed (BREP, STEP, IGES, INP, BDF, etc)
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* Export meshes as binary STL, binary PLY, ASCII OFF, OBJ, GLTF/GLB 2.0, COLLADA, etc.
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* Export meshes using the GMSH SDK if installed (Abaqus INP, Nastran BDF, etc)
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* Preview meshes using pyglet or in- line in jupyter notebooks using three.js
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* Automatic hashing of numpy arrays for change tracking using MD5, zlib CRC, or xxhash
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* Internal caching of computed values validated from hashes
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* Calculate face adjacencies, face angles, vertex defects, etc.
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* Calculate cross sections, i.e. the slicing operation used in 3D printing
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* Slice meshes with one or multiple arbitrary planes and return the resulting surface
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* Split mesh based on face connectivity using networkx, graph-tool, or scipy.sparse
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* Calculate mass properties, including volume, center of mass, moment of inertia, principal components of inertia vectors and components
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* Repair simple problems with triangle winding, normals, and quad/tri holes
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* Convex hulls of meshes
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* Compute rotation/translation/tessellation invariant identifier and find duplicate meshes
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* Determine if a mesh is watertight, convex, etc.
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* Uniformly sample the surface of a mesh
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* Ray-mesh queries including location, triangle index, etc.
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* Boolean operations on meshes (intersection, union, difference) using OpenSCAD or Blender as a back end. Note that mesh booleans in general are usually slow and unreliable
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* Voxelize watertight meshes
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* Volume mesh generation (TETgen) using Gmsh SDK
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* Smooth watertight meshes using laplacian smoothing algorithms (Classic, Taubin, Humphrey)
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* Subdivide faces of a mesh
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* Minimum volume oriented bounding boxes for meshes
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* Minimum volume bounding spheres
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* Symbolic integration of functions over triangles
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* Calculate nearest point on mesh surface and signed distance
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* Determine if a point lies inside or outside of a well constructed mesh using signed distance
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* Primitive objects (Box, Cylinder, Sphere, Extrusion) which are subclassed Trimesh objects and have all the same features (inertia, viewers, etc)
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* Simple scene graph and transform tree which can be rendered (pyglet window, three.js in a jupyter notebook, [pyrender](https://github.com/mmatl/pyrender)) or exported.
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* Many utility functions, like transforming points, unitizing vectors, aligning vectors, tracking numpy arrays for changes, grouping rows, etc.
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## Viewer
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Trimesh includes an optional `pyglet` based viewer for debugging and inspecting. In the mesh view window, opened with `mesh.show()`, the following commands can be used:
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* `mouse click + drag` rotates the view
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* `ctl + mouse click + drag` pans the view
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* `mouse wheel` zooms
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* `z` returns to the base view
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* `w` toggles wireframe mode
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* `c` toggles backface culling
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* `g` toggles an XY grid with Z set to lowest point
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* `a` toggles an XYZ-RGB axis marker between: off, at world frame, or at every frame and world, and at every frame
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* `f` toggles between fullscreen and windowed mode
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* `m` maximizes the window
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* `q` closes the window
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If called from inside a `jupyter` notebook, `mesh.show()` displays an in-line preview using `three.js` to display the mesh or scene. For more complete rendering (PBR, better lighting, shaders, better off-screen support, etc) [pyrender](https://github.com/mmatl/pyrender) is designed to interoperate with `trimesh` objects.
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## Projects Using Trimesh
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You can check out the [Github network](https://github.com/mikedh/trimesh/network/dependents) for things using trimesh. A select few:
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- Nvidia's [kaolin](https://github.com/NVIDIAGameWorks/kaolin) for deep learning on 3D geometry.
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- [Cura](https://github.com/Ultimaker/Cura), a popular slicer for 3D printing.
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- Berkeley's [DexNet4](https://www.youtube.com/watch?v=GBiAxoWBNho&feature=emb_logo) and related [ambidextrous.ai](https://www.ambidextrous.ai/) work with robotic grasp planning and manipulation.
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- Kerfed's [Kerfed's Engine](https://kerfed.com/technology) for analyzing assembly geometry for manufacturing.
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- [MyMiniFactory's](https://www.myminifactory.com/) P2Slice for preparing models for 3D printing.
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- [pyrender](https://github.com/mmatl/pyrender) A library to render scenes from Python using nice looking PBR materials.
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- [urdfpy](https://github.com/mmatl/urdfpy) Load URDF robot descriptions in Python.
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- [moderngl-window](https://github.com/moderngl/moderngl-window) A helper to create GL contexts and load meshes.
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- [vtkplotter](https://github.com/marcomusy/vtkplotter) Visualize meshes interactively.
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- [fsleyes](https://users.fmrib.ox.ac.uk/~paulmc/fsleyes/userdoc/latest/quick_start.html) View MRI images and brain data.
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## Which Mesh Format Should I Use?
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Quick recommendation: `GLB` or `PLY`. Every time you replace `OBJ` with `GLB` an angel gets its wings.
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If you want things like by-index faces, instancing, colors, textures, etc, `GLB` is a terrific choice. GLTF/GLB is an [extremely well specified](https://github.com/KhronosGroup/glTF/tree/master/specification/2.0) modern format that is easy and fast to parse: it has a JSON header describing data in a binary blob. It has a simple hierarchical scene graph, a great looking modern physically based material system, support in [dozens-to-hundreds of libraries](https://github.com/KhronosGroup/glTF/issues/1058), and a [John Carmack endorsment](https://www.khronos.org/news/press/significant-gltf-momentum-for-efficient-transmission-of-3d-scenes-models). Note that GLTF is a large specification, and `trimesh` only supports a subset of features: loading basic geometry is supported, NOT supported are fancier things like animations, skeletons, etc.
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In the wild, `STL` is perhaps the most common format. `STL` files are extremely simple: it is basically just a list of triangles. They are robust and are a good choice for basic geometry. Binary `PLY` files are a good step up, as they support indexed faces and colors.
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Wavefront `OBJ` is also pretty common: unfortunately OBJ doesn't have a widely accepted specification so every importer and exporter implements things slightly differently, making it tough to support. It also allows unfortunate things like arbitrary sized polygons, has a face representation which is easy to mess up, references other files for materials and textures, arbitrarily interleaves data, and is slow to parse. Give `GLB` or `PLY` a try as an alternative!
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## How can I cite this library?
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A question that comes up pretty frequently is [how to cite the library.](https://github.com/mikedh/trimesh/issues?utf8=1&q=cite) A quick BibTex recommendation:
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```
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@software{trimesh,
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author = {{Dawson-Haggerty et al.}},
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title = {trimesh},
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url = {https://trimsh.org/},
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version = {3.2.0},
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date = {2019-12-8},
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}
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```
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## Containers
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If you want to deploy something in a container that uses trimesh, automated `debian:buster-slim` based builds with trimesh and dependencies are available on [Docker Hub](https://hub.docker.com/repository/docker/trimesh/trimesh) with image tags for `latest`, git short hash for the commit in master (i.e. `trimesh/trimesh:0c1298d`), and version (i.e. `trimesh/trimesh:3.5.27`):
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`docker pull trimesh/trimesh`
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[Here's an example](https://github.com/mikedh/trimesh/tree/master/examples/dockerRender) of how to render meshes using LLVMpipe and XVFB inside a container.
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