Open3D (C++ API)  0.17.0
Loading...
Searching...
No Matches
RaycastingScene.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <memory>
11
12#include "open3d/Macro.h"
13#include "open3d/core/Tensor.h"
16
17namespace open3d {
18namespace t {
19namespace geometry {
20
31public:
33 RaycastingScene(int64_t nthreads = 0);
34
36
41 uint32_t AddTriangles(const core::Tensor &vertex_positions,
42 const core::Tensor &triangle_indices);
43
47 uint32_t AddTriangles(const TriangleMesh &mesh);
48
72 std::unordered_map<std::string, core::Tensor> CastRays(
73 const core::Tensor &rays, const int nthreads = 0);
74
89 const core::Tensor &rays,
90 const float tnear = 0.f,
91 const float tfar = std::numeric_limits<float>::infinity(),
92 const int nthreads = 0);
93
105 const int nthreads = 0);
106
125 std::unordered_map<std::string, core::Tensor> ComputeClosestPoints(
126 const core::Tensor &query_points, const int nthreads = 0);
127
137 core::Tensor ComputeDistance(const core::Tensor &query_points,
138 const int nthreads = 0);
139
163 const int nthreads = 0,
164 const int nsamples = 1);
165
188 core::Tensor ComputeOccupancy(const core::Tensor &query_points,
189 const int nthreads = 0,
190 const int nsamples = 1);
191
200 static core::Tensor CreateRaysPinhole(const core::Tensor &intrinsic_matrix,
201 const core::Tensor &extrinsic_matrix,
202 int width_px,
203 int height_px);
204
214 static core::Tensor CreateRaysPinhole(double fov_deg,
215 const core::Tensor &center,
216 const core::Tensor &eye,
217 const core::Tensor &up,
218 int width_px,
219 int height_px);
220
222 static uint32_t INVALID_ID();
223
224private:
225 struct Impl;
226 std::unique_ptr<Impl> impl_;
227};
228
229} // namespace geometry
230} // namespace t
231} // namespace open3d
Definition Tensor.h:32
A scene class with basic ray casting and closest point queries.
Definition RaycastingScene.h:30
~RaycastingScene()
Definition RaycastingScene.cpp:558
std::unordered_map< std::string, core::Tensor > CastRays(const core::Tensor &rays, const int nthreads=0)
Computes the first intersection of the rays with the scene.
Definition RaycastingScene.cpp:621
core::Tensor ComputeDistance(const core::Tensor &query_points, const int nthreads=0)
Computes the distance to the surface of the scene.
Definition RaycastingScene.cpp:721
core::Tensor TestOcclusions(const core::Tensor &rays, const float tnear=0.f, const float tfar=std::numeric_limits< float >::infinity(), const int nthreads=0)
Checks if the rays have any intersection with the scene.
Definition RaycastingScene.cpp:651
static core::Tensor CreateRaysPinhole(const core::Tensor &intrinsic_matrix, const core::Tensor &extrinsic_matrix, int width_px, int height_px)
Creates rays for the given camera parameters.
Definition RaycastingScene.cpp:858
core::Tensor CountIntersections(const core::Tensor &rays, const int nthreads=0)
Computes the number of intersection of the rays with the scene.
Definition RaycastingScene.cpp:672
static uint32_t INVALID_ID()
The value for invalid IDs.
Definition RaycastingScene.cpp:956
core::Tensor ComputeOccupancy(const core::Tensor &query_points, const int nthreads=0, const int nsamples=1)
Computes the occupancy at the query point positions.
Definition RaycastingScene.cpp:843
core::Tensor ComputeSignedDistance(const core::Tensor &query_points, const int nthreads=0, const int nsamples=1)
Computes the signed distance to the surface of the scene.
Definition RaycastingScene.cpp:815
uint32_t AddTriangles(const core::Tensor &vertex_positions, const core::Tensor &triangle_indices)
Add a triangle mesh to the scene.
Definition RaycastingScene.cpp:563
std::unordered_map< std::string, core::Tensor > ComputeClosestPoints(const core::Tensor &query_points, const int nthreads=0)
Computes the closest points on the surfaces of the scene.
Definition RaycastingScene.cpp:691
A triangle mesh contains vertices and triangles.
Definition TriangleMesh.h:92
Definition PinholeCameraIntrinsic.cpp:16
Definition RaycastingScene.cpp:259