Open3D (C++ API)  0.18.0
Public Member Functions | Data Fields
open3d::t::geometry::RaycastingScene::Impl Struct Reference

Public Member Functions

void CommitScene ()
 
template<bool LINE_INTERSECTION>
void CastRays (const float *const rays, const size_t num_rays, float *t_hit, unsigned int *geometry_ids, unsigned int *primitive_ids, float *primitive_uvs, float *primitive_normals, const int nthreads)
 
void TestOcclusions (const float *const rays, const size_t num_rays, const float tnear, const float tfar, int8_t *occluded, const int nthreads)
 
void CountIntersections (const float *const rays, const size_t num_rays, int *intersections, const int nthreads)
 
void ListIntersections (const float *const rays, const size_t num_rays, const size_t num_intersections, const Eigen::VectorXi &cumsum, unsigned int *track_intersections, unsigned int *ray_ids, unsigned int *geometry_ids, unsigned int *primitive_ids, float *primitive_uvs, float *t_hit, const int nthreads)
 
void ComputeClosestPoints (const float *const query_points, const size_t num_query_points, float *closest_points, unsigned int *geometry_ids, unsigned int *primitive_ids, float *primitive_uvs, float *primitive_normals, const int nthreads)
 

Data Fields

const size_t BATCH_SIZE = 1024
 
RTCDevice device_
 
RTCScene scene_
 
bool scene_committed_
 
std::vector< std::tuple< RTCGeometryType, const void *, const void * > > geometry_ptrs_
 
core::Device tensor_device_
 
bool devprop_join_commit
 

Member Function Documentation

◆ CastRays()

template<bool LINE_INTERSECTION>
void open3d::t::geometry::RaycastingScene::Impl::CastRays ( const float *const  rays,
const size_t  num_rays,
float *  t_hit,
unsigned int *  geometry_ids,
unsigned int *  primitive_ids,
float *  primitive_uvs,
float *  primitive_normals,
const int  nthreads 
)
inline

◆ CommitScene()

void open3d::t::geometry::RaycastingScene::Impl::CommitScene ( )
inline

◆ ComputeClosestPoints()

void open3d::t::geometry::RaycastingScene::Impl::ComputeClosestPoints ( const float *const  query_points,
const size_t  num_query_points,
float *  closest_points,
unsigned int *  geometry_ids,
unsigned int *  primitive_ids,
float *  primitive_uvs,
float *  primitive_normals,
const int  nthreads 
)
inline

◆ CountIntersections()

void open3d::t::geometry::RaycastingScene::Impl::CountIntersections ( const float *const  rays,
const size_t  num_rays,
int *  intersections,
const int  nthreads 
)
inline

◆ ListIntersections()

void open3d::t::geometry::RaycastingScene::Impl::ListIntersections ( const float *const  rays,
const size_t  num_rays,
const size_t  num_intersections,
const Eigen::VectorXi &  cumsum,
unsigned int *  track_intersections,
unsigned int *  ray_ids,
unsigned int *  geometry_ids,
unsigned int *  primitive_ids,
float *  primitive_uvs,
float *  t_hit,
const int  nthreads 
)
inline

◆ TestOcclusions()

void open3d::t::geometry::RaycastingScene::Impl::TestOcclusions ( const float *const  rays,
const size_t  num_rays,
const float  tnear,
const float  tfar,
int8_t *  occluded,
const int  nthreads 
)
inline

Field Documentation

◆ BATCH_SIZE

const size_t open3d::t::geometry::RaycastingScene::Impl::BATCH_SIZE = 1024

◆ device_

RTCDevice open3d::t::geometry::RaycastingScene::Impl::device_

◆ devprop_join_commit

bool open3d::t::geometry::RaycastingScene::Impl::devprop_join_commit

◆ geometry_ptrs_

std::vector<std::tuple<RTCGeometryType, const void*, const void*> > open3d::t::geometry::RaycastingScene::Impl::geometry_ptrs_

◆ scene_

RTCScene open3d::t::geometry::RaycastingScene::Impl::scene_

◆ scene_committed_

bool open3d::t::geometry::RaycastingScene::Impl::scene_committed_

◆ tensor_device_

core::Device open3d::t::geometry::RaycastingScene::Impl::tensor_device_
The documentation for this struct was generated from the following file:
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