RaycastingScene.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <memory>
 
#include "open3d/Macro.h"
#include "open3d/core/Tensor.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/t/geometry/TriangleMesh.h"
 
namespace open3d {
namespace t {
namespace geometry {
 
class RaycastingScene {
public:
    RaycastingScene(int64_t nthreads = 0);
 
    ~RaycastingScene();
 
    uint32_t AddTriangles(const core::Tensor &vertex_positions,
                          const core::Tensor &triangle_indices);
 
    uint32_t AddTriangles(const TriangleMesh &mesh);
 
    std::unordered_map<std::string, core::Tensor> CastRays(
            const core::Tensor &rays, const int nthreads = 0);
 
    core::Tensor TestOcclusions(
            const core::Tensor &rays,
            const float tnear = 0.f,
            const float tfar = std::numeric_limits<float>::infinity(),
            const int nthreads = 0);
 
    core::Tensor CountIntersections(const core::Tensor &rays,
                                    const int nthreads = 0);
 
    std::unordered_map<std::string, core::Tensor> ListIntersections(
            const core::Tensor &rays, const int nthreads = 0);
 
    std::unordered_map<std::string, core::Tensor> ComputeClosestPoints(
            const core::Tensor &query_points, const int nthreads = 0);
 
    core::Tensor ComputeDistance(const core::Tensor &query_points,
                                 const int nthreads = 0);
 
    core::Tensor ComputeSignedDistance(const core::Tensor &query_points,
                                       const int nthreads = 0,
                                       const int nsamples = 1);
 
    core::Tensor ComputeOccupancy(const core::Tensor &query_points,
                                  const int nthreads = 0,
                                  const int nsamples = 1);
 
    static core::Tensor CreateRaysPinhole(const core::Tensor &intrinsic_matrix,
                                          const core::Tensor &extrinsic_matrix,
                                          int width_px,
                                          int height_px);
 
    static core::Tensor CreateRaysPinhole(double fov_deg,
                                          const core::Tensor &center,
                                          const core::Tensor &eye,
                                          const core::Tensor &up,
                                          int width_px,
                                          int height_px);
 
    static uint32_t INVALID_ID();
 
private:
    struct Impl;
    std::unique_ptr<Impl> impl_;
};
 
}  // namespace geometry
}  // namespace t
}  // namespace open3d