Open3D (C++ API)  0.19.0
RaycastingScene.h
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1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2024 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 
17 namespace open3d {
18 namespace t {
19 namespace geometry {
20 
31 public:
33  RaycastingScene(int64_t nthreads = 0,
34  const core::Device &device = core::Device("CPU:0"));
35 
37 
43  uint32_t AddTriangles(const core::Tensor &vertex_positions,
44  const core::Tensor &triangle_indices);
45 
49  uint32_t AddTriangles(const TriangleMesh &mesh);
50 
74  std::unordered_map<std::string, core::Tensor> CastRays(
75  const core::Tensor &rays, const int nthreads = 0) const;
76 
91  const core::Tensor &rays,
92  const float tnear = 0.f,
93  const float tfar = std::numeric_limits<float>::infinity(),
94  const int nthreads = 0);
95 
107  const int nthreads = 0);
108 
133  std::unordered_map<std::string, core::Tensor> ListIntersections(
134  const core::Tensor &rays, const int nthreads = 0);
135 
154  std::unordered_map<std::string, core::Tensor> ComputeClosestPoints(
155  const core::Tensor &query_points, const int nthreads = 0);
156 
166  core::Tensor ComputeDistance(const core::Tensor &query_points,
167  const int nthreads = 0);
168 
191  core::Tensor ComputeSignedDistance(const core::Tensor &query_points,
192  const int nthreads = 0,
193  const int nsamples = 1);
194 
217  core::Tensor ComputeOccupancy(const core::Tensor &query_points,
218  const int nthreads = 0,
219  const int nsamples = 1);
220 
229  static core::Tensor CreateRaysPinhole(const core::Tensor &intrinsic_matrix,
230  const core::Tensor &extrinsic_matrix,
231  int width_px,
232  int height_px);
233 
243  static core::Tensor CreateRaysPinhole(double fov_deg,
244  const core::Tensor &center,
245  const core::Tensor &eye,
246  const core::Tensor &up,
247  int width_px,
248  int height_px);
249 
251  static uint32_t INVALID_ID();
252 
253 private:
254  struct Impl;
255  struct CPUImpl;
256 #ifdef BUILD_SYCL_MODULE
257  struct SYCLImpl;
258 #endif
259  std::unique_ptr<Impl> impl_;
260 };
261 
262 } // namespace geometry
263 } // namespace t
264 } // namespace open3d
double t
Definition: SurfaceReconstructionPoisson.cpp:172
Definition: Device.h:18
Definition: Tensor.h:32
A scene class with basic ray casting and closest point queries.
Definition: RaycastingScene.h:30
~RaycastingScene()
Definition: RaycastingScene.cpp:1226
core::Tensor ComputeDistance(const core::Tensor &query_points, const int nthreads=0)
Computes the distance to the surface of the scene.
Definition: RaycastingScene.cpp:1486
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:1349
RaycastingScene(int64_t nthreads=0, const core::Device &device=core::Device("CPU:0"))
Default Constructor.
Definition: RaycastingScene.cpp:1191
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:1623
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:1370
std::unordered_map< std::string, core::Tensor > CastRays(const core::Tensor &rays, const int nthreads=0) const
Computes the first intersection of the rays with the scene.
Definition: RaycastingScene.cpp:1315
std::unordered_map< std::string, core::Tensor > ListIntersections(const core::Tensor &rays, const int nthreads=0)
Lists the intersections of the rays with the scene.
Definition: RaycastingScene.cpp:1390
static uint32_t INVALID_ID()
The value for invalid IDs.
Definition: RaycastingScene.cpp:1721
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:1608
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:1580
uint32_t AddTriangles(const core::Tensor &vertex_positions, const core::Tensor &triangle_indices)
Add a triangle mesh to the scene.
Definition: RaycastingScene.cpp:1231
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:1456
A triangle mesh contains vertices and triangles.
Definition: TriangleMesh.h:96
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle uint32_t
Definition: K4aPlugin.cpp:548
Definition: PinholeCameraIntrinsic.cpp:16
Definition: RaycastingScene.cpp:824
Definition: RaycastingScene.cpp:358