A scene class with basic ray casting and closest point queries. More...

#include <RaycastingScene.h>

Data Structures
struct	Impl

Public Member Functions
	RaycastingScene (int64_t nthreads=0)
	Default Constructor. More...

	~RaycastingScene ()

uint32_t	AddTriangles (const core::Tensor &vertex_positions, const core::Tensor &triangle_indices)
	Add a triangle mesh to the scene. More...

uint32_t	AddTriangles (const TriangleMesh &mesh)
	Add a triangle mesh to the scene. More...

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. More...

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. More...

core::Tensor	CountIntersections (const core::Tensor &rays, const int nthreads=0)
	Computes the number of intersection of the rays with the scene. More...

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. More...

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. More...

core::Tensor	ComputeDistance (const core::Tensor &query_points, const int nthreads=0)
	Computes the distance to the surface of the scene. More...

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. More...

core::Tensor	ComputeOccupancy (const core::Tensor &query_points, const int nthreads=0, const int nsamples=1)
	Computes the occupancy at the query point positions. More...

Static Public Member Functions
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. More...

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)
	Creates rays for the given camera parameters. More...

static uint32_t	INVALID_ID ()
	The value for invalid IDs. More...

Detailed Description

A scene class with basic ray casting and closest point queries.

The RaycastingScene allows to compute ray intersections with triangle meshes or compute the closest point on the surface of a mesh with respect to one or more query points. It builds an internal acceleration structure to speed up those queries.

This class supports only the CPU device.

Constructor & Destructor Documentation

◆ RaycastingScene()

open3d::t::geometry::RaycastingScene::RaycastingScene ( int64_t nthreads = 0 )

Default Constructor.

◆ ~RaycastingScene()

open3d::t::geometry::RaycastingScene::~RaycastingScene ( )

Member Function Documentation

◆ AddTriangles() [1/2]

uint32_t open3d::t::geometry::RaycastingScene::AddTriangles	(	const core::Tensor &	vertex_positions,
		const core::Tensor &	triangle_indices
	)

Add a triangle mesh to the scene.

Parameters

vertex_positions	Vertices as Tensor of dim {N,3} and dtype float.
triangle_indices	Triangles as Tensor of dim {M,3} and dtype uint32_t.

Returns: The geometry ID of the added mesh.

◆ AddTriangles() [2/2]

uint32_t open3d::t::geometry::RaycastingScene::AddTriangles ( const TriangleMesh & mesh )

Add a triangle mesh to the scene.

Parameters

mesh	A triangle mesh.

Returns: The geometry ID of the added mesh.

◆ CastRays()

std::unordered_map< std::string, core::Tensor > open3d::t::geometry::RaycastingScene::CastRays	(	const core::Tensor &	rays,
		const int	nthreads = `0`
	)

Computes the first intersection of the rays with the scene.

Parameters

rays A tensor with >=2 dims, shape {.., 6}, and Dtype Float32 describing the rays. {..} can be any number of dimensions, e.g., to organize rays for creating an image the shape can be {height, width, 6}. The last dimension must be 6 and has the format [ox, oy, oz, dx, dy, dz] with [ox,oy,oz] as the origin and [dx,dy,dz] as the direction. It is not necessary to normalize the direction but the returned hit distance uses the length of the direction vector as unit.

nthreads The number of threads to use. Set to 0 for automatic.

Returns

The returned dictionary contains:

t_hit A tensor with the distance to the first hit. The shape is {..}. If there is no intersection the hit distance is inf .
geometry_ids A tensor with the geometry IDs. The shape is {..}. If there is no intersection the ID is INVALID_ID .
primitive_ids A tensor with the primitive IDs, which corresponds to the triangle index. The shape is {..}. If there is no intersection the ID is INVALID_ID .
primitive_uvs A tensor with the barycentric coordinates of the hit points within the hit triangles. The shape is {.., 2}.
primitive_normals A tensor with the normals of the hit triangles. The shape is {.., 3}.

◆ ComputeClosestPoints()

std::unordered_map< std::string, core::Tensor > open3d::t::geometry::RaycastingScene::ComputeClosestPoints	(	const core::Tensor &	query_points,
		const int	nthreads = `0`
	)

Computes the closest points on the surfaces of the scene.

Parameters

query_points	A tensor with >=2 dims, shape {.., 3} and Dtype Float32 describing the query points. {..} can be any number of dimensions, e.g., to organize the query_point to create a 3D grid the shape can be {depth, height, width, 3}. The last dimension must be 3 and has the format [x, y, z].
nthreads	The number of threads to use. Set to 0 for automatic.

Returns

The returned dictionary contains:

points A tensor with the closest surface points. The shape is {..}.
geometry_ids A tensor with the geometry IDs. The shape is {..}.
primitive_ids A tensor with the primitive IDs, which corresponds to the triangle index. The shape is {..}.
primitive_uvs A tensor with the barycentric coordinates of the closest points within the triangles. The shape is {.., 2}.
primitive_normals A tensor with the normals of the closest triangle . The shape is {.., 3}.

◆ ComputeDistance()

core::Tensor open3d::t::geometry::RaycastingScene::ComputeDistance	(	const core::Tensor &	query_points,
		const int	nthreads = `0`
	)

Computes the distance to the surface of the scene.

Parameters

query_points	A tensor with >=2 dims, shape {.., 3} and Dtype Float32 describing the query points. {..} can be any number of dimensions, e.g., to organize the query_point to create a 3D grid the shape can be {depth, height, width, 3}. The last dimension must be 3 and has the format [x, y, z].
nthreads	The number of threads to use. Set to 0 for automatic.

Returns: A tensor with the distances to the surface. The shape is {..}.

◆ ComputeOccupancy()

core::Tensor open3d::t::geometry::RaycastingScene::ComputeOccupancy	(	const core::Tensor &	query_points,
		const int	nthreads = `0`,
		const int	nsamples = `1`
	)

Computes the occupancy at the query point positions.

This function computes whether the query points are inside or outside. The function assumes that all meshes are watertight and that there are no intersections between meshes, i.e., inside and outside must be well defined. The function determines if a point is inside by counting the intersections of a rays starting at the query points.

Parameters

query_points	A tensor with >=2 dims, shape {.., 3} and Dtype Float32 describing the query_points. {..} can be any number of dimensions, e.g., to organize the query_point to create a 3D grid the shape can be {depth, height, width, 3}. The last dimension must be 3 and has the format [x, y, z].
nthreads	The number of threads to use. Set to 0 for automatic.
nsamples	The number of rays used for determining the inside. This must be an odd number. The default is 1. Use a higher value if you notice errors in the occupancy values. Errors can occur when rays hit exactly an edge or vertex in the scene.

Returns: A tensor with the occupancy values. The shape is {..}. Values are either 0 or 1. A point is occupied or inside if the value is 1.

◆ ComputeSignedDistance()

core::Tensor open3d::t::geometry::RaycastingScene::ComputeSignedDistance	(	const core::Tensor &	query_points,
		const int	nthreads = `0`,
		const int	nsamples = `1`
	)

Computes the signed distance to the surface of the scene.

This function computes the signed distance to the meshes in the scene. The function assumes that all meshes are watertight and that there are no intersections between meshes, i.e., inside and outside must be well defined. The function determines the sign of the distance by counting the intersections of a rays starting at the query points.

Parameters

query_points	A tensor with >=2 dims, shape {.., 3} and Dtype Float32 describing the query points. {..} can be any number of dimensions, e.g., to organize the query_point to create a 3D grid the shape can be {depth, height, width, 3}. The last dimension must be 3 and has the format [x, y, z].
nthreads	The number of threads to use. Set to 0 for automatic.
nsamples	The number of rays used for determining the inside. This must be an odd number. The default is 1. Use a higher value if you notice sign flipping, which can occur when rays hit exactly an edge or vertex in the scene.

Returns: A tensor with the signed distances to the surface. The shape is {..}. Negative distances mean a point is inside a closed surface.

◆ CountIntersections()

core::Tensor open3d::t::geometry::RaycastingScene::CountIntersections	(	const core::Tensor &	rays,
		const int	nthreads = `0`
	)

Computes the number of intersection of the rays with the scene.

Parameters

rays	A tensor with >=2 dims, shape {.., 6}, and Dtype Float32 describing the rays. {..} can be any number of dimensions, e.g., to organize rays for creating an image the shape can be {height, width, 6}. The last dimension must be 6 and has the format [ox, oy, oz, dx, dy, dz] with [ox,oy,oz] as the origin and [dx,dy,dz] as the direction. It is not necessary to normalize the direction.
nthreads	The number of threads to use. Set to 0 for automatic.

Returns: A tensor with the number of intersections. The shape is {..}.

◆ CreateRaysPinhole() [1/2]

core::Tensor open3d::t::geometry::RaycastingScene::CreateRaysPinhole	(	const core::Tensor &	intrinsic_matrix,
		const core::Tensor &	extrinsic_matrix,
		int	width_px,
		int	height_px
	)

static

Creates rays for the given camera parameters.

Parameters

intrinsic_matrix	The upper triangular intrinsic matrix with shape {3,3}.
extrinsic_matrix	The 4x4 world to camera SE(3) transformation matrix.
width_px	The width of the image in pixels.
height_px	The height of the image in pixels.

Returns: A tensor of shape {height_px, width_px, 6} with the rays.

◆ CreateRaysPinhole() [2/2]

core::Tensor open3d::t::geometry::RaycastingScene::CreateRaysPinhole	(	double	fov_deg,
		const core::Tensor &	center,
		const core::Tensor &	eye,
		const core::Tensor &	up,
		int	width_px,
		int	height_px
	)

static

Creates rays for the given camera parameters.

Parameters

fov_deg	The horizontal field of view in degree.
center	The point the camera is looking at with shape {3}.
eye	The position of the camera with shape {3}.
up	The up-vector with shape {3}.
width_px	The width of the image in pixels.
height_px	The height of the image in pixels.

Returns: A tensor of shape {height_px, width_px, 6} with the rays.

◆ INVALID_ID()

uint32_t open3d::t::geometry::RaycastingScene::INVALID_ID ( )

static

The value for invalid IDs.

◆ ListIntersections()

std::unordered_map< std::string, core::Tensor > open3d::t::geometry::RaycastingScene::ListIntersections	(	const core::Tensor &	rays,
		const int	nthreads = `0`
	)

Lists the intersections of the rays with the scene.

Parameters

rays	A tensor with >=2 dims, shape {.., 6}, and Dtype Float32 describing the rays; {..} can be any number of dimensions. The last dimension must be 6 and has the format [ox, oy, oz, dx, dy, dz] with [ox,oy,oz] as the origin and [dx,dy,dz] as the direction. It is not necessary to normalize the direction although it should be normalised if t_hit is to be calculated in coordinate units.
nthreads	The number of threads to use. Set to 0 for automatic.

Returns

The returned dictionary contains: ///

ray_splits A tensor with ray intersection splits. Can be used to iterate over all intersections for each ray. The shape is {num_rays + 1}.
ray_ids A tensor with ray IDs. The shape is {num_intersections}.
t_hit A tensor with the distance to the hit. The shape is {num_intersections}.
geometry_ids A tensor with the geometry IDs. The shape is {num_intersections}.
primitive_ids A tensor with the primitive IDs, which corresponds to the triangle index. The shape is {num_intersections}.
primitive_uvs A tensor with the barycentric coordinates of the intersection points within the triangles. The shape is {num_intersections, 2}.

◆ TestOcclusions()

core::Tensor open3d::t::geometry::RaycastingScene::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.

Parameters

rays	A tensor with >=2 dims, shape {.., 6}, and Dtype Float32 describing the rays. {..} can be any number of dimensions, e.g., to organize rays for creating an image the shape can be {height, width, 6}. The last dimension must be 6 and has the format [ox, oy, oz, dx, dy, dz] with [ox,oy,oz] as the origin and [dx,dy,dz] as the direction. It is not necessary to normalize the direction.
tnear	The tnear offset for the rays. The default is 0.
tfar	The tfar value for the ray. The default is infinity.
nthreads	The number of threads to use. Set to 0 for automatic.

Returns: A boolean tensor which indicates if the ray is occluded by the scene (true) or not (false).

The documentation for this class was generated from the following files:

/home/runner/work/Open3D/Open3D/cpp/open3d/t/geometry/RaycastingScene.h (b9e049c (Sun Dec 31 11:36:26 2023 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/t/geometry/RaycastingScene.cpp (b9e049c (Sun Dec 31 11:36:26 2023 -0800))

Data Structures

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RaycastingScene()

◆ ~RaycastingScene()

Member Function Documentation

◆ AddTriangles() [1/2]

◆ AddTriangles() [2/2]

◆ CastRays()

◆ ComputeClosestPoints()

◆ ComputeDistance()

◆ ComputeOccupancy()

◆ ComputeSignedDistance()

◆ CountIntersections()

◆ CreateRaysPinhole() [1/2]

◆ CreateRaysPinhole() [2/2]

◆ INVALID_ID()

◆ ListIntersections()

◆ TestOcclusions()