Open3D (C++ API)  0.15.1
RaycastingScene.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// The MIT License (MIT)
5//
6// Copyright (c) 2018-2021 www.open3d.org
7//
8// Permission is hereby granted, free of charge, to any person obtaining a copy
9// of this software and associated documentation files (the "Software"), to deal
10// in the Software without restriction, including without limitation the rights
11// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12// copies of the Software, and to permit persons to whom the Software is
13// furnished to do so, subject to the following conditions:
14//
15// The above copyright notice and this permission notice shall be included in
16// all copies or substantial portions of the Software.
17//
18// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24// IN THE SOFTWARE.
25// ----------------------------------------------------------------------------
26
27#pragma once
28
29#include <memory>
30
31#include "open3d/Macro.h"
32#include "open3d/core/Tensor.h"
35
36namespace open3d {
37namespace t {
38namespace geometry {
39
50public:
53
55
60 uint32_t AddTriangles(const core::Tensor &vertex_positions,
61 const core::Tensor &triangle_indices);
62
67
91 std::unordered_map<std::string, core::Tensor> CastRays(
92 const core::Tensor &rays, const int nthreads = 0);
93
108 const core::Tensor &rays,
109 const float tnear = 0.f,
110 const float tfar = std::numeric_limits<float>::infinity(),
111 const int nthreads = 0);
112
124 const int nthreads = 0);
125
140 std::unordered_map<std::string, core::Tensor> ComputeClosestPoints(
141 const core::Tensor &query_points, const int nthreads = 0);
142
152 core::Tensor ComputeDistance(const core::Tensor &query_points,
153 const int nthreads = 0);
154
173 const int nthreads = 0);
174
192 core::Tensor ComputeOccupancy(const core::Tensor &query_points,
193 const int nthreads = 0);
194
203 static core::Tensor CreateRaysPinhole(const core::Tensor &intrinsic_matrix,
204 const core::Tensor &extrinsic_matrix,
205 int width_px,
206 int height_px);
207
217 static core::Tensor CreateRaysPinhole(double fov_deg,
218 const core::Tensor &center,
219 const core::Tensor &eye,
220 const core::Tensor &up,
221 int width_px,
222 int height_px);
223
225 static uint32_t INVALID_ID();
226
227private:
228 struct Impl;
229 std::unique_ptr<Impl> impl_;
230};
231
232} // namespace geometry
233} // namespace t
234} // namespace open3d
Definition: Tensor.h:51
A scene class with basic ray casting and closest point queries.
Definition: RaycastingScene.h:49
~RaycastingScene()
Definition: RaycastingScene.cpp:485
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:548
core::Tensor ComputeDistance(const core::Tensor &query_points, const int nthreads=0)
Computes the distance to the surface of the scene.
Definition: RaycastingScene.cpp:643
core::Tensor ComputeSignedDistance(const core::Tensor &query_points, const int nthreads=0)
Computes the signed distance to the surface of the scene.
Definition: RaycastingScene.cpp:667
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:578
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:723
core::Tensor ComputeOccupancy(const core::Tensor &query_points, const int nthreads=0)
Computes the occupancy at the query point positions.
Definition: RaycastingScene.cpp:698
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:599
static uint32_t INVALID_ID()
The value for invalid IDs.
Definition: RaycastingScene.cpp:821
uint32_t AddTriangles(const core::Tensor &vertex_positions, const core::Tensor &triangle_indices)
Add a triangle mesh to the scene.
Definition: RaycastingScene.cpp:490
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:618
RaycastingScene()
Default Constructor.
Definition: RaycastingScene.cpp:472
A triangle mesh contains vertices and triangles.
Definition: TriangleMesh.h:106
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:567
Definition: PinholeCameraIntrinsic.cpp:35
Definition: RaycastingScene.cpp:199