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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt
if __name__ == "__main__":
# Create meshes and convert to open3d.t.geometry.TriangleMesh .
cube = o3d.geometry.TriangleMesh.create_box().translate([0, 0, 0])
cube = o3d.t.geometry.TriangleMesh.from_legacy(cube)
torus = o3d.geometry.TriangleMesh.create_torus().translate([0, 0, 2])
torus = o3d.t.geometry.TriangleMesh.from_legacy(torus)
sphere = o3d.geometry.TriangleMesh.create_sphere(radius=0.5).translate(
[1, 2, 3])
sphere = o3d.t.geometry.TriangleMesh.from_legacy(sphere)
scene = o3d.t.geometry.RaycastingScene()
scene.add_triangles(cube)
scene.add_triangles(torus)
_ = scene.add_triangles(sphere)
rays = o3d.t.geometry.RaycastingScene.create_rays_pinhole(
fov_deg=90,
center=[0, 0, 2],
eye=[2, 3, 0],
up=[0, 1, 0],
width_px=640,
height_px=480,
)
# We can directly pass the rays tensor to the cast_rays function.
ans = scene.cast_rays(rays)
plt.imshow(ans['t_hit'].numpy())
plt.show()
plt.imshow(np.abs(ans['primitive_normals'].numpy()))
plt.show()
plt.imshow(np.abs(ans['geometry_ids'].numpy()), vmax=3)
plt.show()
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