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|
From: =?utf-8?q?Timo_R=C3=B6hling?= <roehling@debian.org>
Date: Tue, 14 Dec 2021 21:07:08 +0100
Subject: Add option WITH_EMBREE
Forwarded: not-needed
---
3rdparty/find_dependencies.cmake | 2 ++
CMakeLists.txt | 1 +
cpp/open3d/t/geometry/CMakeLists.txt | 2 +-
cpp/open3d/t/geometry/TriangleMesh.cpp | 16 ++++++++++++++++
cpp/pybind/t/geometry/CMakeLists.txt | 5 ++++-
cpp/pybind/t/geometry/geometry.cpp | 4 ++++
cpp/pybind/t/geometry/geometry.h | 2 ++
7 files changed, 30 insertions(+), 2 deletions(-)
diff --git a/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake
index 8b88f4c..91fe59c 100644
--- a/3rdparty/find_dependencies.cmake
+++ b/3rdparty/find_dependencies.cmake
@@ -1894,6 +1894,7 @@ if (BUILD_CUDA_MODULE)
endif ()
# embree
+if(WITH_EMBREE)
if(USE_SYSTEM_EMBREE)
open3d_find_package_3rdparty_library(3rdparty_embree
PACKAGE embree
@@ -1914,6 +1915,7 @@ if(NOT USE_SYSTEM_EMBREE)
)
endif()
list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_CUSTOM Open3D::3rdparty_embree)
+endif()
# WebRTC
if(BUILD_WEBRTC)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 354125d..55e7202 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -132,6 +132,7 @@ endif()
option(PREFER_OSX_HOMEBREW "Prefer Homebrew libs over frameworks" ON )
option(WITH_MINIZIP "Enable MiniZIP" OFF)
+option(WITH_EMBREE "Enable Embree" OFF)
# Sensor options
option(BUILD_LIBREALSENSE "Build support for Intel RealSense camera" OFF)
diff --git a/cpp/open3d/t/geometry/CMakeLists.txt b/cpp/open3d/t/geometry/CMakeLists.txt
index e345c81..b461f47 100644
--- a/cpp/open3d/t/geometry/CMakeLists.txt
+++ b/cpp/open3d/t/geometry/CMakeLists.txt
@@ -19,7 +19,7 @@ if (BUILD_SYCL_MODULE)
open3d_sycl_target_sources(tgeometry PRIVATE
RaycastingScene.cpp
)
-else()
+elseif(WITH_EMBREE)
target_sources(tgeometry PRIVATE
RaycastingScene.cpp
)
diff --git a/cpp/open3d/t/geometry/TriangleMesh.cpp b/cpp/open3d/t/geometry/TriangleMesh.cpp
index 938f733..53f7df2 100644
--- a/cpp/open3d/t/geometry/TriangleMesh.cpp
+++ b/cpp/open3d/t/geometry/TriangleMesh.cpp
@@ -43,7 +43,9 @@
#include "open3d/core/nns/NearestNeighborSearch.h"
#include "open3d/t/geometry/LineSet.h"
#include "open3d/t/geometry/PointCloud.h"
+#ifdef WITH_EMBREE
#include "open3d/t/geometry/RaycastingScene.h"
+#endif
#include "open3d/t/geometry/VtkUtils.h"
#include "open3d/t/geometry/kernel/IPPImage.h"
#include "open3d/t/geometry/kernel/Metrics.h"
@@ -874,6 +876,7 @@ void ComputePrimitiveInfoTexture(int size,
core::Tensor &primitive_uvs,
core::Tensor &sqrdistance,
const core::Tensor &texture_uvs) {
+#ifdef WITH_EMBREE
const int64_t num_triangles = texture_uvs.GetLength();
// Generate vertices for each triangle using (u,v,0) as position.
@@ -925,6 +928,9 @@ void ComputePrimitiveInfoTexture(int size,
(closest_points_map - query_points_map).colwise().squaredNorm();
primitive_ids = ans["primitive_ids"];
primitive_uvs = ans["primitive_uvs"];
+#else
+ utility::LogError("ComputePrimitiveInfoTexture unsupported without Embree");
+#endif
}
void UpdateMaterialTextures(
std::unordered_map<std::string, core::Tensor> &textures,
@@ -1447,6 +1453,7 @@ Image TriangleMesh::ProjectImagesToAlbedo(
const std::vector<core::Tensor> &extrinsic_matrices,
int tex_size /*=1024*/,
bool update_material /*=true*/) {
+#ifdef WITH_EMBREE
if (!GetDevice().IsCPU() || !Image::HAVE_IPP) {
utility::LogError(
"ProjectImagesToAlbedo is only supported on x86_64 CPU "
@@ -1624,6 +1631,10 @@ Image TriangleMesh::ProjectImagesToAlbedo(
GetMaterial().SetAlbedoMap(albedo_texture);
}
return albedo_texture;
+#else
+ utility::LogError("ProjectImagesToAlbedo unsupported without Embree");
+ return Image();
+#endif
}
namespace {
@@ -1863,6 +1874,7 @@ PointCloud TriangleMesh::SamplePointsUniformly(
core::Tensor TriangleMesh::ComputeMetrics(const TriangleMesh &mesh2,
std::vector<Metric> metrics,
MetricParameters params) const {
+#if HAVE_EMBREE
if (IsEmpty() || mesh2.IsEmpty()) {
utility::LogError("One or both input triangle meshes are empty!");
}
@@ -1888,6 +1900,10 @@ core::Tensor TriangleMesh::ComputeMetrics(const TriangleMesh &mesh2,
core::Tensor distance12 = scene2.ComputeDistance(points1);
return ComputeMetricsCommon(distance12, distance21, metrics, params);
+#else
+ utility::LogError("ComputeMetrics is unsupported without Embree");
+ return core::Tensor();
+#endif
}
} // namespace geometry
diff --git a/cpp/pybind/t/geometry/CMakeLists.txt b/cpp/pybind/t/geometry/CMakeLists.txt
index acc0339..0b60899 100644
--- a/cpp/pybind/t/geometry/CMakeLists.txt
+++ b/cpp/pybind/t/geometry/CMakeLists.txt
@@ -5,8 +5,11 @@ target_sources(pybind PRIVATE
lineset.cpp
pointcloud.cpp
boundingvolume.cpp
- raycasting_scene.cpp
tensormap.cpp
trianglemesh.cpp
voxel_block_grid.cpp
)
+if(WITH_EMBREE)
+ target_compile_definitions(pybind PRIVATE WITH_EMBREE=1)
+ target_sources(pybind PRIVATE raycasting_scene.cpp)
+endif()
diff --git a/cpp/pybind/t/geometry/geometry.cpp b/cpp/pybind/t/geometry/geometry.cpp
index f6c5712..ce7358c 100644
--- a/cpp/pybind/t/geometry/geometry.cpp
+++ b/cpp/pybind/t/geometry/geometry.cpp
@@ -71,7 +71,9 @@ void pybind_geometry_declarations(py::module& m) {
pybind_image_declarations(m_geometry);
pybind_boundingvolume_declarations(m_geometry);
pybind_voxel_block_grid_declarations(m_geometry);
+#ifdef WITH_EMBREE
pybind_raycasting_scene_declarations(m_geometry);
+#endif
}
void pybind_geometry_definitions(py::module& m) {
@@ -120,7 +122,9 @@ void pybind_geometry_definitions(py::module& m) {
pybind_image_definitions(m_geometry);
pybind_boundingvolume_definitions(m_geometry);
pybind_voxel_block_grid_definitions(m_geometry);
+#ifdef WITH_EMBREE
pybind_raycasting_scene_definitions(m_geometry);
+#endif
}
} // namespace geometry
diff --git a/cpp/pybind/t/geometry/geometry.h b/cpp/pybind/t/geometry/geometry.h
index 1776a28..1a0b07f 100644
--- a/cpp/pybind/t/geometry/geometry.h
+++ b/cpp/pybind/t/geometry/geometry.h
@@ -56,7 +56,9 @@ void pybind_trianglemesh_definitions(py::module& m);
void pybind_image_definitions(py::module& m);
void pybind_boundingvolume_definitions(py::module& m);
void pybind_voxel_block_grid_definitions(py::module& m);
+#ifdef WITH_EMBREE
void pybind_raycasting_scene_definitions(py::module& m);
+#endif
} // namespace geometry
} // namespace t
|
