1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
|
# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
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()
|
