Ray Casting
ray_casting_closest_geometry.py
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
27import open3d as o3d
28import numpy as np
29import matplotlib.pyplot as plt
30import matplotlib.animation as anim
31import sys
32
33if __name__ == "__main__":
34 cube = o3d.t.geometry.TriangleMesh.from_legacy(
35 o3d.geometry.TriangleMesh.create_box().translate([-1.2, -1.2, 0]))
36 sphere = o3d.t.geometry.TriangleMesh.from_legacy(
37 o3d.geometry.TriangleMesh.create_sphere(0.5).translate([0.7, 0.8, 0]))
38
39 scene = o3d.t.geometry.RaycastingScene()
40 # Add triangle meshes and remember ids.
41 mesh_ids = {}
42 mesh_ids[scene.add_triangles(cube)] = 'cube'
43 mesh_ids[scene.add_triangles(sphere)] = 'sphere'
44
45 # Compute range.
46 xyz_range = np.linspace([-2, -2, -2], [2, 2, 2], num=64)
47 # Query_points is a [64,64,64,3] array.
48 query_points = np.stack(np.meshgrid(*xyz_range.T),
49 axis=-1).astype(np.float32)
50 closest_points = scene.compute_closest_points(query_points)
51 distance = np.linalg.norm(query_points - closest_points['points'].numpy(),
52 axis=-1)
53 rays = np.concatenate([query_points, np.ones_like(query_points)], axis=-1)
54 intersection_counts = scene.count_intersections(rays).numpy()
55 is_inside = intersection_counts % 2 == 1
56 distance[is_inside] *= -1
57 signed_distance = distance
58 closest_geometry = closest_points['geometry_ids'].numpy()
59
60 # We can visualize the slices of the distance field and closest geometry directly with matplotlib.
61 fig, axes = plt.subplots(1, 2)
62 print(
63 "Visualizing sdf and closest geometry at each point for a cube and sphere ..."
64 )
65
66 def show_slices(i=int):
67 print(f"Displaying slice no.: {i}")
68 if i >= 64:
69 sys.exit()
70 axes[0].imshow(signed_distance[:, :, i])
71 axes[1].imshow(closest_geometry[:, :, i])
72
73 animator = anim.FuncAnimation(fig, show_slices, interval=100)
74 plt.show()
ray_casting_sdf.py
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
27import open3d as o3d
28import numpy as np
29import matplotlib.pyplot as plt
30import matplotlib.animation as anim
31import sys
32
33if __name__ == "__main__":
34 # Load mesh and convert to open3d.t.geometry.TriangleMesh .
35 armadillo_data = o3d.data.ArmadilloMesh()
36 mesh = o3d.io.read_triangle_mesh(armadillo_data.path)
37 mesh = o3d.t.geometry.TriangleMesh.from_legacy(mesh)
38
39 # Create a scene and add the triangle mesh.
40 scene = o3d.t.geometry.RaycastingScene()
41 scene.add_triangles(mesh)
42
43 min_bound = mesh.vertex['positions'].min(0).numpy()
44 max_bound = mesh.vertex['positions'].max(0).numpy()
45
46 xyz_range = np.linspace(min_bound, max_bound, num=64)
47
48 # Query_points is a [64,64,64,3] array.
49 query_points = np.stack(np.meshgrid(*xyz_range.T),
50 axis=-1).astype(np.float32)
51
52 # Signed distance is a [64,64,64] array.
53 signed_distance = scene.compute_signed_distance(query_points)
54
55 # We can visualize the slices of the distance field directly with matplotlib.
56 fig = plt.figure()
57 print("Visualizing sdf at each point for the armadillo mesh ...")
58
59 def show_slices(i=int):
60 print(f"Displaying slice no.: {i}")
61 if i >= 64:
62 sys.exit()
63 plt.imshow(signed_distance.numpy()[:, :, i % 64])
64
65 animator = anim.FuncAnimation(fig, show_slices, interval=100)
66 plt.show()
ray_casting_to_image.py
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
27import open3d as o3d
28import numpy as np
29import matplotlib.pyplot as plt
30
31if __name__ == "__main__":
32 # Create meshes and convert to open3d.t.geometry.TriangleMesh .
33 cube = o3d.geometry.TriangleMesh.create_box().translate([0, 0, 0])
34 cube = o3d.t.geometry.TriangleMesh.from_legacy(cube)
35 torus = o3d.geometry.TriangleMesh.create_torus().translate([0, 0, 2])
36 torus = o3d.t.geometry.TriangleMesh.from_legacy(torus)
37 sphere = o3d.geometry.TriangleMesh.create_sphere(radius=0.5).translate(
38 [1, 2, 3])
39 sphere = o3d.t.geometry.TriangleMesh.from_legacy(sphere)
40
41 scene = o3d.t.geometry.RaycastingScene()
42 scene.add_triangles(cube)
43 scene.add_triangles(torus)
44 _ = scene.add_triangles(sphere)
45
46 rays = o3d.t.geometry.RaycastingScene.create_rays_pinhole(
47 fov_deg=90,
48 center=[0, 0, 2],
49 eye=[2, 3, 0],
50 up=[0, 1, 0],
51 width_px=640,
52 height_px=480,
53 )
54 # We can directly pass the rays tensor to the cast_rays function.
55 ans = scene.cast_rays(rays)
56 plt.imshow(ans['t_hit'].numpy())
57 plt.show()
58 plt.imshow(np.abs(ans['primitive_normals'].numpy()))
59 plt.show()
60 plt.imshow(np.abs(ans['geometry_ids'].numpy()), vmax=3)
61 plt.show()