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OpenDAS
cubvh
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b7440e4d
Commit
b7440e4d
authored
Dec 03, 2022
by
ashawkey
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update readme
parent
532a7608
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readme.md
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b7440e4d
...
@@ -28,7 +28,7 @@ BVH = cubvh.cuBVH(mesh.vertices, mesh.faces) # build with numpy.ndarray/torch.Te
...
@@ -28,7 +28,7 @@ BVH = cubvh.cuBVH(mesh.vertices, mesh.faces) # build with numpy.ndarray/torch.Te
### query ray-mesh intersection
### query ray-mesh intersection
rays_o
,
rays_d
=
get_ray
(
pose
,
intrinsics
,
H
,
W
)
# [N, 3], [N, 3], query with torch.Tensor (cuda)
rays_o
,
rays_d
=
get_ray
(
pose
,
intrinsics
,
H
,
W
)
# [N, 3], [N, 3], query with torch.Tensor (cuda)
intersections
,
face_
normals
,
depth
=
BVH
.
ray_trace
(
rays_o
,
rays_d
)
# [N, 3], [N,
3
], [N,]
intersections
,
face_
id
,
depth
=
BVH
.
ray_trace
(
rays_o
,
rays_d
)
# [N, 3], [N,], [N,]
### query unsigned distance
### query unsigned distance
points
# [N, 3]
points
# [N, 3]
...
...
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