Template Class RaycasterBase

Inheritance Relationships

Derived Types

Class Documentation

template<typename IntT>
class RaycasterBase

RaycasterBase interface.

Subclassed by lvr2::BVHRaycaster< IntT >, lvr2::EmbreeRaycaster< IntT >

Public Functions

RaycasterBase(const MeshBufferPtr mesh)

Constructor: Stores mesh as member.

virtual bool castRay(const Vector3f &origin, const Vector3f &direction, IntT &intersection) = 0

Cast a single ray onto the mesh.

Parameters:

  • origin – [in] Ray origin

  • direction – [in] Ray direction

  • intersection – [out] User defined intersection output

Returns:

true Intersection found

Returns:

false Not intersection found

virtual void castRays(const Vector3f &origin, const std::vector<Vector3f> &directions, std::vector<IntT> &intersections, std::vector<uint8_t> &hits)

Cast a ray from single origin with multiple directions onto the mesh.

Parameters:

  • origin – [in] Origin of the ray

  • directions – [in] Directions of the ray

  • intersections – [out] User defined intersections output

  • hits – [out] Intersection found or not

virtual void castRays(const Vector3f &origin, const std::vector<std::vector<Vector3f>> &directions, std::vector<std::vector<IntT>> &intersections, std::vector<std::vector<uint8_t>> &hits)

Cast a ray from a single origin with multiple directions (in matrix form) onto the mesh.

Parameters:

  • origin – [in] Origin of the ray

  • directions – [in] Directions of the ray

  • intersections – [out] User defined intersections output

  • hits – [out] Intersection found or not

virtual void castRays(const std::vector<Vector3f> &origins, const std::vector<Vector3f> &directions, std::vector<IntT> &intersections, std::vector<uint8_t> &hits)

Cast from multiple ray origin/direction pairs onto the mesh.

Parameters:

  • origin – [in] Origin of the ray

  • directions – [in] Directions of the ray

  • intersections – [out] User defined intersections output

  • hits – [out] Intersection found or not

virtual void castRays(const std::vector<Vector3f> &origins, const std::vector<std::vector<Vector3f>> &directions, std::vector<std::vector<IntT>> &intersections, std::vector<std::vector<uint8_t>> &hits)

Cast rays with multiples origins. Each origin has multiples directions.

Parameters:

  • origins – [in] Origins of the rays

  • directions – [in] Directions for each origin

  • intersections – [out] Resulting intersections output

  • hits – [out] Intersection found or not