Embree Target Shape for planetary bodies. More...

#include <EmbreeTargetShape.h>

Collaboration diagram for Isis::EmbreeTargetShape:

Classes
struct	Triangle
	Container for a tin, or triangular polygon. More...

struct	Vertex
	Container for a vertex. More...

Public Member Functions
	EmbreeTargetShape ()
	Default empty constructor.

	EmbreeTargetShape (pcl::PolygonMesh::Ptr mesh, const QString &name="")
	Constructs an EmbreeTargetShape from a PointCloudLibrary polygon mesh.

	EmbreeTargetShape (const QString &dem, const Pvl *conf=0)
	Constructs an EmbreeTargetShape from a file.

virtual	~EmbreeTargetShape ()
	Desctructor.

QString	name () const
	Return the name of the target shape.

bool	isValid () const
	Return if a valid mesh is internalized and ready for use.

int	numberOfPolygons () const
	Return the number of polygons in the target shape.

int	numberOfVertices () const
	Return the number of vertices in the target shape.

RTCBounds	sceneBounds () const
	Returns the bounds of the Embree scene.

double	maximumSceneDistance () const
	Return the maximum distance within the scene.

void	intersectRay (RTCMultiHitRay &ray)
	Intersect a ray with the target shape.

bool	isOccluded (RTCOcclusionRay &ray)
	Check if a ray intersects the target body.

RayHitInformation	getHitInformation (RTCMultiHitRay &ray, int hitIndex)
	Extract the intersection point and unit surface normal from an RTCMultiHitRay that has been intersected with the target shape.

Static Public Member Functions
static void	multiHitFilter (const RTCFilterFunctionNArguments *args)
	Filter function for collecting multiple hits during ray intersection.

static void	occlusionFilter (const RTCFilterFunctionNArguments *args)
	Filter function for collecting multiple primitiveIDs This function is called by the Embree library during ray tracing.

Protected Member Functions
pcl::PolygonMesh::Ptr	readDSK (FileName file)
	Read a NAIF type 2 DSK file into a PointCloudLibrary polygon mesh.

pcl::PolygonMesh::Ptr	readPC (FileName file)
	Read a PointCloudLibrary file into a PointCloudLibrary polygon mesh.

void	initMesh (pcl::PolygonMesh::Ptr mesh)
	Internalize a PointCloudLibrary polygon mesh in the target shape.

void	addVertices (int geomID)
	Adds the vertices from the internalized vertex point cloud to the Embree scene.

void	addIndices (int geomID)
	Adds the polygon vertex indices from the internalized polygon mesh to the Embree scene.

Private Attributes
QString	m_name

pcl::PolygonMesh::Ptr	m_mesh
	!< The name of the target.

pcl::PointCloud< pcl::PointXYZ >	m_cloud
	!< A boost shared pointer to the polygon mesh representation of the target.

RTCDevice	m_device
	!< The point cloud representation of the target.

RTCScene	m_scene
	!< The Embree device for rendering the scene.

Detailed Description

Embree Target Shape for planetary bodies.

This class holds the Embree representation of a target body. All vectors are expected to be in the body-fixed reference frame for the target and all positions are expected to be in kilometers.

Author: 2017-05-11 Jeannie Backer & Jesse Mapel

History: 2017-05-11 Jeannie Backer & Jesse Mapel - Original Version

Definition at line 139 of file EmbreeTargetShape.h.

Constructor & Destructor Documentation

◆ EmbreeTargetShape() [1/3]

Isis::EmbreeTargetShape::EmbreeTargetShape ( )

Default empty constructor.

The filename defaults to an empty string and the file handle defaults to 0. Counts default to 0 and the cache size defaults to 0.

Definition at line 225 of file EmbreeTargetShape.cpp.

References m_scene.

◆ EmbreeTargetShape() [2/3]

Isis::EmbreeTargetShape::EmbreeTargetShape	(	pcl::PolygonMesh::Ptr	mesh,
		const QString &	name = "" )

Constructs an EmbreeTargetShape from a PointCloudLibrary polygon mesh.

Parameters

mesh	The polygon mesh to construct the scene from.
name	The name of the target being represented.

Definition at line 242 of file EmbreeTargetShape.cpp.

References initMesh(), and m_scene.

◆ EmbreeTargetShape() [3/3]

Isis::EmbreeTargetShape::EmbreeTargetShape	(	const QString &	dem,
		const Pvl *	conf = 0 )

Constructs an EmbreeTargetShape from a file.

Parameters

dem	The file to construct the target shape from. The file type is determined based on the file extension.
conf	Pvl containing configuration settings for the target shape. Currently unused.

Exceptions

IException::Io

Definition at line 264 of file EmbreeTargetShape.cpp.

References initMesh(), Isis::IException::Io, m_scene, readDSK(), and readPC().

◆ ~EmbreeTargetShape()

Isis::EmbreeTargetShape::~EmbreeTargetShape ( )

virtual

Desctructor.

The PointCloudLibrary objects are automatically cleaned up, but the Embree scene and device must be manually cleaned up.

Definition at line 552 of file EmbreeTargetShape.cpp.

References m_device, and m_scene.

Member Function Documentation

◆ addIndices()

void Isis::EmbreeTargetShape::addIndices ( int geomID )

protected

Adds the polygon vertex indices from the internalized polygon mesh to the Embree scene.

Parameters

geomID The Embree geometry ID of the Embree geometry that the indices will be stored in.

See also: EmbreeTargetShape::initMesh

Definition at line 532 of file EmbreeTargetShape.cpp.

◆ addVertices()

void Isis::EmbreeTargetShape::addVertices ( int geomID )

protected

Adds the vertices from the internalized vertex point cloud to the Embree scene.

Parameters

geomID The Embree geometry ID of the Embree geometry that the vertices will be stored in.

See also: EmbreeTargetShape::initMesh

Definition at line 507 of file EmbreeTargetShape.cpp.

◆ getHitInformation()

RayHitInformation Isis::EmbreeTargetShape::getHitInformation	(	RTCMultiHitRay &	ray,
		int	hitIndex )

Extract the intersection point and unit surface normal from an RTCMultiHitRay that has been intersected with the target shape.

This method performs two calculations. First, it converts the intersection point from barycentric coordinates relative to the intersected polygon to the body-fixed (x, y, z) coordinates. Second, it computes the unit normal vector of the intersected polygon. The polygon vertices are assumed to be ordered counter-clockwise about the exterior surface normal as they are in NAIF type 2 DSK files.

Parameters

ray	The ray to extract intersection information from.
hitIndex	The index of the intersection to extract.

Returns: RayHitInformation The body-fixed intersection coordinate in kilometers and the unit surface normal at the intersection.

Exceptions

IException::Programmer

Definition at line 708 of file EmbreeTargetShape.cpp.

References m_cloud, m_mesh, Isis::LinearAlgebra::normalize(), Isis::IException::Programmer, and Isis::toString().

Referenced by Isis::EmbreeShapeModel::intersectSurface(), Isis::EmbreeShapeModel::isVisibleFrom(), Isis::EmbreeShapeModel::localRadius(), and Isis::EmbreeShapeModel::sortHits().

◆ initMesh()

void Isis::EmbreeTargetShape::initMesh ( pcl::PolygonMesh::Ptr mesh )

protected

Internalize a PointCloudLibrary polygon mesh in the target shape.

The mesh itself is stored along with a duplicate of the vertex point cloud because the point cloud stored in the polygon mesh cannot be read without Robot Operating System routines. The mesh is loaded into the internal Embree scene and the scene is commited. Any changes made to the Embree scene after this method is called will not take effect until embree::rtcCommit is called again.

Note: This method is NOT reentrant. Calling this again with a new mesh will remove the PointCloudLibrary representation of the old mesh but the Embree scene will contain all previous meshes along with the new mesh. Use embree::rtcDeleteGeometry to remove an old mesh from the scene.

Parameters

mesh	The mesh to be internalized.

Definition at line 450 of file EmbreeTargetShape.cpp.

References isValid(), m_cloud, m_device, m_mesh, m_scene, multiHitFilter(), numberOfPolygons(), numberOfVertices(), occlusionFilter(), Isis::EmbreeTargetShape::Triangle::v0, Isis::EmbreeTargetShape::Vertex::x, Isis::EmbreeTargetShape::Vertex::y, and Isis::EmbreeTargetShape::Vertex::z.

Referenced by EmbreeTargetShape(), and EmbreeTargetShape().

◆ intersectRay()

void Isis::EmbreeTargetShape::intersectRay ( RTCMultiHitRay & ray )

Intersect a ray with the target shape.

After calling, up to 16 intersections will be stored within the RTCMultiHitRay. The intersection information will be stored in the following arrays:

hitGeomIDs: The Embree Geometry ID of the intersected geometry
hitPrimIDs: The index of the intersected polygon
hitUs: The Barycentric u coordinate of the intersection relative to the intersected polygon
hitVs: The Barycentric V coordinate of the intersection relative to the intersected polygon

The index of the last intersection is stored in lastHit.

Note: The intersection information is stored in the order that Embree finds them. This is not necessarily their order along the ray. Only the first intersection is guaranteed to be in the correct order. Other intersections may be swapped with the next, or previous, intersection relative to their order along the ray.

Parameters

[in,out] ray The ray to intersect with the scene. After calling, The intersection information will be stored in the ray.

See also: embree::rtcIntersect

Definition at line 658 of file EmbreeTargetShape.cpp.

References isValid(), and m_scene.

Referenced by Isis::EmbreeShapeModel::intersectSurface(), Isis::EmbreeShapeModel::intersectSurface(), Isis::EmbreeShapeModel::intersectSurface(), Isis::EmbreeShapeModel::isVisibleFrom(), and Isis::EmbreeShapeModel::localRadius().

◆ isOccluded()

bool Isis::EmbreeTargetShape::isOccluded ( RTCOcclusionRay & ray )

Check if a ray intersects the target body.

Returns: bool If the ray intersects anything.

See also: embree::rtcOccluded

Definition at line 675 of file EmbreeTargetShape.cpp.

References m_scene.

Referenced by Isis::EmbreeShapeModel::intersectSurface(), and Isis::EmbreeShapeModel::intersectSurface().

◆ isValid()

bool Isis::EmbreeTargetShape::isValid ( ) const

Return if a valid mesh is internalized and ready for use.

Returns: bool If a mesh is internalized and the Embree scene is ready.

Definition at line 765 of file EmbreeTargetShape.cpp.

References m_mesh.

Referenced by initMesh(), intersectRay(), numberOfPolygons(), numberOfVertices(), and sceneBounds().

◆ maximumSceneDistance()

double Isis::EmbreeTargetShape::maximumSceneDistance ( ) const

Return the maximum distance within the scene.

This is computed as the length of the diagonal from once corner of the scene to the opposite.

Returns: double The maximum distance within the Embree scene in kilometers.

Definition at line 619 of file EmbreeTargetShape.cpp.

References Isis::LinearAlgebra::magnitude(), and sceneBounds().

Referenced by Isis::EmbreeShapeModel::latlonToRay().

◆ multiHitFilter()

void Isis::EmbreeTargetShape::multiHitFilter ( const RTCFilterFunctionNArguments * args )

static

Filter function for collecting multiple hits during ray intersection.

This function is called by the Embree library during ray tracing. Each time an intersection is found, this method is called.

Parameters

[in]	userDataPtr	Data pointer from the geometry hit. Not used.
[in,out]	ray	The ray being traced. Information about the intersection will be stored in the ray.

Definition at line 779 of file EmbreeTargetShape.cpp.

Referenced by initMesh().

◆ name()

QString Isis::EmbreeTargetShape::name ( ) const

Return the name of the target shape.

Returns: QString The name of the target.

Definition at line 755 of file EmbreeTargetShape.cpp.

◆ numberOfPolygons()

int Isis::EmbreeTargetShape::numberOfPolygons ( ) const

Return the number of polygons in the target shape.

Returns: int The number of polygons in the polygon mesh representation of the target.

Definition at line 564 of file EmbreeTargetShape.cpp.

References isValid(), and m_mesh.

Referenced by initMesh().

◆ numberOfVertices()

int Isis::EmbreeTargetShape::numberOfVertices ( ) const

Return the number of vertices in the target shape.

Returns: int The number of vertices in the polygon mesh representation of the target.

Definition at line 578 of file EmbreeTargetShape.cpp.

References isValid(), and m_mesh.

Referenced by initMesh().

◆ occlusionFilter()

void Isis::EmbreeTargetShape::occlusionFilter ( const RTCFilterFunctionNArguments * args )

static

Filter function for collecting multiple primitiveIDs This function is called by the Embree library during ray tracing.

Each time an intersection is found, this method is called.

Parameters

[in]	userDataPtr	Data pointer from the geometry hit. Not used.
[in,out]	ray	The ray being traced. Information about the intersection will be stored in the ray.

Definition at line 818 of file EmbreeTargetShape.cpp.

Referenced by initMesh().

◆ readDSK()

pcl::PolygonMesh::Ptr Isis::EmbreeTargetShape::readDSK ( FileName file )

protected

Read a NAIF type 2 DSK file into a PointCloudLibrary polygon mesh.

The vertex and plate ordering in the DSK file is maintained in the polygon mesh.

Parameters

file	The DSK file to load.

Returns: pcl::PolygonMesh::Ptr A boost shared pointer to the mesh.

Exceptions

IException::User
IException::Io

NAIF DSK parameter setup

< The DAS file handle of the DSK file.

< The DLA descriptor of the DSK segment representing the target surface.

< The DSK descriptor.

< Number of Plates in the model.

< Number of vertices in the model.

Definition at line 311 of file EmbreeTargetShape.cpp.

References Isis::NaifStatus::CheckErrors(), Isis::IException::Io, Isis::toString(), and Isis::IException::User.

Referenced by EmbreeTargetShape().

◆ readPC()

pcl::PolygonMesh::Ptr Isis::EmbreeTargetShape::readPC ( FileName file )

protected

Read a PointCloudLibrary file into a PointCloudLibrary polygon mesh.

Parameters

file	The PointCloudLibrary file to load.

Returns: pcl::PolygonMesh::Ptr A boost shared pointer to the mesh.

Exceptions

IException::Io

Definition at line 421 of file EmbreeTargetShape.cpp.

References Isis::IException::Io.

Referenced by EmbreeTargetShape().

◆ sceneBounds()

RTCBounds Isis::EmbreeTargetShape::sceneBounds ( ) const

Returns the bounds of the Embree scene.

If the scene has not been initialized, then all bounds are returned as 0.0.

Returns: RTCBounds Struct containing the upper and lower bounds on each dimension of the scene. Bounds are stored as floats in lower_x, upper_x, lower_y, upper_y, lower_z, and upper_z.

Definition at line 596 of file EmbreeTargetShape.cpp.

References isValid(), m_scene, and sceneBounds().

Referenced by maximumSceneDistance(), and sceneBounds().

Member Data Documentation

◆ m_cloud

pcl::PointCloud<pcl::PointXYZ> Isis::EmbreeTargetShape::m_cloud

private

!< A boost shared pointer to the polygon mesh representation of the target.

Definition at line 203 of file EmbreeTargetShape.h.

Referenced by getHitInformation(), and initMesh().

◆ m_device

RTCDevice Isis::EmbreeTargetShape::m_device

private

!< The point cloud representation of the target.

This is also stored in the polygon mesh, but cannot be accessed, so it is duplicated here.

Definition at line 208 of file EmbreeTargetShape.h.

Referenced by initMesh(), and ~EmbreeTargetShape().

◆ m_mesh

pcl::PolygonMesh::Ptr Isis::EmbreeTargetShape::m_mesh

private

!< The name of the target.

Definition at line 200 of file EmbreeTargetShape.h.

Referenced by getHitInformation(), initMesh(), isValid(), numberOfPolygons(), and numberOfVertices().

◆ m_name

QString Isis::EmbreeTargetShape::m_name

private

Definition at line 199 of file EmbreeTargetShape.h.

◆ m_scene

RTCScene Isis::EmbreeTargetShape::m_scene

private

!< The Embree device for rendering the scene.

Definition at line 210 of file EmbreeTargetShape.h.

Referenced by EmbreeTargetShape(), EmbreeTargetShape(), EmbreeTargetShape(), initMesh(), intersectRay(), isOccluded(), sceneBounds(), and ~EmbreeTargetShape().

The documentation for this class was generated from the following files:

src/base/objs/EmbreeTargetShape/EmbreeTargetShape.h
src/base/objs/EmbreeTargetShape/EmbreeTargetShape.cpp

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EmbreeTargetShape() [1/3]

◆ EmbreeTargetShape() [2/3]

◆ EmbreeTargetShape() [3/3]

◆ ~EmbreeTargetShape()

Member Function Documentation

◆ addIndices()

◆ addVertices()

◆ getHitInformation()

◆ initMesh()

◆ intersectRay()

◆ isOccluded()

◆ isValid()

◆ maximumSceneDistance()

◆ multiHitFilter()

◆ name()

◆ numberOfPolygons()

◆ numberOfVertices()

◆ occlusionFilter()

◆ readDSK()

◆ readPC()

◆ sceneBounds()

Member Data Documentation

◆ m_cloud

◆ m_device

◆ m_mesh

◆ m_name

◆ m_scene