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Upgrade embree to 4.3.1 (#6665)
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* Replace reference of rtcIntersect1M to rtcIntersect1
* Change RTCRayHit mask default value and enable filter callbacks
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@lumurillo
lumurillo authored Mar 18, 2024
1 parent aba7214 commit cac37c7
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Showing 2 changed files with 41 additions and 33 deletions.
8 changes: 4 additions & 4 deletions 3rdparty/embree/embree.cmake
View file
Original file line number Diff line number Diff line change
Expand Up @@ -69,8 +69,8 @@ endif()
ExternalProject_Add(
ext_embree
PREFIX embree
URL https://github.com/embree/embree/archive/refs/tags/v3.13.3.tar.gz
URL_HASH SHA256=74ec785afb8f14d28ea5e0773544572c8df2e899caccdfc88509f1bfff58716f
URL https://github.com/embree/embree/archive/refs/tags/v4.3.1.tar.gz
URL_HASH SHA256=824edcbb7a8cd393c5bdb7a16738487b21ecc4e1d004ac9f761e934f97bb02a4
DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/embree"
UPDATE_COMMAND ""
CMAKE_ARGS
Expand All @@ -88,7 +88,7 @@ ExternalProject_Add(
-DEMBREE_TASKING_SYSTEM=INTERNAL
${WIN_CMAKE_ARGS}
BUILD_BYPRODUCTS
<INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}embree3${CMAKE_STATIC_LIBRARY_SUFFIX}
<INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}embree4${CMAKE_STATIC_LIBRARY_SUFFIX}
<INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}simd${CMAKE_STATIC_LIBRARY_SUFFIX}
<INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}lexers${CMAKE_STATIC_LIBRARY_SUFFIX}
<INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}sys${CMAKE_STATIC_LIBRARY_SUFFIX}
Expand All @@ -100,4 +100,4 @@ ExternalProject_Add(
ExternalProject_Get_Property(ext_embree INSTALL_DIR)
set(EMBREE_INCLUDE_DIRS ${INSTALL_DIR}/include/ ${INSTALL_DIR}/src/ext_embree/) # "/" is critical.
set(EMBREE_LIB_DIR ${INSTALL_DIR}/${Open3D_INSTALL_LIB_DIR})
set(EMBREE_LIBRARIES embree3 ${ISA_LIBS} simd lexers sys math tasking)
set(EMBREE_LIBRARIES embree4 ${ISA_LIBS} simd lexers sys math tasking)
66 changes: 37 additions & 29 deletions cpp/open3d/t/geometry/RaycastingScene.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
#include "open3d/t/geometry/RaycastingScene.h"

// This header is in the embree src dir (embree/src/ext_embree/..).
#include <embree3/rtcore.h>
#include <embree4/rtcore.h>
#include <tbb/parallel_for.h>

#include <Eigen/Core>
Expand Down Expand Up @@ -61,7 +61,7 @@ void AssertTensorDtypeLastDimDeviceMinNDim(const open3d::core::Tensor& tensor,
}

struct CountIntersectionsContext {
RTCIntersectContext context;
RTCRayQueryContext context;
std::vector<std::tuple<uint32_t, uint32_t, float>>*
previous_geom_prim_ID_tfar;
int* intersections;
Expand Down Expand Up @@ -111,7 +111,7 @@ void CountIntersectionsFunc(const RTCFilterFunctionNArguments* args) {
}

struct ListIntersectionsContext {
RTCIntersectContext context;
RTCRayQueryContext context;
std::vector<std::tuple<uint32_t, uint32_t, float>>*
previous_geom_prim_ID_tfar;
unsigned int* ray_ids;
Expand Down Expand Up @@ -360,9 +360,6 @@ struct RaycastingScene::Impl {
const int nthreads) {
CommitScene();

struct RTCIntersectContext context;
rtcInitIntersectContext(&context);

auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
std::vector<RTCRayHit> rayhits(range.size());

Expand All @@ -387,15 +384,14 @@ struct RaycastingScene::Impl {
} else {
rh.ray.tfar = std::numeric_limits<float>::infinity();
}
rh.ray.mask = 0;
rh.ray.mask = -1;
rh.ray.id = i - range.begin();
rh.ray.flags = 0;
rh.hit.geomID = RTC_INVALID_GEOMETRY_ID;
rh.hit.instID[0] = RTC_INVALID_GEOMETRY_ID;
}

rtcIntersect1M(scene_, &context, &rayhits[0], range.size(),
sizeof(RTCRayHit));
rtcIntersect1(scene_, &rh);
}

for (size_t i = range.begin(); i < range.end(); ++i) {
RTCRayHit rh = rayhits[i - range.begin()];
Expand Down Expand Up @@ -446,8 +442,12 @@ struct RaycastingScene::Impl {
const int nthreads) {
CommitScene();

struct RTCIntersectContext context;
rtcInitIntersectContext(&context);
struct RTCRayQueryContext context;
rtcInitRayQueryContext(&context);

RTCOccludedArguments args;
rtcInitOccludedArguments(&args);
args.context = &context;

auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
std::vector<RTCRay> rayvec(range.size());
Expand All @@ -462,13 +462,12 @@ struct RaycastingScene::Impl {
ray.dir_z = r[5];
ray.tnear = tnear;
ray.tfar = tfar;
ray.mask = 0;
ray.mask = -1;
ray.id = i - range.begin();
ray.flags = 0;
}

rtcOccluded1M(scene_, &context, &rayvec[0], range.size(),
sizeof(RTCRay));
rtcOccluded1(scene_, &ray, &args);
}

for (size_t i = range.begin(); i < range.end(); ++i) {
RTCRay ray = rayvec[i - range.begin()];
Expand Down Expand Up @@ -508,11 +507,15 @@ struct RaycastingScene::Impl {
0.f));

CountIntersectionsContext context;
rtcInitIntersectContext(&context.context);
context.context.filter = CountIntersectionsFunc;
rtcInitRayQueryContext(&context.context);
context.previous_geom_prim_ID_tfar = &previous_geom_prim_ID_tfar;
context.intersections = intersections;

RTCIntersectArguments args;
rtcInitIntersectArguments(&args);
args.filter = CountIntersectionsFunc;
args.context = &context.context;

auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
std::vector<RTCRayHit> rayhits(range.size());

Expand All @@ -527,14 +530,14 @@ struct RaycastingScene::Impl {
rh->ray.dir_z = r[5];
rh->ray.tnear = 0;
rh->ray.tfar = std::numeric_limits<float>::infinity();
rh->ray.mask = 0;
rh->ray.mask = -1;
rh->ray.flags = 0;
rh->ray.id = i;
rh->hit.geomID = RTC_INVALID_GEOMETRY_ID;
rh->hit.instID[0] = RTC_INVALID_GEOMETRY_ID;

rtcIntersect1(scene_, rh, &args);
}
rtcIntersect1M(scene_, &context.context, &rayhits[0], range.size(),
sizeof(RTCRayHit));
};

if (nthreads > 0) {
Expand Down Expand Up @@ -579,8 +582,7 @@ struct RaycastingScene::Impl {
0.f));

ListIntersectionsContext context;
rtcInitIntersectContext(&context.context);
context.context.filter = ListIntersectionsFunc;
rtcInitRayQueryContext(&context.context);
context.previous_geom_prim_ID_tfar = &previous_geom_prim_ID_tfar;
context.ray_ids = ray_ids;
context.geometry_ids = geometry_ids;
Expand All @@ -590,6 +592,11 @@ struct RaycastingScene::Impl {
context.cumsum = cumsum;
context.track_intersections = track_intersections;

RTCIntersectArguments args;
rtcInitIntersectArguments(&args);
args.filter = ListIntersectionsFunc;
args.context = &context.context;

auto LoopFn = [&](const tbb::blocked_range<size_t>& range) {
std::vector<RTCRayHit> rayhits(range.size());

Expand All @@ -604,14 +611,14 @@ struct RaycastingScene::Impl {
rh->ray.dir_z = r[5];
rh->ray.tnear = 0;
rh->ray.tfar = std::numeric_limits<float>::infinity();
rh->ray.mask = 0;
rh->ray.mask = -1;
rh->ray.flags = 0;
rh->ray.id = i;
rh->hit.geomID = RTC_INVALID_GEOMETRY_ID;
rh->hit.instID[0] = RTC_INVALID_GEOMETRY_ID;

rtcIntersect1(scene_, rh, &args);
}
rtcIntersect1M(scene_, &context.context, &rayhits[0], range.size(),
sizeof(RTCRayHit));
};

if (nthreads > 0) {
Expand Down Expand Up @@ -695,9 +702,9 @@ RaycastingScene::RaycastingScene(int64_t nthreads)

impl_->scene_ = rtcNewScene(impl_->device_);
// set flag for better accuracy
rtcSetSceneFlags(
impl_->scene_,
RTC_SCENE_FLAG_ROBUST | RTC_SCENE_FLAG_CONTEXT_FILTER_FUNCTION);
rtcSetSceneFlags(impl_->scene_,
RTC_SCENE_FLAG_ROBUST |
RTC_SCENE_FLAG_FILTER_FUNCTION_IN_ARGUMENTS);

impl_->devprop_join_commit = rtcGetDeviceProperty(
impl_->device_, RTC_DEVICE_PROPERTY_JOIN_COMMIT_SUPPORTED);
Expand Down Expand Up @@ -746,6 +753,7 @@ uint32_t RaycastingScene::AddTriangles(const core::Tensor& vertex_positions,
memcpy(index_buffer, data.GetDataPtr(),
sizeof(uint32_t) * 3 * num_triangles);
}
rtcSetGeometryEnableFilterFunctionFromArguments(geom, true);
rtcCommitGeometry(geom);

uint32_t geom_id = rtcAttachGeometry(impl_->scene_, geom);
Expand Down

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