Add lidar point cloud support via OptiX sphere primitives#58
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brendancol merged 1 commit intomasterfrom Feb 25, 2026
Merged
Add lidar point cloud support via OptiX sphere primitives#58brendancol merged 1 commit intomasterfrom
brendancol merged 1 commit intomasterfrom
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Introduces hardware-accelerated sphere intersection for rendering point clouds as splats. Each point becomes an OptiX sphere with per-point radius and RGBA color. Engine (rtx.py): - _build_gas_for_spheres() using BuildInputSphereArray - RTX.add_sphere_geometry() with uniform or per-point radii - Built-in sphere IS module + dedicated closest-hit program - SBT offset 3 for sphere hit group routing - Per-point color buffer in Params struct (96 bytes) Kernel (kernel.cu): - __closesthit__sphere: normal via optixGetSphereData() + object-to-world transform for correct world-space normals Data loading (pointcloud.py): - load_pointcloud() for LAS/LAZ (via laspy), numpy arrays, callables - Filtering by classification, return number, bounds, subsample - build_colors() with elevation/intensity/classification/rgb/solid modes - ASPRS standard classification color table Accessor (accessor.py): - place_pointcloud() method with coordinate transform, Z snapping, and automatic color generation Tested: 1M spheres built in 22ms, correct normals and hit detection.
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fixes #55 |
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requires pyoptix-contrib>=0.1.2 |
This was referenced Feb 25, 2026
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Summary
BuildInputSphereArray)place_pointcloud()accessor method for loading and rendering LAS/LAZ/numpy point clouds on terrain__closesthit__sphere) with proper world-space normal computationChanges
cuda/common.h: Addedpoint_colorsfield to Params struct (88 → 96 bytes)cuda/kernel.cu: Added__closesthit__sphere()program usingoptixGetSphereData()andoptixGetObjectToWorldTransformMatrix()rtxpy/rtx.py: Sphere built-in IS module, hit group (SBT offset 3),_build_gas_for_spheres(),add_sphere_geometry(), updated IAS/SBT/params for 4th geometry typertxpy/accessor.py:place_pointcloud()method with geo→pixel coordinate transform, terrain Z-snapping, and color generationrtxpy/pointcloud.py: New module withload_pointcloud()(LAS/LAZ/numpy/callable),build_colors(), ASPRS classification color maprtxpy/kernel.ptx: Recompiled with sphere closest-hit programTest plan
place_pointcloud()accessor pipeline (1000 points)Closes #55