pip install git+https://github.com/ashawkey/cubvh

# or locally
git clone https://github.com/ashawkey/cubvh
cd cubvh
pip install .

import numpy as np
import trimesh
import torch

import cubvh

### build BVH from mesh
mesh = trimesh.load('example.ply')
# NOTE: you need to normalize the mesh first, since the max distance is hard-coded to 10.
BVH = cubvh.cuBVH(mesh.vertices, mesh.faces) # build with numpy.ndarray/torch.Tensor

### query ray-mesh intersection
rays_o, rays_d = get_ray(pose, intrinsics, H, W) # [N, 3], [N, 3], query with torch.Tensor (cuda)
intersections, face_id, depth = BVH.ray_trace(rays_o, rays_d) # [N, 3], [N,], [N,]

### query unsigned distance
points # [N, 3]
# uvw is the barycentric corrdinates of the closest point on the closest face (None if `return_uvw` is False).
distances, face_id, uvw = BVH.unsigned_distance(points, return_uvw=True) # [N], [N], [N, 3]

### query signed distance (INNER is NEGATIVE!)
# for watertight meshes (default)
distances, face_id, uvw = BVH.signed_distance(points, return_uvw=True, mode='watertight') # [N], [N], [N, 3]
# for non-watertight meshes:
distances, face_id, uvw = BVH.signed_distance(points, return_uvw=True, mode='raystab') # [N], [N], [N, 3]