FeatureCatalogue.trace

giant.relative_opnav.estimators.sfn.surface_features:

FeatureCatalogue.trace(rays)

This method traces rays through the feature catalogue, optionally filtering which features are included traced through the include_features attribute.

The rays are first rotated/translated into the base frame of the feature catalogue and are then traced through each active feature to look for intersections. Only the first (shortest distance) intersection for each ray is returned. The results are returned as a numpy array with type INTERSECT_DTYPE.

If the include_features attribute is set to None, then this method will attempt to smartly only load features where the Rays intersect the bounding box of the feature, before “lazy loading” the feature. This is typically only used in the case when you are tracing the full feature catalogue to render a high resolution image.

Parameters:

rays (Rays) – The rays to trace through the feature catalogue

Returns:

A numpy array specifying where each ray intersected with type INTERSECT_DTYPE.

Return type:

ndarray