git clone https://github.com/ashawkey/raytracing
cd raytracing
pip install .

import numpy as np
import trimesh

import torch
import raytracing

# build BVH from mesh
mesh = trimesh.load('example.ply')
RT = raytracing.RayTracer(mesh.vertices, mesh.faces) # build with numpy.ndarray

# get rays
rays_o, rays_d = get_ray(pose, intrinsics, H, W) # [N, 3], [N, 3], query with torch.Tensor (on cuda)

# query ray-mesh intersection
intersections, face_normals, depth = RT.trace(rays_o, rays_d) # [N, 3], [N, 3], [N,]