Vertex Visibility computation

[trologat]

I would like to compute the vertex visibility of a triangle mesh from a certain camera. Any tips how I could achieve that in the fastest possible way? (python). Should I use the RaycastingScene or can I use a renderer for that?

[benjaminum]

You can use RaycastingScene for that. You can compute a depth map and then check if the distance of a vertex to the camera is smaller than the value in the depth map.