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List intersections #6442

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merged 15 commits into from
Nov 3, 2023
Merged

List intersections #6442

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d7d8d44
add list intersections function
dmitrishastin Oct 22, 2023
b80c5a9
style_checks
dmitrishastin Oct 22, 2023
51b1e14
addressing suggestions + adding primitive_uvs to output
dmitrishastin Oct 26, 2023
55898c8
Update RaycastingScene.cpp
dmitrishastin Oct 26, 2023
0d62edf
slight correction in docs
dmitrishastin Oct 26, 2023
5e4c097
further corrections
dmitrishastin Oct 28, 2023
bd0511a
sorting out wrong shapes and unit test error
dmitrishastin Oct 29, 2023
9d7dccf
sorting out wrong shapes and unit test error
dmitrishastin Oct 29, 2023
58abef6
Merge branch 'list_intersections' of https://github.com/dmitrishastin…
dmitrishastin Oct 29, 2023
cc4caf4
Revert "Merge branch 'list_intersections' of https://github.com/dmitr…
dmitrishastin Oct 29, 2023
20878e2
minor changes to list_intersections example
benjaminum Oct 31, 2023
26b4236
correcting shape handling and documentation
dmitrishastin Nov 2, 2023
767ea35
correcting ray_splits, reversing
dmitrishastin Nov 2, 2023
d71ec13
Update RaycastingScene.h
benjaminum Nov 3, 2023
c4141b3
apply style
benjaminum Nov 3, 2023
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sorting out wrong shapes and unit test error
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@dmitrishastin
dmitrishastin committed Oct 29, 2023
commit 9d7dccf6df7b67eaca356528d852373c229a634d
5 changes: 3 additions & 2 deletions cpp/open3d/t/geometry/RaycastingScene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -868,13 +868,14 @@ RaycastingScene::ListIntersections(const core::Tensor& rays,

// generate results structure
std::unordered_map<std::string, core::Tensor> result;
result["ray_splits"] = core::Tensor({cumsum.size() + 1}, core::UInt32);
shape[0] = shape[0] + 1;
result["ray_splits"] = core::Tensor(shape, core::UInt32);
uint32_t* ptr = result["ray_splits"].GetDataPtr<uint32_t>();
ptr[0] = 0;
for (int i = 1; i < cumsum.size() + 1; ++i) {
ptr[i] = cumsum[i - 1];
}
shape = {intersections_vector.sum()};
shape[0] = intersections_vector.sum();
result["ray_ids"] = core::Tensor(shape, core::UInt32);
result["geometry_ids"] = core::Tensor(shape, core::UInt32);
result["primitive_ids"] = core::Tensor(shape, core::UInt32);
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2 changes: 1 addition & 1 deletion python/test/t/geometry/test_raycasting_scene.py
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Expand Up @@ -150,7 +150,7 @@ def test_list_intersections():
ans = scene.list_intersections(rays)

np.testing.assert_allclose(ans['t_hit'].numpy(),
np.array([[1.0], [2.0], [0.5]]),
np.array([1.0, 2.0, 0.5]),
rtol=1e-6,
atol=1e-6)

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