Function collect_points_on_ray

pointersect/pr/cuda/pr_cuda.cpp:357–391

Given ray2gidx and gidx2pidx, construct ray2pidxs. Args: ray2gidx: (b, m, n_gidxs), gidx can be outside the grid n_ray2gidx: (b, m), number of neighbors each ray gidx2pidx_bank: (b, n), should use the pidx of cell_idx is from cell_start_idx[b][cell_idx] to cell_counts[b][cell_idx+1] (excluded). gidx_start_idx: (b, n_cells+1), cell starts at gidx_start_idx[i] and ends at gidx_start_idx[i+1] ray_or

//          (b, m+1), 
// 
std::tuple<torch::Tensor, torch::Tensor, torch::Tensor> collect_points_on_ray(
        const torch::Tensor & ray2gidx,  // (b, m, n_gidxs)  long
        const torch::Tensor & n_ray2gidx,  // (b, m) long
        const torch::Tensor & gidx2pidx_bank,  // (b, n) long
        const torch::Tensor & gidx_start_idx,  // (b, n_cells+1)  int32
        const torch::Tensor & points,  // (b, n, 3), float
        const torch::Tensor & ray_origins,  // (b, m, 3), float
        const torch::Tensor & ray_directions,  // (b, m, 3), float
        const torch::Tensor & ray_radius,   //  (b, )m float
        const float t_min = 0.,
        const float t_max = 1.0e12
) {

    CHECK_INPUT(ray2gidx);
    CHECK_INPUT(n_ray2gidx);
    CHECK_INPUT(gidx2pidx_bank);
    CHECK_INPUT(gidx_start_idx);
    CHECK_INPUT(points);
    CHECK_INPUT(ray_origins);
    CHECK_INPUT(ray_directions);
    CHECK_INPUT(ray_radius);

    return collect_points_on_ray_cuda(
        ray2gidx,
        n_ray2gidx,
        gidx2pidx_bank,
        gidx_start_idx,
        points,
        ray_origins, 
        ray_directions, 
        ray_radius,
        t_min,
        t_max
    );
}