Function grid_ray_intersection

pointersect/pr/cuda/pr_cuda.cpp:299–322

Compute the intersection between grid cells and the ray. Args: ray_origins: (b, m, 3) ray_directions: (b, m, 3) ray_radius: (b,) grid_size: (b, 3) long, xyz grid_center: (b, 3), xyz grid_width: (b, 3), xyz Returns: ray2gidx: (b, m, n_gidxs), gidx can be outside the grid n_ray2gidx: (b, m), number of neighbors each ray

//          (b, m), number of neighbors each ray
// 
std::tuple<torch::Tensor, torch::Tensor> grid_ray_intersection(
        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 torch::Tensor & grid_size,  // (b, 3), long
        const torch::Tensor & grid_center,  // (b, 3) float
        const torch::Tensor & grid_width  // (b, 3) float
) {
    CHECK_INPUT(ray_origins);
    CHECK_INPUT(ray_directions);
    CHECK_INPUT(ray_radius);
    CHECK_INPUT(grid_size);
    CHECK_INPUT(grid_center);
    CHECK_INPUT(grid_width);

    return grid_ray_intersection_cuda(
        ray_origins, 
        ray_directions, 
        ray_radius, 
        grid_size,
        grid_center,
        grid_width
    );
}