Skip to content

Commit

Permalink
Fix code style
Browse files Browse the repository at this point in the history
  • Loading branch information
@lumurillo
lumurillo committed Nov 9, 2024
1 parent 2c98133 commit 7b34720
Showing 1 changed file with 47 additions and 30 deletions.
77 changes: 47 additions & 30 deletions cpp/open3d/t/geometry/RaycastingScene.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -291,8 +291,7 @@ struct GeometryPtr {
template <typename Vec3fType, typename Vec2fType>
struct ClosestPointResult {
ClosestPointResult()
: primID(RTC_INVALID_GEOMETRY_ID),
geomID(RTC_INVALID_GEOMETRY_ID) {}
: primID(RTC_INVALID_GEOMETRY_ID), geomID(RTC_INVALID_GEOMETRY_ID) {}

Vec3fType p;
unsigned int primID;
Expand All @@ -313,28 +312,34 @@ bool ClosestPointFunc(RTCPointQueryFunctionArguments* args) {
Vec3faType q(args->query->x, args->query->y, args->query->z);

ClosestPointResult<Vec3fType, Vec2fType>* result =
static_cast<ClosestPointResult<Vec3fType, Vec2fType>*>(args->userPtr);
const RTCGeometryType geom_type = result->geometry_ptrs_ptr[geomID].geom_type;
static_cast<ClosestPointResult<Vec3fType, Vec2fType>*>(
args->userPtr);
const RTCGeometryType geom_type =
result->geometry_ptrs_ptr[geomID].geom_type;
const void* ptr1 = result->geometry_ptrs_ptr[geomID].ptr1;
const void* ptr2 = result->geometry_ptrs_ptr[geomID].ptr2;

if (RTC_GEOMETRY_TYPE_TRIANGLE == geom_type) {
const float* vertex_positions = (const float*)ptr1;
const uint32_t* triangle_indices = (const uint32_t*)ptr2;

Vec3faType v0(vertex_positions[3 * triangle_indices[3 * primID + 0] + 0],
vertex_positions[3 * triangle_indices[3 * primID + 0] + 1],
vertex_positions[3 * triangle_indices[3 * primID + 0] + 2]);
Vec3faType v1(vertex_positions[3 * triangle_indices[3 * primID + 1] + 0],
vertex_positions[3 * triangle_indices[3 * primID + 1] + 1],
vertex_positions[3 * triangle_indices[3 * primID + 1] + 2]);
Vec3faType v2(vertex_positions[3 * triangle_indices[3 * primID + 2] + 0],
vertex_positions[3 * triangle_indices[3 * primID + 2] + 1],
vertex_positions[3 * triangle_indices[3 * primID + 2] + 2]);
Vec3faType v0(
vertex_positions[3 * triangle_indices[3 * primID + 0] + 0],
vertex_positions[3 * triangle_indices[3 * primID + 0] + 1],
vertex_positions[3 * triangle_indices[3 * primID + 0] + 2]);
Vec3faType v1(
vertex_positions[3 * triangle_indices[3 * primID + 1] + 0],
vertex_positions[3 * triangle_indices[3 * primID + 1] + 1],
vertex_positions[3 * triangle_indices[3 * primID + 1] + 2]);
Vec3faType v2(
vertex_positions[3 * triangle_indices[3 * primID + 2] + 0],
vertex_positions[3 * triangle_indices[3 * primID + 2] + 1],
vertex_positions[3 * triangle_indices[3 * primID + 2] + 2]);

// Determine distance to closest point on triangle
float u, v;
const Vec3faType p = closestPointTriangle<Vec3faType>(q, v0, v1, v2, u, v);
const Vec3faType p =
closestPointTriangle<Vec3faType>(q, v0, v1, v2, u, v);
float d = (q - p).norm();

// Store result in userPtr and update the query radius if we found a
Expand Down Expand Up @@ -427,10 +432,14 @@ struct RaycastingScene::Impl {
float* primitive_uvs,
float* primitive_normals,
const int nthreads) = 0;

virtual void ArraySum(int* data_ptr, size_t num_elements, size_t &result) = 0;

virtual void ArrayPartialSum(int* input, int* output, size_t num_elements) = 0;
virtual void ArraySum(int* data_ptr,
size_t num_elements,
size_t& result) = 0;

virtual void ArrayPartialSum(int* input,
int* output,
size_t num_elements) = 0;

virtual void CopyArray(int* src, uint32_t* dst, size_t num_elements) = 0;
};
Expand Down Expand Up @@ -771,23 +780,28 @@ struct RaycastingScene::SYCLImpl : public RaycastingScene::Impl {
throw std::logic_error("Function not yet implemented");
}

void ArraySum(int* data_ptr, size_t num_elements, size_t &result) override {
void ArraySum(int* data_ptr, size_t num_elements, size_t& result) override {
sycl::buffer<size_t, 1> result_buf(&result, sycl::range<1>(1));

queue_.submit([&](sycl::handler& cgh) {
auto result_acc = result_buf.get_access<sycl::access::mode::read_write>(cgh);
auto result_acc =
result_buf.get_access<sycl::access::mode::read_write>(cgh);
cgh.parallel_for(
sycl::range<1>(num_elements),
[=](sycl::item<1> item, sycl::kernel_handler kh) {
const size_t i = item.get_id(0);
sycl::atomic_ref<size_t, sycl::memory_order::relaxed, sycl::memory_scope::device> atomic_result_data(result_acc[0]);
atomic_result_data.fetch_add(data_ptr[i]);
});
const size_t i = item.get_id(0);
sycl::atomic_ref<size_t, sycl::memory_order::relaxed,
sycl::memory_scope::device>
atomic_result_data(result_acc[0]);
atomic_result_data.fetch_add(data_ptr[i]);
});
});
queue_.wait_and_throw();
}

void ArrayPartialSum(int* input, int* output, size_t num_elements) override {
void ArrayPartialSum(int* input,
int* output,
size_t num_elements) override {
queue_.submit([&](sycl::handler& cgh) {
cgh.single_task([=]() {
for (size_t idx = 1; idx < num_elements; ++idx) {
Expand Down Expand Up @@ -1125,7 +1139,8 @@ struct RaycastingScene::CPUImpl : public RaycastingScene::Impl {

RTCPointQueryContext instStack;
rtcInitPointQueryContext(&instStack);
rtcPointQuery(scene_, &query, &instStack, &ClosestPointFunc<Vec3f, Vec3fa, Vec2f>,
rtcPointQuery(scene_, &query, &instStack,
&ClosestPointFunc<Vec3f, Vec3fa, Vec2f>,
(void*)&result);

closest_points[3 * i + 0] = result.p.x();
Expand Down Expand Up @@ -1155,13 +1170,15 @@ struct RaycastingScene::CPUImpl : public RaycastingScene::Impl {
}
}

void ArraySum(int* data_ptr, size_t num_elements, size_t &result) override {
void ArraySum(int* data_ptr, size_t num_elements, size_t& result) override {
for (size_t i = 0; i < num_elements; ++i) {
result += data_ptr[i];
}
}

void ArrayPartialSum(int* input, int* output, size_t num_elements) override {
void ArrayPartialSum(int* input,
int* output,
size_t num_elements) override {
output[0] = 0;
for (size_t i = 1; i < num_elements; ++i) {
output[i] = output[i - 1] + input[i - 1];
Expand Down Expand Up @@ -1405,8 +1422,8 @@ RaycastingScene::ListIntersections(const core::Tensor& rays,
impl_->ArraySum(data_ptr, num_rays, num_intersections);

// prepare ray allocations (cumsum)
core::Tensor cumsum_tensor_cpu = core::Tensor::Zeros(
shape, core::Dtype::FromType<int>());
core::Tensor cumsum_tensor_cpu =
core::Tensor::Zeros(shape, core::Dtype::FromType<int>());
core::Tensor cumsum_tensor = cumsum_tensor_cpu.To(impl_->tensor_device_);
int* cumsum_ptr = cumsum_tensor.GetDataPtr<int>();
impl_->ArrayPartialSum(data_ptr, cumsum_ptr, num_rays);
Expand Down Expand Up @@ -1440,7 +1457,7 @@ RaycastingScene::ListIntersections(const core::Tensor& rays,
result["geometry_ids"].GetDataPtr<uint32_t>(),
result["primitive_ids"].GetDataPtr<uint32_t>(),
result["primitive_uvs"].GetDataPtr<float>(),
result["t_hit"].GetDataPtr<float>(), nthreads);
result["t_hit"].GetDataPtr<float>(), nthreads);

return result;
}
Expand Down

0 comments on commit 7b34720

Please sign in to comment.