zhengyu/create_box

[ZhengyuDiao]

create_box api in tensor-based module

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This change is 

[update-docs]

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.

[yxlao]

Reviewed 4 of 7 files at r1, all commit messages.
Reviewable status: 4 of 7 files reviewed, 13 unresolved discussions (waiting on @yxlao and @ZhengyuDiao)

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cpp/open3d/t/geometry/TriangleMesh.h line 371 at r1 (raw file):

    bool HasTriangleColors() const { return HasTriangleAttr("colors"); }

    /// Factory function to create a box mesh (TriangleMeshFactory.cpp)

Rewrite as:

Create a box triangle mesh. One vertex of the box will be placed at the origin and the box aligns with the positive x, y, and z axes.

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cpp/open3d/t/geometry/TriangleMeshFactory.cpp line 35 at r1 (raw file):

TriangleMesh TriangleMesh::CreateBox(
        float width /* = 1.0*/,

it is not necessary to add /* xxx */ here, consider removing them.

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cpp/open3d/t/geometry/TriangleMeshFactory.cpp line 41 at r1 (raw file):

        core::Dtype int_dtype /* = core::Int64*/,
        const core::Device &device) {
    

remove extra space here.

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cpp/open3d/t/geometry/TriangleMeshFactory.cpp line 53 at r1 (raw file):

    }

    utility::LogInfo("width: {}, height: {}, depth: {}", width, height, depth);

remove unnecessary prints

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cpp/open3d/t/geometry/TriangleMeshFactory.cpp line 66 at r1 (raw file):

    // Vertices.
    core::Tensor vertex_positions({8, 3}, float_dtype);

You can just do:

core::Tensor vertex_positions;

This will create the tensor without allocation. Since we will be allocating again with core::Tensor::Init.

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cpp/open3d/t/geometry/TriangleMeshFactory.cpp line 67 at r1 (raw file):

    // Vertices.
    core::Tensor vertex_positions({8, 3}, float_dtype);
    if (float_dtype == core::Float32){

Since these creation functions are small, we can afford to make copies: always create with Float64 and then convert to Float32 if necessary. You can even fuse the sanity check here. This will simplify the code.

core::Tensor vertex_positions = core::Tensor::Init<float>{xxx};
if (float_dtype == core::Float32) {
    vertex_positions = vertex_positions.To(core::Float32);
} else if (float_dtype != core::Float64) {
    Print error.
}

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cpp/open3d/t/geometry/TriangleMeshFactory.cpp line 80 at r1 (raw file):

    }
    
    // Triangles.

Same comment as above.

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cpp/pybind/t/geometry/trianglemesh.cpp line 229 at r1 (raw file):

    // Triangle Mesh's creation APIs.
    triangle_mesh.def_static("create_box", &TriangleMesh::CreateBox,
                            "Factory function to create a box. The left bottom "

update the docstring to be the same as c++

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cpp/tests/t/geometry/TriangleMesh.cpp line 458 at r1 (raw file):

TEST_P(TriangleMeshPermuteDevices, CreateBox){
    // to do

Add two tests:

1. Create with default parameters, and check the value of the triangle mesh.
2. Create with custom parameters, and check the value of the triangle mesh.

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python/test/t/geometry/test_trianglemesh.py line 41 at r1 (raw file):

apply style: http://www.open3d.org/docs/latest/contribute/styleguide.html

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python/test/t/geometry/test_trianglemesh.py line 43 at r1 (raw file):

def test_create_box():
    

remove empty space

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python/test/t/geometry/test_trianglemesh.py line 46 at r1 (raw file):

    # Test legacy
    # box = o3d.geometry.TriangleMesh.create_box()
    # box.compute_vertex_normals()

remove commented code

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python/test/t/geometry/test_trianglemesh.py line 50 at r1 (raw file):

    # To implement

Add two tests:

1. Create with default parameters, and check the value of the triangle mesh.
2. Create with custom parameters, and check the value of the triangle mesh.

[yxlao]

Reviewed 5 of 5 files at r2, 2 of 2 files at r3, all commit messages.
Reviewable status: all files reviewed, 16 unresolved discussions (waiting on @reyanshsolis and @ZhengyuDiao)

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cpp/pybind/t/geometry/trianglemesh.cpp line 233 at r3 (raw file):

                             "width"_a = 1.0,
                             "height"_a = 1.0, "depth"_a = 1.0,
                             "vertex_dtype"_a = core::Float64,

float_dtype, int_dtype
use float32 and int64 as default

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cpp/tests/t/geometry/TriangleMesh.cpp line 459 at r3 (raw file):

    core::Device device = GetParam();

    // test with default parameters

nit: // Test xxxx .

• end with .
• capitalilze first character

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cpp/tests/t/geometry/TriangleMesh.cpp line 492 at r3 (raw file):

    EXPECT_TRUE(box_default.GetTriangleIndices().AllClose(triangle_indices));

    // test with custom parameters

same as above

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cpp/tests/t/geometry/TriangleMesh.cpp line 494 at r3 (raw file):

    // test with custom parameters
    t::geometry::TriangleMesh box_custom =
            t::geometry::TriangleMesh::CreateBox(2, 3, 4);

Same as python, specify float dtype, int dtype, device.

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python/test/t/geometry/test_trianglemesh.py line 27 at r3 (raw file):

# ----------------------------------------------------------------------------

from turtle import width

remove turtle

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python/test/t/geometry/test_trianglemesh.py line 42 at r3 (raw file):

def test_create_box():

Add @pytest.mark.parametrize("device", list_devices()) to iterate multiple devices. See python\test\t\geometry\test_pointcloud.py.

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python/test/t/geometry/test_trianglemesh.py line 44 at r3 (raw file):

def test_create_box():
    # test with default parameters
    box_default = o3d.t.geometry.TriangleMesh.create_box()

o3d.t.geometry.TriangleMesh.create_box(device=device)

Code quote:

 o3d.t.geometry.TriangleMesh.create_box()

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python/test/t/geometry/test_trianglemesh.py line 61 at r3 (raw file):

                                            [1, 5, 7], [1, 7, 3], [2, 3, 7],
                                            [2, 7, 6], [0, 4, 1], [1, 4, 5]]),
                                  dtype=o3c.Dtype.Int64,

Remove .Dtype

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python/test/t/geometry/test_trianglemesh.py line 68 at r3 (raw file):

    # test with custom parameters
    box_custom = o3d.t.geometry.TriangleMesh.create_box(2, 4, 3)

o3d.t.geometry.TriangleMesh.create_box(2, 3, 4, o3c.float64, o3c.int32, devcie)

Code quote:

o3d.t.geometry.TriangleMesh.create_box(2, 4, 3)

[yxlao]

lgtm after ci

[yxlao]

Wait for #5248 to pass before merging.