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Correct bound check for axis aligned bounding box and use same formatting for printing cuda or cpu tensor #6444

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merged 4 commits into from
Oct 24, 2023
Merged

Correct bound check for axis aligned bounding box and use same formatting for printing cuda or cpu tensor #6444

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eba27ef
Correct tensor printing format when tensor is in gpu.
saurabheights Oct 22, 2023
20df843
Fix #6436 - add bound check for axis aligned bounding box
saurabheights Oct 22, 2023
0afb67e
Update changelog
saurabheights Oct 22, 2023
03263ff
Merge branch 'master' into khanduja/add_aabb_bounds_check
ssheorey Oct 24, 2023
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -18,6 +18,7 @@
* Changed TriangleMesh to store materials in a list so they can be accessed by the material index (PR #5938)
* Support multi-threading in the RayCastingScene function to commit scene (PR #6051).
* Fix some bad triangle generation in TriangleMesh::SimplifyQuadricDecimation
* Fix printing of tensor in gpu and add validation check for bounds of axis-aligned bounding box (PR #6444)

## 0.13

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2 changes: 1 addition & 1 deletion cpp/open3d/core/Tensor.cpp
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Expand Up @@ -750,7 +750,7 @@ std::string Tensor::ToString(bool with_suffix,
std::ostringstream rc;
if (IsCUDA() || !IsContiguous()) {
Tensor host_contiguous_tensor = Contiguous().To(Device("CPU:0"));
rc << host_contiguous_tensor.ToString(false, "");
rc << host_contiguous_tensor.ToString(with_suffix, indent);
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@saurabheights saurabheights Dec 18, 2023 •
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Sorry, I added a regression here. with_suffix should be set to false, else it will print suffix twice. once in inner call where tensor is moved to CPU and once in outer call.

Example -

o3d.core.Tensor.eye(n=4, dtype=o3d.core.Dtype.Float64, device=o3d.core.Device('cuda:0'))
[[1 0 0 0],
 [0 1 0 0],
 [0 0 1 0],
 [0 0 0 1]]
Tensor[shape={4, 4}, stride={4, 1}, Float64, CPU:0, 0x561c38e195d0]
Tensor[shape={4, 4}, stride={4, 1}, Float64, CUDA:0, 0x302000000]

I will address this in my next PR.

} else {
if (shape_.NumElements() == 0) {
rc << indent;
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16 changes: 16 additions & 0 deletions cpp/open3d/geometry/BoundingVolume.cpp
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Expand Up @@ -256,6 +256,22 @@ OrientedBoundingBox AxisAlignedBoundingBox::GetMinimalOrientedBoundingBox(
return OrientedBoundingBox::CreateFromAxisAlignedBoundingBox(*this);
}

AxisAlignedBoundingBox::AxisAlignedBoundingBox(const Eigen::Vector3d& min_bound,
const Eigen::Vector3d& max_bound)
: Geometry3D(Geometry::GeometryType::AxisAlignedBoundingBox),
min_bound_(min_bound),
max_bound_(max_bound),
color_(1, 1, 1) {
if ((max_bound_.array() < min_bound_.array()).any()) {
open3d::utility::LogWarning(
"max_bound {} of bounding box is smaller than min_bound {} in "
"one or more axes. Fix input values to remove this warning.",
max_bound_, min_bound_);
max_bound_ = max_bound.cwiseMax(min_bound);
min_bound_ = max_bound.cwiseMin(min_bound);
}
}

AxisAlignedBoundingBox& AxisAlignedBoundingBox::Transform(
const Eigen::Matrix4d& transformation) {
utility::LogError(
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6 changes: 1 addition & 5 deletions cpp/open3d/geometry/BoundingVolume.h
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Expand Up @@ -171,11 +171,7 @@ class AxisAlignedBoundingBox : public Geometry3D {
/// \param min_bound Lower bounds of the bounding box for all axes.
/// \param max_bound Upper bounds of the bounding box for all axes.
AxisAlignedBoundingBox(const Eigen::Vector3d& min_bound,
const Eigen::Vector3d& max_bound)
: Geometry3D(Geometry::GeometryType::AxisAlignedBoundingBox),
min_bound_(min_bound),
max_bound_(max_bound),
color_(1, 1, 1) {}
const Eigen::Vector3d& max_bound);
~AxisAlignedBoundingBox() override {}

public:
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