Quentin So qsobad
qsobad
/ voxel_traversal.py
Last active
October 9, 2024 10:48
3D DDA: fast ray voxel traversal, pytorch batch version (has not test with every cases, use with causion)
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| def voxel_traversal(rays, _bin_size): | |
| # rays.shape (N_rays, 8): origin(3) direction(3), smallest t(1), largest t(1) | |
| # _bin_size scaler | |
| # return: (N_rays, Max_steps, 3) | |
| rays_o, rays_d, near, far = rays[:, :3], rays[:, 3:6], rays[:, 6:7], rays[:, 7:8] | |
| _bin_size = float(_bin_size) | |
| voxel_visited = [] |