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Remove unecissary collider changes

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Matt Tancik committed 2023-01-30 11:34:37 -08:00
1 parent e5ee151d44
commit bd5ff4868e
1 file changed
+7 -7
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nerfstudio/model_components/scene_colliders.py
+7 -7
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@@ -57,7 +57,7 @@ class AABBBoxCollider(SceneCollider):
self.near_plane = near_plane
def _intersect_with_aabb(
self, rays_o: TensorType["num_rays":..., 3], rays_d: TensorType["num_rays":..., 3], aabb: TensorType[2, 3]
self, rays_o: TensorType["num_rays", 3], rays_d: TensorType["num_rays", 3], aabb: TensorType[2, 3]
):
"""Returns collection of valid rays within a specified near/far bounding box along with a mask
specifying which rays are valid
@@ -71,14 +71,14 @@ class AABBBoxCollider(SceneCollider):
dir_fraction = 1.0 / (rays_d + 1e-6)
# x
t1 = (aabb[0, 0] - rays_o[..., 0:1]) * dir_fraction[..., 0:1]
t2 = (aabb[1, 0] - rays_o[..., 0:1]) * dir_fraction[..., 0:1]
t1 = (aabb[0, 0] - rays_o[:, 0:1]) * dir_fraction[:, 0:1]
t2 = (aabb[1, 0] - rays_o[:, 0:1]) * dir_fraction[:, 0:1]
# y
t3 = (aabb[0, 1] - rays_o[..., 1:2]) * dir_fraction[..., 1:2]
t4 = (aabb[1, 1] - rays_o[..., 1:2]) * dir_fraction[..., 1:2]
t3 = (aabb[0, 1] - rays_o[:, 1:2]) * dir_fraction[:, 1:2]
t4 = (aabb[1, 1] - rays_o[:, 1:2]) * dir_fraction[:, 1:2]
# z
t5 = (aabb[0, 2] - rays_o[..., 2:3]) * dir_fraction[..., 2:3]
t6 = (aabb[1, 2] - rays_o[..., 2:3]) * dir_fraction[..., 2:3]
t5 = (aabb[0, 2] - rays_o[:, 2:3]) * dir_fraction[:, 2:3]
t6 = (aabb[1, 2] - rays_o[:, 2:3]) * dir_fraction[:, 2:3]
nears = torch.max(
torch.cat([torch.minimum(t1, t2), torch.minimum(t3, t4), torch.minimum(t5, t6)], dim=1), dim=1