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Return OBB on same device as input points #7215

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Merged
merged 1 commit into from
Apr 2, 2025
Merged

Return OBB on same device as input points #7215

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15 changes: 9 additions & 6 deletions cpp/open3d/t/geometry/kernel/MinimumOBB.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,8 @@ OrientedBoundingBox ComputeMinimumOBBJylanki(const core::Tensor& points_,
utility::LogError("Input point set has less than 4 points.");
return OrientedBoundingBox();
}
PointCloud pcd(points_);
// copy to CPU here
PointCloud pcd(points_.To(core::Device()));
auto hull_mesh = pcd.ComputeConvexHull(robust);
if (hull_mesh.GetVertexPositions().NumElements() == 0) {
utility::LogError("Failed to compute convex hull.");
Expand Down Expand Up @@ -1239,7 +1240,7 @@ OrientedBoundingBox ComputeMinimumOBBJylanki(const core::Tensor& points_,
min_obb.R_.col(2) = -min_obb.R_.col(2);
}
mapOBBToClosestIdentity(min_obb);
return static_cast<OrientedBoundingBox>(min_obb);
return static_cast<OrientedBoundingBox>(min_obb).To(points_.GetDevice());
}

OrientedBoundingBox ComputeMinimumOBBApprox(const core::Tensor& points,
Expand All @@ -1254,7 +1255,8 @@ OrientedBoundingBox ComputeMinimumOBBApprox(const core::Tensor& points,
return OrientedBoundingBox();
}

PointCloud pcd(points);
// copy to cpu here
PointCloud pcd(points.To(core::Device()));
auto hull_mesh = pcd.ComputeConvexHull(robust);
if (hull_mesh.GetVertexPositions().NumElements() == 0) {
utility::LogError("Failed to compute convex hull.");
Expand Down Expand Up @@ -1305,10 +1307,11 @@ OrientedBoundingBox ComputeMinimumOBBApprox(const core::Tensor& points,
min_box.Rotate(rot, center);
}
}
auto device = points.GetDevice();
auto dtype = points.GetDtype();
return OrientedBoundingBox(min_box.GetCenter().To(dtype),
min_box.GetRotation().To(dtype),
min_box.GetExtent().To(dtype));
return OrientedBoundingBox(min_box.GetCenter().To(device, dtype),
min_box.GetRotation().To(device, dtype),
min_box.GetExtent().To(device, dtype));
}

} // namespace minimum_obb
Expand Down
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