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Summary: Change doc references to master branch to its new name main. Reviewed By: nikhilaravi Differential Revision: D30303018 fbshipit-source-id: cfdbb207dfe3366de7e0ca759ed56f4b8dd894d1
13 lines
983 B
Markdown
13 lines
983 B
Markdown
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hide_title: true
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sidebar_label: Cubify
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---
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# Cubify
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The [cubify operator](https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/ops/cubify.py) converts an 3D occupancy grid of shape `BxDxHxW`, where `B` is the batch size, into a mesh instantiated as a [Meshes](https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/structures/meshes.py) data structure of `B` elements. The operator replaces every occupied voxel (if its occupancy probability is greater than a user defined threshold) with a cuboid of 12 faces and 8 vertices. Shared vertices are merged, and internal faces are removed resulting in a **watertight** mesh.
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The operator provides three alignment modes {*topleft*, *corner*, *center*} which define the span of the mesh vertices with respect to the voxel grid. The alignment modes are described in the figure below for a 2D grid.
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