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c25fd83694
Summary: Small fixes to website rendering Reviewed By: jcjohnson Differential Revision: D23281746 fbshipit-source-id: c9dc8edd5e52f39d4e0e19f10ecc7e035b39feda
13 lines
987 B
Markdown
13 lines
987 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/master/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/master/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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