Cupy support

Omniverse Archive General Discussion
1

Hey,

I’ve playing with some code to speed up voxel generation, is cupy supported in extensions? I’m running win 10 btw

thanks

import cupy as cp
from pxr import Gf

def generate_voxel_grid(voxel_res, min_max, hoz_range, vert_range, voxel_size):
    min_val, max_val = min_max
    hoz_min, hoz_max = hoz_range
    vert_min, vert_max = vert_range

    # Calculate the number of voxels that fit in the range
    range_size = max_val - min_val
    num_voxels = int(range_size / voxel_size) + 1  # Ensuring it covers the entire range

    # Generate a cubic grid with spacing equal to voxel_size, including negative values to cover the entire volume
    x = cp.arange(-max_val, max_val + voxel_size, voxel_size)
    y = cp.arange(-max_val, max_val + voxel_size, voxel_size)
    z = cp.arange(-max_val, max_val + voxel_size, voxel_size)
    xx, yy, zz = cp.meshgrid(x, y, z, indexing='ij')
    points = cp.vstack((xx.ravel(), yy.ravel(), zz.ravel())).T

    # Convert to spherical coordinates
    r = cp.sqrt(cp.sum(points**2, axis=1))
    theta = cp.arctan2(points[:, 1], points[:, 0])
    phi = cp.arctan2(points[:, 2], cp.sqrt(points[:, 0]**2 + points[:, 1]**2))

    # Convert angles to degrees
    theta_deg = cp.degrees(theta)
    phi_deg = cp.degrees(phi)

    # Adjust theta to be in the range [0, 360)
    theta_deg = (theta_deg + 360) % 360

    # Apply filters (restoring original logic)
    mask = (r >= min_val) & (r <= max_val) & \
           ((theta_deg >= hoz_min) & (theta_deg <= hoz_max) | \
            (theta_deg >= hoz_min + 360) | (theta_deg <= hoz_max - 360)) & \
           (phi_deg >= vert_min) & (phi_deg <= vert_max)

    filtered_points = points[mask]
    
    # Convert filtered points to Gf.Vec3f
    filtered_points_cpu = cp.asnumpy(filtered_points)  # Convert to CPU for Gf.Vec3f conversion
    return [Gf.Vec3f(*point) for point in filtered_points_cpu]

def is_inside_voxel_grid(point, voxel_coordinates, voxel_size):
    """
    Check if a point is inside the voxel grid.
    
    :param point: Point to check
    :param voxel_coordinates: List of voxel center coordinates
    :param voxel_size: Size of each voxel
    :return: Boolean indicating if the point is inside the grid
    """
    half_size = voxel_size / 2
    for voxel in voxel_coordinates:
        if all(abs(p - v) <= half_size for p, v in zip(point, voxel)):
            return True
    return False

def check_corners_in_voxel_grid(world_corners, voxel_coordinates, voxel_size):
    """
    Check which corners of a bounding box are inside the voxel grid.
    
    :param world_corners: List of corner points of the bounding box
    :param voxel_coordinates: List of voxel center coordinates
    :param voxel_size: Size of each voxel
    :return: Tuple of (inside_corners, outside_corners)
    """
    inside_corners = []
    outside_corners = []

    for j, corner in enumerate(world_corners):
        if is_inside_voxel_grid(corner, voxel_coordinates, voxel_size):
            inside_corners.append((j+1, corner))
        else:
            outside_corners.append((j+1, corner))

    return inside_corners, outside_corners
2

This is amazing. What a great code. I will pass it along to the devs. Thanks !!