Only run ProjectImagesToAlbedo on CPU

isl-org · Jan 2, 2025 · 19d44e7 · 19d44e7
1 parent ced91d4
commit 19d44e7
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Showing 4 changed files with 18 additions and 2 deletions.
diff --git a/cpp/open3d/t/geometry/TriangleMesh.cpp b/cpp/open3d/t/geometry/TriangleMesh.cpp
@@ -1447,6 +1447,10 @@ Image TriangleMesh::ProjectImagesToAlbedo(
         const std::vector<core::Tensor> &extrinsic_matrices,
         int tex_size /*=1024*/,
         bool update_material /*=true*/) {
+    if (!GetDevice().IsCPU()) {
+        utility::LogError(
+                "ProjectImagesToAlbedo is only supported on CPU device.");
+    }
     using core::None;
     using tk = core::TensorKey;
     constexpr float EPS = 1e-6;
@@ -1480,7 +1484,7 @@ Image TriangleMesh::ProjectImagesToAlbedo(
             tex_size, {"positions"}, 1, 0, false)["positions"];
     core::Tensor albedo =
             core::Tensor::Zeros({tex_size, tex_size, 4}, core::Float32);
-    albedo.Slice(2, 3, 4).Fill(EPS);  // regularize
+    albedo.Slice(2, 3, 4).Fill(EPS);  // regularize weight
     std::mutex albedo_mutex;
 
     RaycastingScene rcs;

diff --git a/cpp/open3d/t/geometry/TriangleMesh.h b/cpp/open3d/t/geometry/TriangleMesh.h
@@ -1006,6 +1006,8 @@ class TriangleMesh : public Geometry, public DrawableGeometry {
     /// albedo. For best results, use images captured with exposure and white
     /// balance lock to reduce the chance of seams in the output texture.
     ///
+    /// This function is only supported on the CPU device.
+    ///
     /// \param images vector of images.
     /// \param intrinsic_matrices vector of {3,3} intrinsic matrices describing
     /// the pinhole camera.

diff --git a/cpp/pybind/t/geometry/trianglemesh.cpp b/cpp/pybind/t/geometry/trianglemesh.cpp
@@ -1072,6 +1072,8 @@ blended together in the resulting albedo. For best results, use images captured
 with exposure and white balance lock to reduce the chance of seams in the output
 texture.
 
+This function is only supported on the CPU.
+
 Args:
     images (List[open3d.t.geometry.Image]): List of images.
     intrinsic_matrices (List[open3d.core.Tensor]): List of (3,3) intrinsic matrices describing

diff --git a/cpp/tests/t/geometry/TriangleMesh.cpp b/cpp/tests/t/geometry/TriangleMesh.cpp
@@ -1361,9 +1361,11 @@ TEST_P(TriangleMeshPermuteDevices, RemoveUnreferencedVertices) {
 
 TEST_P(TriangleMeshPermuteDevices, ProjectImagesToAlbedo) {
     using namespace t::geometry;
+    using ::testing::AnyOf;
     using ::testing::ElementsAre;
     using ::testing::FloatEq;
     core::Device device = GetParam();
+    if (!device.IsCPU()) GTEST_SKIP() << "Not Implemented!";
     TriangleMesh sphere =
             TriangleMesh::FromLegacy(*geometry::TriangleMesh::CreateSphere(
                     1.0, 20, /*create_uv_map=*/true));
@@ -1405,7 +1407,13 @@ TEST_P(TriangleMeshPermuteDevices, ProjectImagesToAlbedo) {
                         .To(core::Float32)
                         .Mean({0, 1})
                         .ToFlatVector<float>(),
-                ElementsAre(FloatEq(87.8693), FloatEq(67.538), FloatEq(64.31)));
+                AnyOf(ElementsAre(FloatEq(87.8693), FloatEq(67.538),
+                                  FloatEq(64.31)),  // macOS
+                      ElementsAre(FloatEq(87.8758),
+                                  FloatEq(67.5518),  // Linux / Windows
+                                  FloatEq(64.3254)))
+
+    );
 }  // namespace tests
 
 TEST_P(TriangleMeshPermuteDevices, ComputeTriangleAreas) {