Create albedo texture for a model from calibrated images

cpp/open3d/core/TensorKey.h

@@ -82,11 +82,11 @@ class TensorKey {
     /// For TensorKeyMode::Slice only.
     int64_t GetStart() const;
 
-    /// Get stop index. Throws exception if start is None.
+    /// Get stop index. Throws exception if stop is None.
     /// For TensorKeyMode::Slice only.
     int64_t GetStop() const;
 
-    /// Get step index. Throws exception if start is None.
+    /// Get step index. Throws exception if step is None.
     /// For TensorKeyMode::Slice only.
     int64_t GetStep() const;
 

cpp/open3d/io/ImageIO.cpp

@@ -81,7 +81,8 @@ bool WriteImage(const std::string &filename,
     auto map_itr = file_extension_to_image_write_function.find(filename_ext);
     if (map_itr == file_extension_to_image_write_function.end()) {
         utility::LogWarning(
-                "Write geometry::Image failed: unknown file extension.");
+                "Write geometry::Image failed: file extension {} unknown.",
+                filename_ext);
         return false;
     }
     return map_itr->second(filename, image, quality);

cpp/open3d/t/geometry/Image.cpp

@@ -156,6 +156,12 @@ Image Image::Resize(float sampling_rate, InterpType interp_type) const {
     if (sampling_rate == 1.0f) {
         return *this;
     }
+    if (GetDtype() == core::Bool) {  // Resize via UInt8
+        return Image(Image(data_.ReinterpretCast(core::UInt8))
+                             .Resize(sampling_rate, interp_type)
+                             .AsTensor()
+                             .ReinterpretCast(core::Bool));
+    }
 
     static const dtype_channels_pairs npp_supported{
             {core::UInt8, 1}, {core::UInt16, 1}, {core::Float32, 1},

cpp/open3d/t/geometry/RaycastingScene.cpp

@@ -1313,7 +1313,7 @@ uint32_t RaycastingScene::AddTriangles(const TriangleMesh& mesh) {
 }
 
 std::unordered_map<std::string, core::Tensor> RaycastingScene::CastRays(
-        const core::Tensor& rays, const int nthreads) {
+        const core::Tensor& rays, const int nthreads) const {
     AssertTensorDtypeLastDimDeviceMinNDim<float>(rays, "rays", 6,
                                                  impl_->tensor_device_);
     auto shape = rays.GetShape();
@@ -1723,7 +1723,6 @@ uint32_t RaycastingScene::INVALID_ID() { return RTC_INVALID_GEOMETRY_ID; }
 }  // namespace geometry
 }  // namespace t
 }  // namespace open3d
-
 namespace fmt {
 template <>
 struct formatter<RTCError> {

cpp/open3d/t/geometry/RaycastingScene.h

@@ -72,7 +72,7 @@ class RaycastingScene {
     ///         - \b primitive_normals A tensor with the normals of the hit
     ///           triangles. The shape is {.., 3}.
     std::unordered_map<std::string, core::Tensor> CastRays(
-            const core::Tensor &rays, const int nthreads = 0);
+            const core::Tensor &rays, const int nthreads = 0) const;
 
     /// \brief Checks if the rays have any intersection with the scene.
     /// \param rays A tensor with >=2 dims, shape {.., 6}, and Dtype Float32