Ray casting with VoxelBlockGrid at different view points.

[siyuanfeng-tri]

Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

I have multiview RGBD data with known extrinsics and intrinsics. I wantted to render the RGB at slightly different extrinsics (view points) with the same intrinsics. I looked at these two tutorials for making the TSDF volume and ray casting. Making the TSDF volume makes total sense, but I am having trouble figuring out how to compute block_coords at slightly different extrinsics, which is the first argument to ray_cast(). Any explanation / pointer is much apprieciated.

[siyuanfeng-tri]

Well, the doc actually mentions the answer. Just the formatting makes it a hard to read. Solution is the use block_coords=vbg.hashmap().key_tensor()