make PaintUniformColor return by reference (#5566)

isl-org · Oct 18, 2022 · 4eef4b3 · 4eef4b3
1 parent ea1a263
commit 4eef4b3
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Showing 3 changed files with 10 additions and 11 deletions.
diff --git a/cpp/open3d/t/geometry/PointCloud.cpp b/cpp/open3d/t/geometry/PointCloud.cpp
@@ -447,7 +447,7 @@ std::tuple<PointCloud, core::Tensor> PointCloud::RemoveDuplicatedPoints()
  return std::make_tuple(SelectByMask(masks), masks);
 }
 
-PointCloud PointCloud::PaintUniformColor(const core::Tensor &color) const {
+PointCloud &PointCloud::PaintUniformColor(const core::Tensor &color) {
  core::AssertTensorShape(color, {3});
  core::Tensor clipped_color = color.To(GetDevice());
  if (color.GetDtype() == core::Float32 ||
@@ -458,10 +458,9 @@ PointCloud PointCloud::PaintUniformColor(const core::Tensor &color) const {
  core::Tensor::Empty({GetPointPositions().GetLength(), 3},
  clipped_color.GetDtype(), GetDevice());
  pcd_colors.AsRvalue() = clipped_color;
- PointCloud pcd(this->Clone());
- pcd.SetPointColors(pcd_colors);
+ SetPointColors(pcd_colors);
 
- return pcd;
+ return *this;
 }
 
 std::tuple<PointCloud, core::Tensor> PointCloud::ComputeBoundaryPoints(

diff --git a/cpp/open3d/t/geometry/PointCloud.h b/cpp/open3d/t/geometry/PointCloud.h
@@ -318,6 +318,12 @@ class PointCloud : public Geometry, public DrawableGeometry {
  /// \return Rotated point cloud
  PointCloud &Rotate(const core::Tensor &R, const core::Tensor &center);
 
+ /// \brief Assigns uniform color to the point cloud.
+ ///
+ /// \param color RGB color for the point cloud. {3,} shaped Tensor.
+ /// Floating color values are clipped between 0.0 and 1.0.
+ PointCloud &PaintUniformColor(const core::Tensor &color);
+
  /// \brief Select points from input pointcloud, based on boolean mask
  /// indices into output point cloud.
  ///
@@ -395,12 +401,6 @@ class PointCloud : public Geometry, public DrawableGeometry {
  std::tuple<PointCloud, core::Tensor> RemoveNonFinitePoints(
  bool remove_nan = true, bool remove_infinite = true) const;
 
- /// \brief Assigns uniform color to the point cloud.
- ///
- /// \param color RGB color for the point cloud. {3,} shaped Tensor.
- /// Floating color values are clipped between 0.0 and 1.0.
- PointCloud PaintUniformColor(const core::Tensor &color) const;
-
  /// \brief Returns the device attribute of this PointCloud.
  core::Device GetDevice() const override { return device_; }
 

diff --git a/cpp/tests/t/geometry/PointCloud.cpp b/cpp/tests/t/geometry/PointCloud.cpp
@@ -944,7 +944,7 @@ TEST_P(PointCloudPermuteDevices, HiddenPointRemoval) {
 TEST_P(PointCloudPermuteDevices, PaintUniformColor) {
  core::Device device = GetParam();
 
- const t::geometry::PointCloud pcd_small(
+ t::geometry::PointCloud pcd_small(
  core::Tensor::Init<double>({{1.0, 1.0, 1.0},
  {1.1, 1.1, 1.1},
  {1.2, 1.2, 1.2},