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warp.volume_index_to_world#

warp.volume_index_to_world(id: uint64, uvw: vec3f) → vec3f#

  • Kernel

  • Python

  • Differentiable

Transform the point uvw from the volume’s index space (voxel coordinates) to world space using the volume’s affine index-to-world transform.

Applies the full affine map, including translation. For direction vectors, use volume_index_to_world_dir() instead.

Parameters:

  • id – The id of a warp.Volume.

  • uvw – Point in index space.

Returns:

The transformed point in world space with float32 precision.

Example

@wp.kernel
def to_world(vid: wp.uint64, out: wp.array[wp.vec3]):
    out[0] = wp.volume_index_to_world(vid, wp.vec3(2.0, 0.0, 0.0))

volume = wp.Volume.load_from_numpy(
    np.zeros((2, 2, 2), dtype=np.float32), min_world=(1.0, 2.0, 3.0), voxel_size=0.5, bg_value=0.0
)
out = wp.zeros(1, dtype=wp.vec3)
wp.launch(to_world, dim=1, inputs=[volume.id], outputs=[out])
p = out.numpy()[0]
print(round(float(p[0]), 1), round(float(p[1]), 1), round(float(p[2]), 1))

2.0 2.0 3.0
warp.volume_index_to_world(id: uint64, uvw: vec3d) → vec3d

  • Kernel

  • Python

  • Differentiable

Transform the point uvw from the volume’s index space (voxel coordinates) to world space using the volume’s affine index-to-world transform (float64 precision).

The float64 overload of volume_index_to_world(). Behavior and usage match the default float32 overload; see it for details and a usage example.