(self, xyz_ref, Z, Y, X, already_mem=False, assert_cube=False, clean_eps=0)

(self, xyz_ref, feats, Z, Y, X, already_mem=False, assert_cube=False, clean_eps=0)

(self, rgb_tileB, pixB_T_camA, camB_T_camA, Z, Y, X, DMIN, DMAX, assert_cube=False)

(worker_id, seed=666)

(rad_angle)

(xyd, pix_T_cam)

(self, xyz, radius, Z, Y, X, soft=True, already_mem=True, also_offset=False, grid=None)

(self, xyz, radius, Z, Y, X, already_mem=True, also_offset=False)

(x, y, z, yaw, pitch, roll)