backend functions - called from the thread pool to do the actual job

Render rays in smaller minibatches to avoid OOM.

Returns: scheduler (dict):{ 'scheduler': lr_scheduler, 'interval': 'step', # or 'epoch' 'monitor': '

Compute lower and upper boundaries (m^- and m^+ in the Grisu paper), where a boundary is a value half way between the number and its predecessor (lowe

compute element-wise weights for computing coarse-level loss.

Point-wise CE / Focal Loss with 0 / 1 confidence as gt. Args: conf (torch.Tensor): (N, HW0, HW1) / (N, HW0+1, HW1+1)

Compute the max candidates of all pairs within a batch Args: p_m0, p_m1 (torch.Tensor): padded masks

@cam_in_world: in normalized space @rays: (...,D) in camera Return: (-1,D+2) with near far

Update: data (dict):{ "R_errs" List[float]: [N] "t_errs" List[float]: [N] "inliers" List[np.ndarray]

It is a separate function rather than a part of count_digits to workaround the lack of static constexpr in constexpr functions.

* @brief * * @param colorA * @param colorB * @param corres (N,4) * @param out */

Deallocate memory allocated by the buffer.

try to dequeue item. if no item found. wait upto timeout and try again Return true, if succeeded dequeue item, false otherwise

* @brief https://stackoverflow.com/questions/5461148/sift-implementation-with-opencv-2-2 * */

Computes floor(n / 10^(kappa + 1)) (float)

Returns true iff x is divisible by pow(2, exp).

@bbox: (2,3) min/max @line_color: RGB

@color: BGR

Drop all references from the registry

try to enqueue and block if no room left

enqueue immediately. overrun oldest message in the queue if no room left.

Ensure multiple tensors have correct types. This method processes a dictionary of tensors and ensures each one has the corre

Args: errors (list): [N,] thresholds (list)

exponentiate a vector in the Lie algebra to generate a new SO3(a 3x3 rotation matrix).

Return file size according to open FILE* object

Computes floor(log10(pow(2, e))) for e in [-1700, 1700] using the method from https://fmt.dev/papers/Grisu-Exact.pdf#page=5, section 3.4.

fopen_s on non windows for writing

@x: embedded positions

Return an existing logger or nullptr if a logger with such name doesn't exist. example: spdlog::get("my_logger")->info("hello {}", "world");

Get ray origins, directions from a pinhole camera.

Args: conf_matrix (torch.Tensor): [N, L, S] data (dict): with keys ['hw0_i', 'hw1_i', 'hw0_c', 'hw1_c'] Retur