(self)
| 74 | |
| 75 | @torch.no_grad() |
| 76 | def precompute(self): |
| 77 | global rays_dir |
| 78 | if rays_dir is None: |
| 79 | rays_dir = self.get_rays(K=self.K).cuda() |
| 80 | self.rays_d = rays_dir |
| 81 | self.points = self.rays_d * self.depth[..., None] |
| 82 | self.valid_mask = self.depth > 0 |
| 83 | |
| 84 | @torch.no_grad() |
| 85 | def get_points(self): |