:param r: (3, ) axis-angle torch tensor :param t: (3, ) translation vector torch tensor :return: (4, 4)

Performs ray marching to detect surface points. The function returns the surface points as well as d_i of the formula ray(d_i) = ray0 +

Runs the secant method for interval [d_low, d_high]. Args: d_low (tensor): start values for the interval d_high (tensor): end va

Converts input tensor to pytorch. Args: tensor (tensor): Numpy or Pytorch tensor return_type (bool): whether to return input typ

:param v: (3, ) torch tensor :return: (3, 3)

:param num_cams: :param init_c2w: (N, 4, 4) torch tensor

3D reconstruction metric.

Returns mask of non-illegal values for tensor. Args: tensor (tensor): Numpy or Pytorch tensor

Computes the Intersection over Union (IoU) value for two sets of occupancy values. Args: occ1 (tensor): first set of occupancy value