(element)

(element)

(element)

(pcd)

(pcd)

(pcd, max_dist)

(rays_o, rays_d, model, dists, mask)

(element)

(self, cam_id)

(portion, normalize = False)

(pcd, sample_rays)

(c)

(element, classes)

(rays, gt_depths, nerf_model, epsilon)

(rays, gt_depths, nerf_model, ray_points, variance, weight_coe, stratified = None)

(args, poses, key_frame_info)

(image, id, type, args)

(depth, type = "scannet")

(elements)

(pcd, pose)

(rays, pose)

()

()

(model)

(element)