Apply a geometric transformation to a list of 3-D points. H: 3x3 or 4x4 projection matrix (typically a Homography) p: numpy/torch/tuple of c

Render the scene. Background tensor (bg_color) must be on GPU!

Open an image or a depthmap with opencv-python.

pack and write to a binary file. :param fid: :param data: data to send, if multiple elements are sent at the same time, they should be enc

Invert a torch or numpy matrix

Read and unpack the next bytes from a binary file. :param fid: :param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc.

Read and unpack the next bytes from a binary file. :param fid: :param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc.

This function: - first downsizes the image with LANCZOS inteprolation, which is better than bilinear interpolation in

Args: - depthmap (HxW array): - camera_intrinsics: a 3x3 matrix - camera_pose: a 4x3 or 4x4 cam2world matrix Returns:

Output a (H,W,2) array of int32 with output[j,i,0] = i + origin[0] output[j,i,1] = j + origin[1]

Initialize parts of decoder that are dependent on dimension of encoder tokens. Should be called when setting up MultiMAE. :p

Transfer some variables to another device (i.e. GPU, CPU:torch, CPU:numpy). batch: list, tuple, dict of tensors or other things device: pyto

Modify camera intrinsics to follow a different convention. Coordinates of the center of the top-left pixels are by default: - (0.5, 0.5)

Args: - depthmap (BxHxW array): - pseudo_focal: [B,H,W] ; [B,2,H,W] or [B,1,H,W] Returns: pointmap of absolute coordi

use OPENCV model for distortion (4 values)

return_all_blocks: if True, return the features at the end of every block instead of just the features from the l

image has B x 3 x img_size x img_size do_mask: whether to perform masking or not return_all_blocks: if True, return the feat

Return a 3D point cloud corresponding to valid pixels of the depth map