Method insert_point_at_inf

pointersect/inference/structures.py:170–207

insert a point representing inf at n=0

(self)

                assert arr.size(1) == n, f'{name}.shape = {arr.shape}, num_points not {n}'

    def insert_point_at_inf(self):
        """
        insert a point representing inf at n=0
        """
        if self.included_point_at_inf:
            return

        b = self.xyz_w.size(0)
        # when using pr to find k points within a fixed distance of ray
        # use a far-away point (1e12) to represent that the point is not found
        # this far-away point will be replaced by a learned token in the model later on

        for name in self.attr_names:
            arr = getattr(self, name, None)
            if arr is None:
                continue
            ndim = arr.shape[2:]
            if name == 'xyz_w':
                val = INF
            elif name == 'valid_mask':
                val = 0
            else:
                val = 0

            arr_requires_grad = arr.requires_grad

            arr = torch.cat(
                (
                    (torch.ones(b, 1, *ndim, dtype=arr.dtype, device=arr.device) * val).to(dtype=arr.dtype),
                    arr,
                ),
                dim=1,
            )
            arr.requires_grad = arr_requires_grad
            setattr(self, name, arr)

        self.included_point_at_inf = True
        self.check_dim()

    def reset_point_at_inf(self):
        """