SYMBOL INDEX (305 symbols across 33 files)

FILE: demo/parser.py
  class ArgumentParserX (line 4) | class ArgumentParserX(argparse.ArgumentParser):
    method __init__ (line 5) | def __init__(self, **kwargs):
    method parse_args (line 9) | def parse_args(self, args=None, namespace=None):
    method parse_config_yaml (line 23) | def parse_config_yaml(self, yaml_path, args=None):
    method convert_to_namespace (line 39) | def convert_to_namespace(self, dict_in, args=None):
    method update_recursive (line 48) | def update_recursive(self, dict1, dict2):
  function get_parser (line 58) | def get_parser():

FILE: demo/run.py
  function setup_seed (line 12) | def setup_seed(seed):

FILE: src/criterion.py
  class Criterion (line 6) | class Criterion(nn.Module):
    method __init__ (line 7) | def __init__(self, args) -> None:
    method forward (line 16) | def forward(self, outputs, obs, pointsCos, use_color_loss=True,
    method compute_loss (line 59) | def compute_loss(self, x, y, mask=None, loss_type="l2"):
    method get_masks (line 67) | def get_masks(self, z_vals, depth, epsilon):
    method get_sdf_loss (line 92) | def get_sdf_loss(self, z_vals, depth, predicted_sdf, truncation, valid...

FILE: src/dataset/kitti.py
  class DataLoader (line 19) | class DataLoader(Dataset):
    method __init__ (line 20) | def __init__(self, data_path, use_gt=False, max_depth=-1, min_depth=-1...
    method get_init_pose (line 28) | def get_init_pose(self, frame):
    method load_gt_pose (line 35) | def load_gt_pose(self):
    method load_points (line 40) | def load_points(self, index):
    method __len__ (line 72) | def __len__(self):
    method __getitem__ (line 75) | def __getitem__(self, index):

FILE: src/dataset/maicity.py
  class DataLoader (line 20) | class DataLoader(Dataset):
    method __init__ (line 21) | def __init__(self, data_path, use_gt=False, max_depth=-1, min_depth=-1...
    method get_init_pose (line 29) | def get_init_pose(self, frame):
    method load_gt_pose (line 36) | def load_gt_pose(self):
    method load_points (line 41) | def load_points(self, index):
    method __len__ (line 74) | def __len__(self):
    method __getitem__ (line 77) | def __getitem__(self, index):

FILE: src/dataset/ncd.py
  class DataLoader (line 21) | class DataLoader(Dataset):
    method __init__ (line 22) | def __init__(self, data_path, use_gt=False, max_depth=-1, min_depth=-1...
    method get_init_pose (line 30) | def get_init_pose(self, frame):
    method load_gt_pose (line 39) | def load_gt_pose(self):
    method load_points (line 49) | def load_points(self, index):
    method __len__ (line 79) | def __len__(self):
    method __getitem__ (line 82) | def __getitem__(self, index):

FILE: src/lidarFrame.py
  class LidarFrame (line 9) | class LidarFrame(nn.Module):
    method __init__ (line 10) | def __init__(self, index, points, pointsCos, pose=None, new_keyframe=F...
    method get_pose (line 26) | def get_pose(self):
    method get_translation (line 29) | def get_translation(self):
    method get_rotation (line 32) | def get_rotation(self):
    method get_points (line 35) | def get_points(self):
    method get_pointsCos (line 38) | def get_pointsCos(self):
    method set_rel_pose (line 41) | def set_rel_pose(self, rel_pose):
    method get_rel_pose (line 44) | def get_rel_pose(self):
    method get_rays (line 48) | def get_rays(self):
    method sample_rays (line 55) | def sample_rays(self, N_rays, track=False):

FILE: src/loggers.py
  class BasicLogger (line 14) | class BasicLogger:
    method __init__ (line 15) | def __init__(self, args) -> None:
    method get_random_time_str (line 33) | def get_random_time_str(self):
    method log_ckpt (line 36) | def log_ckpt(self, mapper):
    method log_config (line 52) | def log_config(self, config):
    method log_mesh (line 56) | def log_mesh(self, mesh, name="final_mesh.ply"):
    method log_point_cloud (line 60) | def log_point_cloud(self, pcd, name="final_points.ply"):
    method log_numpy_data (line 64) | def log_numpy_data(self, data, name, ind=None):
    method log_debug_data (line 73) | def log_debug_data(self, data, idx):
    method log_raw_image (line 77) | def log_raw_image(self, ind, rgb, depth):
    method log_images (line 88) | def log_images(self, ind, gt_rgb, gt_depth, rgb, depth):
    method npy2txt (line 144) | def npy2txt(self, input_path, output_path):

FILE: src/mapping.py
  function get_network_size (line 23) | def get_network_size(net):
  class Mapping (line 30) | class Mapping:
    method __init__ (line 31) | def __init__(self, args, logger: BasicLogger):
    method spin (line 93) | def spin(self, share_data, kf_buffer):
    method do_mapping (line 172) | def do_mapping(self, share_data, tracked_frame=None,
    method select_optimize_targets (line 205) | def select_optimize_targets(self, tracked_frame=None, selection_method...
    method update_share_data (line 227) | def update_share_data(self, share_data, frameid=None):
    method remove_back_points (line 235) | def remove_back_points(self, frame):
    method frame_maxdistance_change (line 257) | def frame_maxdistance_change(self, frame, distance):
    method insert_keyframe (line 266) | def insert_keyframe(self, frame, valid_distance=-1):
    method create_voxels (line 283) | def create_voxels(self, frame):
    method get_embeddings (line 294) | def get_embeddings(self, points_idx):
    method update_grid_features (line 320) | def update_grid_features(self):
    method get_updated_poses (line 342) | def get_updated_poses(self, offset=-2000):
    method extract_mesh (line 354) | def extract_mesh(self, res=8, clean_mesh=False):
    method extract_voxels (line 381) | def extract_voxels(self, offset=-10):
    method save_debug_data (line 392) | def save_debug_data(self, tracked_frame, offset=-10):

FILE: src/nerfloam.py
  class nerfloam (line 15) | class nerfloam:
    method __init__ (line 16) | def __init__(self, args):
    method start (line 40) | def start(self):
    method wait_child_processes (line 55) | def wait_child_processes(self):
    method get_raw_trajectory (line 60) | def get_raw_trajectory(self):
    method get_keyframe_poses (line 64) | def get_keyframe_poses(self):

FILE: src/se3pose.py
  class OptimizablePose (line 8) | class OptimizablePose(nn.Module):
    method __init__ (line 9) | def __init__(self, init_pose):
    method copy_from (line 15) | def copy_from(self, pose):
    method matrix (line 18) | def matrix(self):
    method rotation (line 24) | def rotation(self):
    method translation (line 34) | def translation(self,):
    method log (line 38) | def log(cls, R, eps=1e-7):  # [...,3,3]
    method from_matrix (line 48) | def from_matrix(cls, Rt, eps=1e-8):  # [...,3,4]
    method skew_symmetric (line 54) | def skew_symmetric(cls, w):
    method taylor_A (line 64) | def taylor_A(cls, x, nth=10):
    method taylor_B (line 75) | def taylor_B(cls, x, nth=10):
    method taylor_C (line 85) | def taylor_C(cls, x, nth=10):

FILE: src/share.py
  class ShareDataProxy (line 8) | class ShareDataProxy(NamespaceProxy):
  class ShareData (line 12) | class ShareData:
    method __init__ (line 16) | def __init__(self):
    method decoder (line 27) | def decoder(self):
    method decoder (line 34) | def decoder(self, decoder):
    method voxels (line 41) | def voxels(self):
    method voxels (line 48) | def voxels(self, voxels):
    method octree (line 55) | def octree(self):
    method octree (line 62) | def octree(self, octree):
    method states (line 69) | def states(self):
    method states (line 76) | def states(self, states):
    method stop_mapping (line 83) | def stop_mapping(self):
    method stop_mapping (line 90) | def stop_mapping(self, stop_mapping):
    method stop_tracking (line 97) | def stop_tracking(self):
    method stop_tracking (line 104) | def stop_tracking(self, stop_tracking):
    method tracking_trajectory (line 111) | def tracking_trajectory(self):
    method push_pose (line 117) | def push_pose(self, pose):

FILE: src/tracking.py
  class Tracking (line 15) | class Tracking:
    method __init__ (line 16) | def __init__(self, args, data_stream, logger):
    method process_first_frame (line 51) | def process_first_frame(self, kf_buffer):
    method spin (line 64) | def spin(self, share_data, kf_buffer):
    method check_keyframe (line 92) | def check_keyframe(self, check_frame, kf_buffer):
    method do_tracking (line 98) | def do_tracking(self, share_data, current_frame, kf_buffer):

FILE: src/utils/import_util.py
  function get_dataset (line 4) | def get_dataset(args):
  function get_decoder (line 8) | def get_decoder(args):
  function get_property (line 12) | def get_property(args, name, default):

FILE: src/utils/mesh_util.py
  class MeshExtractor (line 11) | class MeshExtractor:
    method __init__ (line 12) | def __init__(self, args):
    method linearize_id (line 18) | def linearize_id(self, xyz, n_xyz):
    method downsample_points (line 22) | def downsample_points(self, points, voxel_size=0.01):
    method get_rays (line 29) | def get_rays(self, w=None, h=None, K=None):
    method get_valid_points (line 47) | def get_valid_points(self, frame_poses, depth_maps):
    method create_mesh (line 80) | def create_mesh(self, decoder, map_states, voxel_size, voxels,
    method marching_cubes (line 145) | def marching_cubes(self, voxels, sdf):

FILE: src/utils/profile_util.py
  class Profiler (line 5) | class Profiler(object):
    method __init__ (line 6) | def __init__(self, verbose=False) -> None:
    method enable (line 12) | def enable(self):
    method disable (line 15) | def disable(self):
    method tick (line 18) | def tick(self, name):
    method tok (line 25) | def tok(self, name):

FILE: src/utils/sample_util.py
  function sampling_without_replacement (line 4) | def sampling_without_replacement(logp, k):
  function sample_rays (line 12) | def sample_rays(mask, num_samples):

FILE: src/variations/decode_morton.py
  function compact (line 4) | def compact(value):
  function decode (line 14) | def decode(code):

FILE: src/variations/lidar.py
  class GaussianFourierFeatureTransform (line 6) | class GaussianFourierFeatureTransform(torch.nn.Module):
    method __init__ (line 16) | def __init__(self, num_input_channels, mapping_size=93, scale=25, lear...
    method forward (line 26) | def forward(self, x):
  class Nerf_positional_embedding (line 33) | class Nerf_positional_embedding(torch.nn.Module):
    method __init__ (line 39) | def __init__(self, in_dim, multires, log_sampling=True):
    method forward (line 50) | def forward(self, x):
  class Same (line 71) | class Same(nn.Module):
    method __init__ (line 72) | def __init__(self, in_dim) -> None:
    method forward (line 76) | def forward(self, x):
  class Decoder (line 80) | class Decoder(nn.Module):
    method __init__ (line 81) | def __init__(self,
    method get_values (line 109) | def get_values(self, input):
    method forward (line 125) | def forward(self, inputs):

FILE: src/variations/render_helpers.py
  function ray (line 9) | def ray(ray_start, ray_dir, depths):
  function fill_in (line 13) | def fill_in(shape, mask, input, initial=1.0):
  function masked_scatter (line 21) | def masked_scatter(mask, x):
  function masked_scatter_ones (line 30) | def masked_scatter_ones(mask, x):
  function trilinear_interp (line 40) | def trilinear_interp(p, q, point_feats):
  function offset_points (line 49) | def offset_points(point_xyz, quarter_voxel=1, offset_only=False, bits=2):
  function get_embeddings (line 63) | def get_embeddings(sampled_xyz, point_xyz, point_feats, voxel_size):
  function get_features (line 74) | def get_features(samples, map_states, voxel_size):
  function get_scores (line 97) | def get_scores(sdf_network, map_states, voxel_size, bits=8):
  function eval_points (line 157) | def eval_points(sdf_network, map_states, sampled_xyz, sampled_idx, voxel...
  function render_rays (line 190) | def render_rays(
  function bundle_adjust_frames (line 321) | def bundle_adjust_frames(
  function track_frame (line 428) | def track_frame(

FILE: src/variations/voxel_helpers.py
  class BallRayIntersect (line 27) | class BallRayIntersect(Function):
    method forward (line 29) | def forward(ctx, radius, n_max, points, ray_start, ray_dir):
    method backward (line 42) | def backward(ctx, a, b, c):
  class AABBRayIntersect (line 49) | class AABBRayIntersect(Function):
    method forward (line 51) | def forward(ctx, voxelsize, n_max, points, ray_start, ray_dir):
    method backward (line 85) | def backward(ctx, a, b, c):
  class SparseVoxelOctreeRayIntersect (line 92) | class SparseVoxelOctreeRayIntersect(Function):
    method forward (line 94) | def forward(ctx, voxelsize, n_max, points, children, ray_start, ray_dir):
    method backward (line 136) | def backward(ctx, a, b, c):
  class TriangleRayIntersect (line 143) | class TriangleRayIntersect(Function):
    method forward (line 145) | def forward(ctx, cagesize, blur_ratio, n_max, points, faces, ray_start...
    method backward (line 187) | def backward(ctx, a, b, c):
  class UniformRaySampling (line 194) | class UniformRaySampling(Function):
    method forward (line 196) | def forward(
    method backward (line 255) | def backward(ctx, a, b, c):
  class InverseCDFRaySampling (line 262) | class InverseCDFRaySampling(Function):
    method forward (line 264) | def forward(
    method backward (line 343) | def backward(ctx, a, b, c):
  function _parallel_ray_sampling (line 352) | def _parallel_ray_sampling(
  function parallel_ray_sampling (line 411) | def parallel_ray_sampling(
  function discretize_points (line 454) | def discretize_points(voxel_points, voxel_size):
  function build_easy_octree (line 467) | def build_easy_octree(points, half_voxel):
  function trilinear_interp (line 478) | def trilinear_interp(p, q, point_feats):
  function offset_points (line 487) | def offset_points(point_xyz, quarter_voxel=1, offset_only=False, bits=2):
  function splitting_points (line 499) | def splitting_points(point_xyz, point_feats, values, half_voxel):
  function ray_intersect (line 531) | def ray_intersect(ray_start, ray_dir, flatten_centers, flatten_children,...
  function ray_sample (line 571) | def ray_sample(intersection_outputs, step_size=0.01, fixed=False):

FILE: third_party/marching_cubes/src/mc.cpp
  function PYBIND11_MODULE (line 36) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m)

FILE: third_party/sparse_octree/include/octree.h
  type OcType (line 5) | enum OcType
  function class (line 12) | class Octant : public torch::CustomClassHolder
  function class (line 65) | class Octree : public torch::CustomClassHolder

FILE: third_party/sparse_octree/include/test.h
  function expand (line 41) | inline int64_t expand(int64_t value)
  function compact (line 52) | inline uint64_t compact(uint64_t value)
  function compute_morton (line 63) | inline int64_t compute_morton(int64_t x, int64_t y, int64_t z)

FILE: third_party/sparse_octree/include/utils.h
  type Vector3 (line 28) | typedef Vector3<int> Vector3i;
  type Vector3 (line 29) | typedef Vector3<float> Vector3f;
  function expand (line 64) | inline uint64_t expand(unsigned long long value)
  function compact (line 75) | inline uint64_t compact(uint64_t value)
  function compute_morton (line 86) | inline uint64_t compute_morton(uint64_t x, uint64_t y, uint64_t z)
  function Eigen (line 98) | inline Eigen::Vector3i decode(const uint64_t code)
  function encode (line 106) | inline uint64_t encode(const int x, const int y, const int z)

FILE: third_party/sparse_octree/src/bindings.cpp
  function TORCH_LIBRARY (line 4) | TORCH_LIBRARY(svo, m)

FILE: third_party/sparse_octree/src/octree.cpp
  function Octant (line 151) | Octant *Octree::find_octant(std::vector<float> coord)

FILE: third_party/sparse_voxels/include/cuda_utils.h
  function opt_n_threads (line 20) | inline int opt_n_threads(int work_size)
  function dim3 (line 27) | inline dim3 opt_block_config(int x, int y)

FILE: third_party/sparse_voxels/include/cutil_math.h
  type uint (line 30) | typedef unsigned int uint;
  type ushort (line 31) | typedef unsigned short ushort;
  function fminf (line 36) | inline float fminf(float a, float b)
  function fmaxf (line 41) | inline float fmaxf(float a, float b)
  function max (line 46) | inline int max(int a, int b)
  function min (line 51) | inline int min(int a, int b)
  function rsqrtf (line 56) | inline float rsqrtf(float x)
  function lerp (line 67) | float lerp(float a, float b, float t)
  function clamp (line 73) | float clamp(float f, float a, float b)
  function swap (line 78) | void swap(float &a, float &b)
  function swap (line 85) | void swap(int &a, int &b)
  function int2 (line 124) | int2 operator*(int2 a, int2 b)
  function int2 (line 128) | int2 operator*(int2 a, int s)
  function int2 (line 132) | int2 operator*(int s, int2 a)
  function float2 (line 146) | float2 make_float2(float s)
  function float2 (line 150) | float2 make_float2(int2 a)
  function float2 (line 184) | float2 operator*(float2 a, float2 b)
  function float2 (line 188) | float2 operator*(float2 a, float s)
  function float2 (line 192) | float2 operator*(float s, float2 a)
  function float2 (line 224) | float2 lerp(float2 a, float2 b, float t)
  function float2 (line 230) | float2 clamp(float2 v, float a, float b)
  function float2 (line 235) | float2 clamp(float2 v, float2 a, float2 b)
  function dot (line 241) | float dot(float2 a, float2 b)
  function length (line 247) | float length(float2 v)
  function float2 (line 253) | float2 normalize(float2 v)
  function float2 (line 260) | float2 floor(const float2 v)
  function float2 (line 266) | float2 reflect(float2 i, float2 n)
  function float2 (line 272) | float2 fabs(float2 v)
  function float3 (line 281) | float3 make_float3(float s)
  function float3 (line 285) | float3 make_float3(float2 a)
  function float3 (line 289) | float3 make_float3(float2 a, float s)
  function float3 (line 293) | float3 make_float3(float4 a)
  function float3 (line 297) | float3 make_float3(int3 a)
  function float3 (line 309) | float3 fminf(float3 a, float3 b)
  function float3 (line 315) | float3 fmaxf(float3 a, float3 b)
  function float3 (line 353) | float3 operator*(float3 a, float3 b)
  function float3 (line 357) | float3 operator*(float3 a, float s)
  function float3 (line 361) | float3 operator*(float s, float3 a)
  function float3 (line 401) | float3 lerp(float3 a, float3 b, float t)
  function float3 (line 407) | float3 clamp(float3 v, float a, float b)
  function float3 (line 412) | float3 clamp(float3 v, float3 a, float3 b)
  function dot (line 418) | float dot(float3 a, float3 b)
  function float3 (line 424) | float3 cross(float3 a, float3 b)
  function length (line 430) | float length(float3 v)
  function float3 (line 436) | float3 normalize(float3 v)
  function float3 (line 443) | float3 floor(const float3 v)
  function float3 (line 449) | float3 reflect(float3 i, float3 n)
  function float3 (line 455) | float3 fabs(float3 v)
  function float4 (line 464) | float4 make_float4(float s)
  function float4 (line 468) | float4 make_float4(float3 a)
  function float4 (line 472) | float4 make_float4(float3 a, float w)
  function float4 (line 476) | float4 make_float4(int4 a)
  function float4 (line 488) | float4 fminf(float4 a, float4 b)
  function float4 (line 494) | float4 fmaxf(float4 a, float4 b)
  function float4 (line 526) | float4 operator*(float4 a, float s)
  function float4 (line 530) | float4 operator*(float s, float4 a)
  function float4 (line 564) | float4 lerp(float4 a, float4 b, float t)
  function float4 (line 570) | float4 clamp(float4 v, float a, float b)
  function float4 (line 575) | float4 clamp(float4 v, float4 a, float4 b)
  function dot (line 581) | float dot(float4 a, float4 b)
  function length (line 587) | float length(float4 r)
  function float4 (line 593) | float4 normalize(float4 v)
  function float4 (line 600) | float4 floor(const float4 v)
  function float4 (line 606) | float4 fabs(float4 v)
  function int3 (line 615) | int3 make_int3(int s)
  function int3 (line 619) | int3 make_int3(float3 a)
  function int3 (line 631) | int3 min(int3 a, int3 b)
  function int3 (line 637) | int3 max(int3 a, int3 b)
  function int3 (line 668) | int3 operator*(int3 a, int3 b)
  function int3 (line 672) | int3 operator*(int3 a, int s)
  function int3 (line 676) | int3 operator*(int s, int3 a)
  function clamp (line 708) | int clamp(int f, int a, int b)
  function int3 (line 713) | int3 clamp(int3 v, int a, int b)
  function int3 (line 718) | int3 clamp(int3 v, int3 a, int3 b)
  function uint3 (line 727) | uint3 make_uint3(uint s)
  function uint3 (line 731) | uint3 make_uint3(float3 a)
  function uint3 (line 737) | uint3 min(uint3 a, uint3 b)
  function uint3 (line 743) | uint3 max(uint3 a, uint3 b)
  function uint3 (line 774) | uint3 operator*(uint3 a, uint3 b)
  function uint3 (line 778) | uint3 operator*(uint3 a, uint s)
  function uint3 (line 782) | uint3 operator*(uint s, uint3 a)
  function uint (line 814) | uint clamp(uint f, uint a, uint b)
  function uint3 (line 819) | uint3 clamp(uint3 v, uint a, uint b)
  function uint3 (line 824) | uint3 clamp(uint3 v, uint3 a, uint3 b)

FILE: third_party/sparse_voxels/src/binding.cpp
  function PYBIND11_MODULE (line 10) | PYBIND11_MODULE(TORCH_EXTENSION_NAME, m)

FILE: third_party/sparse_voxels/src/intersect.cpp
  function ball_intersect (line 15) | std::tuple<at::Tensor, at::Tensor, at::Tensor> ball_intersect(at::Tensor...
  function aabb_intersect (line 49) | std::tuple<at::Tensor, at::Tensor, at::Tensor> aabb_intersect(at::Tensor...
  function svo_intersect (line 83) | std::tuple<at::Tensor, at::Tensor, at::Tensor> svo_intersect(at::Tensor ...
  function triangle_intersect (line 119) | std::tuple<at::Tensor, at::Tensor, at::Tensor> triangle_intersect(at::Te...

FILE: third_party/sparse_voxels/src/octree.cpp
  type OcTree (line 12) | struct OcTree
    type OcTree (line 17) | struct OcTree
    method init (line 18) | void init(at::Tensor center, int d, int i)
  class EasyOctree (line 28) | class EasyOctree
    method EasyOctree (line 38) | EasyOctree(at::Tensor center, int depth)
  function build_octree (line 149) | std::tuple<at::Tensor, at::Tensor> build_octree(at::Tensor center, at::T...

FILE: third_party/sparse_voxels/src/sample.cpp
  function uniform_ray_sampling (line 21) | std::tuple<at::Tensor, at::Tensor, at::Tensor> uniform_ray_sampling(
  function inverse_cdf_sampling (line 56) | std::tuple<at::Tensor, at::Tensor, at::Tensor> inverse_cdf_sampling(