1 backproject_batch

rendering.unproject.backproject_batch(
    batch,
    *,
    stride=1,
    zfar=None,
    max_points=None,
    candidate_indices=None,
)

Back-project a CandidateDepths batch into a merged world point cloud.

1.1 Parameters

Name	Type	Description	Default
batch	CandidateDepths	Rendered candidate depths + poses.	required
stride	int	Pixel subsampling stride applied to each depth map.	1
zfar	float | None	Optional upper depth bound; defaults to per-map max.	None
max_points	int | None	Optional cap on total points (post-concat).	None
candidate_indices	Sequence[int] | None	Optional subset (local indices in the batch).	None

1.2 Returns

Name	Type	Description
	torch.Tensor	Tensor["N", 3"] concatenated world-frame points.