1 backproject_depths_p3d_batch

rendering.unproject.backproject_depths_p3d_batch(
    depths,
    mask_valid,
    cameras,
    *,
    stride=1,
)

Back-project a batch of PyTorch3D depth maps to world-frame points.

1.1 Parameters

Name	Type	Description	Default
depths	torch.Tensor	Tensor["B", "H", "W"] metric z-depth maps in metres.	required
mask_valid	torch.Tensor	Tensor["B", "H", "W"] boolean masks for usable pixels.	required
cameras	PerspectiveCameras	One pytorch3d.renderer.PerspectiveCameras entry per depth map, carrying world-from-camera extrinsics.	required
stride	int	Pixel subsampling stride.	1

1.2 Returns

Name	Type	Description
	torch.Tensor	Pair (padded, lengths) where padded is
	torch.Tensor	Tensor["B", "Pmax", 3] in world coordinates and lengths is
	tuple[torch.Tensor, torch.Tensor]	Tensor["B"] with the valid count per candidate.