class_docstr: This class implements methods for rasterizing a batch of pointclouds.
docstr: Args:
      point_clouds: a set of point clouds with coordinates in world space.
  Returns:
      PointFragments: Rasterization outputs as a named tuple.
docstr_tok: ["Args",":","point_clouds",":","a","set","of","point","clouds","with","coordinates","in","world","space",".","Returns",":","PointFragments",":","Rasterization","outputs","as","a","named","tuple","."]
code: def forward(self, point_clouds, **kwargs) -> PointFragments:
      """
      Args:
          point_clouds: a set of point clouds with coordinates in world space.
      Returns:
          PointFragments: Rasterization outputs as a named tuple.
      """
      points_proj = self.transform(point_clouds, **kwargs)
      raster_settings = kwargs.get(
          "raster_settings", self.raster_settings
      )
      idx, zbuf, dists2 = rasterize_points(
          points_proj,
          image_size=raster_settings.image_size,
          radius=raster_settings.radius,
          points_per_pixel=raster_settings.points_per_pixel,
          bin_size=raster_settings.bin_size,
          max_points_per_bin=raster_settings.max_points_per_bin,
      )
      return PointFragments(idx=idx, zbuf=zbuf, dists=dists2)
  
file_path: pytorch3d/pytorch3d/renderer/points/rasterizer.py
imports: from dataclasses import dataclass
  from typing import NamedTuple, Optional, Tuple, Union
  import torch
  import torch.nn
  from pytorch3d.renderer.cameras import try_get_projection_transform
  from pytorch3d.structures import Pointclouds
  from .rasterize_points import rasterize_points
label_desc: Use image node_id 4 for calling the PointsRasterizer obj's underlying member method code with example usage: obj.forward(point_clouds) and returns: PointFragments