third-party/DPVO/DPViewer/dpviewer/viewer_cuda.h

#include <torch/extension.h>


struct PointCloud {
    const int nPoints;
    const torch::Tensor points;
    const torch::Tensor colors;
};

PointCloud backproject_and_filter(

    const int index,

    const int nFrames,

    const float thresh,

    const bool showForeground,

    const bool showBackground,

    const torch::Tensor images,

    const torch::Tensor poses,

    const torch::Tensor disps,

    const torch::Tensor masks,

    const torch::Tensor intrinsics);


torch::Tensor poseToMatrix(torch::Tensor poses);