fastdev.geom.utils
==================

.. py:module:: fastdev.geom.utils




Module Contents
---------------

.. py:function:: masked_gather(points: torch.Tensor, idx: torch.Tensor) -> torch.Tensor

   Helper function for torch.gather to collect the points at
   the given indices in idx where some of the indices might be -1 to
   indicate padding. These indices are first replaced with 0.
   Then the points are gathered after which the padded values
   are set to 0.0.

   :param points: (N, P, D) float32 tensor of points
   :param idx: (N, K) or (N, P, K) long tensor of indices into points, where
               some indices are -1 to indicate padding

   :returns:

             (N, K, D) float32 tensor of points
                 at the given indices
   :rtype: selected_points