Summary: Forward method is sped up using the scaffold, a low resolution voxel grid which is used to filter out the points in empty space. These points will be predicted as having 0 density and (0, 0, 0) color. The points which were not evaluated as empty space will be passed through the steps outlined above.
Reviewed By: kjchalup
Differential Revision: D39579671
fbshipit-source-id: 8eab8bb43ef77c2a73557efdb725e99a6c60d415
56d3465b09