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def set_id_grid(depth):
    global pixel_coords
    b, h, w = depth.size()
    i_range = torch.arange(0, h).view(1, h, 1).expand(1,h,w).type_as(depth)  # [1, H, W]
    j_range = torch.arange(0, w).view(1, 1, w).expand(1,h,w).type_as(depth)  # [1, H, W]
    ones = torch.ones(1,h,w).type_as(depth)

    pixel_coords = torch.stack((j_range, i_range, ones), dim=1)  # [1, 3, H, W]