def extract_at_points(
        self,
        z_est,
        slice_fine_segm=None,
        w_ylo_xlo=None,
        w_ylo_xhi=None,
        w_yhi_xlo=None,
        w_yhi_xhi=None,
    ):
        """
        Extract ground truth values z_gt for valid point indices and estimated
        values z_est using bilinear interpolation over top-left (y_lo, x_lo),
        top-right (y_lo, x_hi), bottom-left (y_hi, x_lo) and bottom-right
        (y_hi, x_hi) values in z_est with corresponding weights:
        w_ylo_xlo, w_ylo_xhi, w_yhi_xlo and w_yhi_xhi.
        Use slice_fine_segm to slice dim=1 in z_est
        """
        slice_fine_segm = (
            self.packed_annotations.fine_segm_labels_gt
            if slice_fine_segm is None
            else slice_fine_segm
        )
        w_ylo_xlo = self.w_ylo_xlo if w_ylo_xlo is None else w_ylo_xlo
        w_ylo_xhi = self.w_ylo_xhi if w_ylo_xhi is None else w_ylo_xhi
        w_yhi_xlo = self.w_yhi_xlo if w_yhi_xlo is None else w_yhi_xlo
        w_yhi_xhi = self.w_yhi_xhi if w_yhi_xhi is None else w_yhi_xhi

        index_bbox = self.packed_annotations.point_bbox_indices
        z_est_sampled = (
            z_est[index_bbox, slice_fine_segm, self.y_lo, self.x_lo] * w_ylo_xlo
            + z_est[index_bbox, slice_fine_segm, self.y_lo, self.x_hi] * w_ylo_xhi
            + z_est[index_bbox, slice_fine_segm, self.y_hi, self.x_lo] * w_yhi_xlo
            + z_est[index_bbox, slice_fine_segm, self.y_hi, self.x_hi] * w_yhi_xhi
        )
        return z_est_sampled

        Extract ground truth values z_gt for valid point indices and estimated
        values z_est using bilinear interpolation over top-left (y_lo, x_lo),
        top-right (y_lo, x_hi), bottom-left (y_hi, x_lo) and bottom-right
        (y_hi, x_hi) values in z_est with corresponding weights:
        w_ylo_xlo, w_ylo_xhi, w_yhi_xlo and w_yhi_xhi.
        Use slice_fine_segm to slice dim=1 in z_est
        
EVA-02/det/projects/DensePose/densepose/modeling/losses/utils.py