1 CompactObbBlock

data_handling.CompactObbBlock(obbs, sem_id_to_name=None, probs=None)

Collatable numeric OBB payload used by training and diagnostics.

obbs keeps the raw EFM ObbTW backing layout, not a simplified center size representation. The shape is (..., K, 34), where K is a padded box slot count. Valid boxes must be determined through ObbTW(obbs).get_padding_mask().

The last dimension follows the EFM layout:

  • 0:6: object-frame 3D bounds [xmin, xmax, ymin, ymax, zmin, zmax];
  • 6:10, 10:14, 14:18: RGB, SLAM-left, and SLAM-right 2D boxes;
  • 18:30: PoseTW object-to-world/object-to-snippet transform payload;
  • 30, 31, 32, 33: semantic id, instance id, confidence, movable.

The tensor is stored as float32 even for id-like columns; use ObbTW properties such as sem_id, inst_id, prob, bb3_center_world, and bb3_diagonal when interpreting rows.

1.1 Attributes

Name Description
obbs OBB tensor with shape (..., K, 34) using EFM ObbTW layout.
sem_id_to_name Optional sparse semantic id to class-name map.
probs Optional class probabilities aligned with obbs.