1 EfmSnippetView

data_handling.EfmSnippetView(
    efm,
    scene_id,
    snippet_id,
    mesh=None,
    crop_bounds=None,
    mesh_verts=None,
    mesh_faces=None,
    mesh_cache_key=None,
    mesh_specs=None,
)

Typed wrapper over an EFM-formatted sample plus optional mesh.

1.1 Attributes

Name	Description
efm	Backing EFM sample dictionary (zero-copy).
scene_id	ASE scene identifier (e.g., 81283).
snippet_id	Snippet/shard identifier (e.g., shards-0000).
mesh	Optional GT mesh paired with this sample.
crop_bounds	Optional (min, max) world-space AABB used for mesh cropping / occupancy.
mesh_verts	Optional cached mesh vertices tensor (float32, device-agnostic).
mesh_faces	Optional cached mesh faces tensor (int64).
mesh_cache_key	Stable key (spec hash) for shared mesh caches across components.
mesh_specs	Optional mesh processing specification used to derive attached mesh tensors.
camera_rgb	RGB stream (fisheye624, 240x240 in ASE preprocessing).
camera_slam_left	Left SLAM mono stream (fisheye624, ~320x240).
camera_slam_right	Right SLAM mono stream (fisheye624, ~320x240).
trajectory	Rig trajectory (world←rig) aligned to snippet frames.
semidense	Semi-dense SLAM points (padded to fixed length).
obbs	Snippet-level OBBs (if present).
gt	Ground-truth dict gt_data (EFM OBBs per timestamp/camera).
has_mesh	Return whether a ground-truth mesh is attached to the snippet.

1.2 Methods

Name	Description
from_cache_efm	Construct a snippet view from an offline-cache EFM dict.
get_camera	Return the requested camera stream view from the backing EFM dict.
get_occupancy_extend	Return [xmin, xmax, ymin, ymax, zmin, zmax] AABB in world frame.
to	Shallow device move for heavy tensors.
prune_efm	Return a view with the EFM dict pruned to the requested keys.

1.2.1 from_cache_efm

data_handling.EfmSnippetView.from_cache_efm(
    efm,
    *,
    mesh=None,
    crop_bounds=None,
    mesh_verts=None,
    mesh_faces=None,
    mesh_cache_key=None,
    mesh_specs=None,
)

Construct a snippet view from an offline-cache EFM dict.

1.2.1.1 Parameters

Name	Type	Description	Default
efm	dict[str, Any]	Raw cache sample dict that includes "__key__".	required
mesh	Trimesh | None	Optional GT mesh to attach.	None
crop_bounds	tuple[torch.Tensor, torch.Tensor] | None	Optional world-space AABB override.	None
mesh_verts	torch.Tensor | None	Optional cached mesh vertices.	None
mesh_faces	torch.Tensor | None	Optional cached mesh faces.	None
mesh_cache_key	str | None	Optional mesh cache key for shared caches.	None
mesh_specs	MeshProcessSpec | None	Optional mesh processing spec.	None

1.2.1.2 Returns

Name	Type	Description
	'EfmSnippetView'	Parsed EfmSnippetView instance.

1.2.2 get_camera

data_handling.EfmSnippetView.get_camera(prefix)

Return the requested camera stream view from the backing EFM dict.

1.2.3 get_occupancy_extend

data_handling.EfmSnippetView.get_occupancy_extend()

Return [xmin, xmax, ymin, ymax, zmin, zmax] AABB in world frame.

1.2.4 to

data_handling.EfmSnippetView.to(device, *, dtype=None)

Shallow device move for heavy tensors.

1.2.5 prune_efm

data_handling.EfmSnippetView.prune_efm(keep_keys, *, keep_prefixes=())

Return a view with the EFM dict pruned to the requested keys.

1.2.5.1 Parameters

Name	Type	Description	Default
keep_keys	set[str] | None	Exact EFM keys to retain. None returns self unchanged.	required
keep_prefixes	tuple[str, …]	Optional prefixes; keys starting with any prefix are retained.	()