1 VinOfflineOracleBlock

data_handling._offline_dataset.VinOfflineOracleBlock(
    candidate_poses_world_cam,
    reference_pose_world_rig,
    candidate_count,
    rri,
    pm_dist_before,
    pm_dist_after,
    pm_acc_before,
    pm_comp_before,
    pm_acc_after,
    pm_comp_after,
    p3d_cameras,
)

Oracle-label block stored for one offline VIN sample.

1.1 Attributes

Name	Description
candidate_poses_world_cam	Candidate world←camera poses.
reference_pose_world_rig	Reference world←rig pose.
candidate_count	Number of valid candidates inside the fixed-width tensors.
rri	Oracle RRI values per candidate.
pm_dist_before	Pre-observation Chamfer distance per candidate.
pm_dist_after	Post-observation Chamfer distance per candidate.
pm_acc_before	Pre-observation accuracy distance per candidate.
pm_comp_before	Pre-observation completeness distance per candidate.
pm_acc_after	Post-observation accuracy distance per candidate.
pm_comp_after	Post-observation completeness distance per candidate.
p3d_cameras	PyTorch3D cameras aligned with the candidate set.