1 EfmCameraView

data_handling.efm_views.EfmCameraView(
    images,
    calib,
    time_ns,
    frame_ids,
    distance_m=None,
    distance_time_ns=None,
)

Zero-copy camera stream view in EFM schema (images, calibration, timing, optional depth).

1.1 Attributes

Name	Description
images	`Tensor["F C H W", float32]` normalized camera images in Aria LUF frame.
calib	Per-frame camera intrinsics/extrinsics (`CameraTW.tensor` shape `(F,34)`).
time_ns	`Tensor["F", int64]` device timestamps aligned to `images`.
frame_ids	`Tensor["F", int64\\|float32]` frame ids within the snippet.
distance_m	Optional metric ray distances `Tensor["F 1 H W", float32]`.
distance_time_ns	Optional `Tensor["F", int64]` timestamps for `distance_m`.
num_frames	Return the number of frames in the camera stream.

1.2 Methods

Name	Description
to	Move the camera view tensors to the requested device and dtype.
get_fov	Tensor[“F 2”, float32] FOV in degrees (fov_x, fov_y) per frame.
select_frame_indices	Resolve user-provided frame indices, supporting negatives and defaults.
nearest_traj_indices	Return selected camera indices and nearest trajectory indices.

1.2.1 to

data_handling.efm_views.EfmCameraView.to(device, *, dtype=None)

Move the camera view tensors to the requested device and dtype.

1.2.2 get_fov

data_handling.efm_views.EfmCameraView.get_fov()

Tensor[“F 2”, float32] FOV in degrees (fov_x, fov_y) per frame.

1.2.3 select_frame_indices

data_handling.efm_views.EfmCameraView.select_frame_indices(
    frame_indices,
    *,
    default_last,
)

Resolve user-provided frame indices, supporting negatives and defaults.

1.2.4 nearest_traj_indices

data_handling.efm_views.EfmCameraView.nearest_traj_indices(
    traj_ts_ns,
    frame_indices=None,
    *,
    default_last=True,
)

Return selected camera indices and nearest trajectory indices.

# EfmCameraView { #aria_nbv.data_handling.efm_views.EfmCameraView } ```python data_handling.efm_views.EfmCameraView( images, calib, time_ns, frame_ids, distance_m=None, distance_time_ns=None, ) ``` Zero-copy camera stream view in EFM schema (images, calibration, timing, optional depth). ## Attributes | Name | Description | | --- | --- | | [images](#aria_nbv.data_handling.efm_views.EfmCameraView.images) | ``Tensor["F C H W", float32]`` normalized camera images in Aria LUF frame. | | [calib](#aria_nbv.data_handling.efm_views.EfmCameraView.calib) | Per-frame camera intrinsics/extrinsics (`CameraTW.tensor` shape ``(F,34)``). | | [time_ns](#aria_nbv.data_handling.efm_views.EfmCameraView.time_ns) | ``Tensor["F", int64]`` device timestamps aligned to `images`. | | [frame_ids](#aria_nbv.data_handling.efm_views.EfmCameraView.frame_ids) | ``Tensor["F", int64\|float32]`` frame ids within the snippet. | | [distance_m](#aria_nbv.data_handling.efm_views.EfmCameraView.distance_m) | Optional metric ray distances ``Tensor["F 1 H W", float32]``. | | [distance_time_ns](#aria_nbv.data_handling.efm_views.EfmCameraView.distance_time_ns) | Optional ``Tensor["F", int64]`` timestamps for ``distance_m``. | | [num_frames](#aria_nbv.data_handling.efm_views.EfmCameraView.num_frames) | Return the number of frames in the camera stream. | ## Methods | Name | Description | | --- | --- | | [to](#aria_nbv.data_handling.efm_views.EfmCameraView.to) | Move the camera view tensors to the requested device and dtype. | | [get_fov](#aria_nbv.data_handling.efm_views.EfmCameraView.get_fov) | Tensor["F 2", float32] FOV in degrees (fov_x, fov_y) per frame. | | [select_frame_indices](#aria_nbv.data_handling.efm_views.EfmCameraView.select_frame_indices) | Resolve user-provided frame indices, supporting negatives and defaults. | | [nearest_traj_indices](#aria_nbv.data_handling.efm_views.EfmCameraView.nearest_traj_indices) | Return selected camera indices and nearest trajectory indices. | ### to { #aria_nbv.data_handling.efm_views.EfmCameraView.to } ```python data_handling.efm_views.EfmCameraView.to(device, *, dtype=None) ``` Move the camera view tensors to the requested device and dtype. ### get_fov { #aria_nbv.data_handling.efm_views.EfmCameraView.get_fov } ```python data_handling.efm_views.EfmCameraView.get_fov() ``` Tensor["F 2", float32] FOV in degrees (fov_x, fov_y) per frame. ### select_frame_indices { #aria_nbv.data_handling.efm_views.EfmCameraView.select_frame_indices } ```python data_handling.efm_views.EfmCameraView.select_frame_indices( frame_indices, *, default_last, ) ``` Resolve user-provided frame indices, supporting negatives and defaults. ### nearest_traj_indices { #aria_nbv.data_handling.efm_views.EfmCameraView.nearest_traj_indices } ```python data_handling.efm_views.EfmCameraView.nearest_traj_indices( traj_ts_ns, frame_indices=None, *, default_last=True, ) ``` Return selected camera indices and nearest trajectory indices.