1 EfmObbView

data_handling.efm_views.EfmObbView(obbs, hz=None)

Snippet-level oriented bounding boxes in the EFM ObbTW layout.

obbs may be shaped (T, K, 34), (1, K, 34), or (K, 34) depending on the source. K is padded; padded rows are all PAD_VAL and must be removed with ObbTW.get_padding_mask() before ranking or matching targets.

The 34 payload columns are the EFM OBB contract: object-frame 3D bounds, three 2D boxes, a 12-value pose, semantic id, instance id, confidence, and movable flag. Downstream target selection transforms the latest valid slice into world coordinates before constructing TargetCandidateRow records.

1.1 Attributes

Name	Description
obbs	Padded oriented boxes in snippet frame or world frame, shape `(..., K, 34)`.
hz	Optional `Tensor["1", int32]` detection frequency.

# EfmObbView { #aria_nbv.data_handling.efm_views.EfmObbView }

```python
data_handling.efm_views.EfmObbView(obbs, hz=None)
```

Snippet-level oriented bounding boxes in the EFM `ObbTW` layout.

`obbs` may be shaped `(T, K, 34)`, `(1, K, 34)`, or `(K, 34)` depending on
the source. `K` is padded; padded rows are all `PAD_VAL` and must be removed
with `ObbTW.get_padding_mask()` before ranking or matching targets.

The `34` payload columns are the EFM OBB contract: object-frame 3D bounds,
three 2D boxes, a 12-value pose, semantic id, instance id, confidence, and
movable flag. Downstream target selection transforms the latest valid slice
into world coordinates before constructing `TargetCandidateRow` records.

## Attributes

| Name | Description |
| --- | --- |
| [obbs](#aria_nbv.data_handling.efm_views.EfmObbView.obbs) | Padded oriented boxes in snippet frame or world frame, shape ``(..., K, 34)``. |
| [hz](#aria_nbv.data_handling.efm_views.EfmObbView.hz) | Optional ``Tensor["1", int32]`` detection frequency. |