1 VinSnippetView

data_handling.efm_views.VinSnippetView(points_world, lengths, t_world_rig)

Minimal snippet payload for VIN v2 batching.

1.1 Attributes

Name	Type	Description
points_world	Tensor	`Tensor["K (3+C)", float32]` collapsed semidense points. Base columns are XYZ; optional extras include inv_dist_std and observation count (number of snippet frames that saw the point).
lengths	Tensor	`Tensor["B"]` or `Tensor["1"]` number of valid points in `points_world` (before padding).
t_world_rig	PoseTW	`PoseTW["F 12"]` historical world←rig poses.

1.2 Methods

Name	Description
to	Move the VIN snippet tensors to the requested device and dtype.

1.2.1 to

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

Move the VIN snippet tensors to the requested device and dtype.

# VinSnippetView { #aria_nbv.data_handling.efm_views.VinSnippetView }

```python
data_handling.efm_views.VinSnippetView(points_world, lengths, t_world_rig)
```

Minimal snippet payload for VIN v2 batching.

## Attributes {.doc-section .doc-section-attributes}

| Name         | Type   | Description                                                                                                                                                                                |
|--------------|--------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| points_world | Tensor | ``Tensor["K (3+C)", float32]`` collapsed semidense points. Base columns are XYZ; optional extras include inv_dist_std and observation count (number of snippet frames that saw the point). |
| lengths      | Tensor | ``Tensor["B"]`` or ``Tensor["1"]`` number of valid points in ``points_world`` (before padding).                                                                                            |
| t_world_rig  | PoseTW | ``PoseTW["F 12"]`` historical world←rig poses.                                                                                                                                             |

## Methods

| Name | Description |
| --- | --- |
| [to](#aria_nbv.data_handling.efm_views.VinSnippetView.to) | Move the VIN snippet tensors to the requested device and dtype. |

### to { #aria_nbv.data_handling.efm_views.VinSnippetView.to }

```python
data_handling.efm_views.VinSnippetView.to(device, *, dtype=None)
```

Move the VIN snippet tensors to the requested device and dtype.