1 CandidateViewGenerator

pose_generation.candidate_generation.CandidateViewGenerator(config)

Generate candidate PoseTW around a reference rig pose using composeable and modular rules.

This class orchestrates the full candidate generation process:

• positional sampling via PositionSampler,
• orientation construction via OrientationBuilder, and
• rule-based pruning via FreeSpaceRule, MinDistanceToMeshRule and PathCollisionRule.

1.1 Methods

Name	Description
generate_from_typed_sample	Generate candidates using an EfmSnippetView sample.
generate	Sample candidate poses around reference_pose and apply pruning rules.

1.1.1 generate_from_typed_sample

pose_generation.candidate_generation.CandidateViewGenerator.generate_from_typed_sample(
    sample,
    frame_index=None,
    runtime_context=None,
)

Generate candidates using an EfmSnippetView sample.

1.1.1.1 Parameters

Name	Type	Description	Default
sample	EfmSnippetView	Snippet view with trajectory and mesh.	required
frame_index	int | None	Optional frame index to extract the reference pose instead of using the final pose. 0 <= frame_index < F where is the number of frames in the snippet; F = sample.get_camera(self.config.camera_label).num_frames.	None
runtime_context	CandidateGenerationRuntimeContext | None	Optional target/runtime context accepted for interface compatibility with mixture generators. The single-family generator reads target state directly from the config.	None

1.1.2 generate

pose_generation.candidate_generation.CandidateViewGenerator.generate(
    reference_pose,
    gt_mesh,
    mesh_verts,
    mesh_faces,
    camera_calib_template,
    occupancy_extent,
    runtime_context=None,
)

Sample candidate poses around reference_pose and apply pruning rules.

Samples candidate positions and orientations, wraps them in a CandidateContext, runs all configured rules, and returns CandidateSamplingResult.

1.1.2.1 Parameters

Name	Type	Description	Default
reference_pose	PoseTW	World<-reference PoseTW used as the physical rig pose. When align_to_gravity is enabled, a gravity-aligned copy of this pose defines the sampling frame (stored in CandidateSamplingResult.sampling_pose).	required
gt_mesh	trimesh.Trimesh	Ground-truth trimesh.Trimesh in the world frame for pruning.	required
mesh_verts	torch.Tensor	Tensor['V, 3'] mesh vertices aligned with gt_mesh.	required
mesh_faces	torch.Tensor	Tensor['F, 3'] integer vertex indices defining mesh faces.	required
camera_calib_template	CameraTW	CameraTW whose intrinsics/metadata are cloned for each candidate; its pose block is overwritten with candidate extrinsics.	required
occupancy_extent	torch.Tensor	Tensor['6'] world-space AABB used by FreeSpaceRule.	required
runtime_context	CandidateGenerationRuntimeContext | None	Optional target/runtime context accepted for interface compatibility with mixture generators. The single-family generator reads target state directly from the config.	None

1.1.2.2 Returns

Name	Type	Description
	CandidateSamplingResult	CandidateSamplingResult holding the valid candidate CameraTW, reference pose, shell
	CandidateSamplingResult	poses, masks and optional debug statistics.