1 CandidateViewGeneratorConfig

pose_generation.candidate_generation.CandidateViewGeneratorConfig()

Configuration for sampling and pruning candidate camera poses around a reference frame.

Encapsulates the radii/angle sampling envelope, orientation jitter options, collision and free-space filtering, and logging/debug controls used by CandidateViewGenerator.

1.1 Attributes

Name	Description
target_type	Factory target for BaseConfig.setup_target.
camera_label	Camera index to use for candidate generation.
num_samples	Number of candidate poses requested after pruning.
oversample_factor	Multiplicative oversampling factor applied before pruning to offset rejections.
max_resamples	Maximum oversampling rounds if pruning removes too many candidates.
align_to_gravity	If True, use a gravity-aligned copy of the reference pose for sampling.
min_radius	Inner radius (metres) of the sampling shell around the reference pose.
max_radius	Outer radius (metres) of the sampling shell around the reference pose.
min_elev_deg	Minimum elevation angle (deg) relative to the world horizontal plane.
max_elev_deg	Maximum elevation angle (deg) relative to the world horizontal plane.
delta_azimuth_deg	Total azimuth spread (deg) around the reference forward direction; 360 unlocks full sphere.
sampling_strategy	Distribution used to draw direction samples in the rig frame.
kappa	Concentration parameter for the forward-biased PowerSpherical sampler.
position_mode	Position-family prior used to sample candidate centers before orientation assignment.
position_target_point_world	Optional actor-visible world-space target center for target-bearing position modes.
min_distance_to_mesh	Minimum clearance (metres) between candidate center and mesh surface.
ensure_collision_free	Reject candidates whose straight path from the reference intersects the mesh.
ensure_free_space	Constrain candidates to lie inside the snippet occupancy AABB.
collision_backend	Backend to use for collision and distance checks.
ray_subsample	Number of samples per ray when using discretised collision checks.
step_clearance	Distance threshold (metres) below which discretised collision samples are rejected.
enforce_motion_realism	Whether to reject candidates violating egocentric local-motion bounds.
max_step_distance_m	Maximum allowed candidate-center displacement from the reference pose.
max_height_delta_m	Maximum absolute world-up displacement from the reference pose.
max_backward_step_m	Maximum allowed backward displacement in the reference frame.
max_yaw_delta_deg	Maximum allowed candidate forward-axis yaw change from the reference pose.
mesh_samples	Optional number of mesh samples used by mesh-distance rules when applicable.
device	Torch device on which sampling and rule evaluation run (auto-select CUDA if available).
verbosity	Verbosity level for logging (0=quiet, 1=normal, 2=verbose).
is_debug	Enable debug logging and force verbose output when True.
collect_rule_masks	Store per-rule boolean masks in the sampling result for diagnostics.
collect_debug_stats	Allow rules to emit extra tensors (e.g., distances) in CandidateSamplingResult.extras.
reference_frame_index	Optional camera frame index to use as reference pose; None defaults to the final pose.
view_direction_mode	Base orientation strategy for candidates.
view_sampling_strategy	Optional view-direction sampler in the base camera frame (legacy path).
view_kappa	Concentration for PowerSpherical view sampler; defaults to positional kappa when None.
view_max_angle_deg	Fallback cap (deg) applied to both azimuth and elevation jitter when per-axis caps are unset.
view_max_azimuth_deg	Maximum horizontal deviation (deg, +/-) from the base direction.
view_max_elevation_deg	Maximum vertical deviation (deg, +/-) from the base direction.
view_roll_jitter_deg	Symmetric roll jitter (deg) around the sampled forward axis in camera frame.
view_target_point_world	Optional world-space target for TARGET_POINT mode (shape (3,)).
seed	Optional deterministic seed for candidate sampling.