1 RootEvalPointCloud

rri_metrics.RootEvalPointCloud(
    points_world,
    source,
    frame_indices,
    trajectory_indices,
    root_time_ns,
    root_trajectory_index,
    root_frame_index,
    depth_convention,
    camera_label,
    stride,
    far_m,
    voxel_size_m,
    max_points,
)

Root oracle evaluation point cloud plus lineage metadata.

1.1 Attributes

Name	Description
points_world	Tensor[‘P’, 3] fused world-frame evaluation points.
source	Root evaluation point-cloud source.
frame_indices	Tensor[‘F_eval’] RGB/depth frame indices used for root ASE depth.
trajectory_indices	Tensor[‘F_eval’] nearest trajectory rows used for world transforms.
root_time_ns	Root timestamp used for observed-prefix filtering, if available.
root_trajectory_index	Root trajectory row used for observed-prefix filtering, if available.
root_frame_index	Root camera frame index used for observed-prefix filtering, if available.
depth_convention	Depth convention for lineage, e.g. ray_distance_m.
camera_label	Camera stream used to build points_world.
stride	Pixel stride applied after ray-distance unprojection.
far_m	Maximum retained ray distance in metres, if configured.
voxel_size_m	Voxel size used by canonical fusion; 0 disables voxel fusion.
max_points	Maximum retained points after deterministic fusion/downsampling.