1 build_root_eval_pointcloud

rri_metrics.build_root_eval_pointcloud(
    sample,
    *,
    source=RriEvaluationPointCloudSource.ASE_GT_DEPTH_ROOT,
    camera_label='rgb',
    reference_pose_world=None,
    reference_time_ns=None,
    reference_trajectory_index=None,
    reference_frame_index=None,
    stride=1,
    far_m=20.0,
    voxel_size_m=0.02,
    max_points=200000,
)

Build the root oracle evaluation point cloud for a rollout snippet.

ASE_GT_DEPTH_ROOT uses all observed camera/depth frames up to the rollout reference pose. LEGACY_SEMIDENSE_ROOT returns the collapsed MPS semi-dense point cloud for diagnostics only. RENDERED_LOGGED_DEPTH_ROOT is intentionally reserved for the rendered-root ablation and should be implemented separately from ASE ray-distance preprocessing.