1 canonical_fuse_points

rri_metrics.canonical_fuse_points(points, *, voxel_size_m=0.0, max_points=None)

Return finite points after deterministic voxel fusion and point capping.

1.1 Parameters

Name	Type	Description	Default
points	Tensor	`Tensor['N', 3]` points in a common metric frame.	required
voxel_size_m	float	Edge length for mean voxel fusion. Values `<=0` disable voxel aggregation.	`0.0`
max_points	int \| None	Optional deterministic cap after voxel fusion.	`None`

1.2 Returns

Name	Type	Description
	Tensor	`Tensor['K', 3]` finite, fused points.

# canonical_fuse_points { #aria_nbv.rri_metrics.canonical_fuse_points }

```python
rri_metrics.canonical_fuse_points(points, *, voxel_size_m=0.0, max_points=None)
```

Return finite points after deterministic voxel fusion and point capping.

## Parameters {.doc-section .doc-section-parameters}

| Name         | Type        | Description                                                                  | Default    |
|--------------|-------------|------------------------------------------------------------------------------|------------|
| points       | Tensor      | ``Tensor['N', 3]`` points in a common metric frame.                          | _required_ |
| voxel_size_m | float       | Edge length for mean voxel fusion. Values ``<=0`` disable voxel aggregation. | `0.0`      |
| max_points   | int \| None | Optional deterministic cap after voxel fusion.                               | `None`     |

## Returns {.doc-section .doc-section-returns}

| Name   | Type   | Description                              |
|--------|--------|------------------------------------------|
|        | Tensor | ``Tensor['K', 3]`` finite, fused points. |