1 PoseEncodingOutput

vin.pose_encoders.PoseEncodingOutput(
    center_m,
    pose_vec,
    pose_enc,
    center_dir=None,
    forward_dir=None,
    radius_m=None,
    view_alignment=None,
)

Pose-encoding outputs for a pose expressed in a reference frame.

1.1 Attributes

Name	Type	Description
center_m	Tensor	Tensor["... 3", float32] translation in the reference frame.
pose_vec	Tensor	Tensor["... D", float32] pose vector fed into the encoder.
pose_enc	Tensor	Tensor["... E", float32] encoded pose embedding.
center_dir	Tensor | None	Optional Tensor["... 3", float32] unit direction to center.
forward_dir	Tensor | None	Optional Tensor["... 3", float32] forward direction in ref frame.
radius_m	Tensor | None	Optional Tensor["... 1", float32] radius \|\|t\|\|.
view_alignment	Tensor | None	Optional Tensor["... 1", float32] dot <f, -u>.