1 EvlBackboneOutput

vin.types.EvlBackboneOutput(
    t_world_voxel,
    voxel_extent,
    voxel_feat=None,
    occ_feat=None,
    obb_feat=None,
    occ_pr=None,
    occ_input=None,
    free_input=None,
    counts=None,
    counts_m=None,
    voxel_select_t=None,
    cent_pr=None,
    bbox_pr=None,
    clas_pr=None,
    cent_pr_nms=None,
    obbs_pr_nms=None,
    obb_pred=None,
    obb_pred_viz=None,
    obb_pred_sem_id_to_name=None,
    obb_pred_probs_full=None,
    obb_pred_probs_full_viz=None,
    pts_world=None,
    feat2d_upsampled=dict(),
    token2d=dict(),
)

EVL backbone features used by VIN.

1.1 Attributes

Name Type Description
t_world_voxel PoseTW PoseTW["B 12"] world←voxel pose for the voxel grid.
voxel_extent Tensor Tensor["6", float32] voxel grid extent in voxel frame [x_min,x_max,y_min,y_max,z_min,z_max] (meters).
voxel_feat Tensor | None Optional Tensor["B F D H W", float32] raw voxel features from the 3D backbone.
occ_feat Tensor | None Optional Tensor["B C D H W", float32] neck features for occupancy.
obb_feat Tensor | None Optional Tensor["B C D H W", float32] neck features for OBB detection.
occ_pr Tensor | None Optional Tensor["B 1 D H W", float32] EVL occupancy probability.
occ_input Tensor | None Optional Tensor["B 1 D H W", float32] voxelized occupied evidence from input points.
free_input Tensor | None Optional Tensor["B 1 D H W", float32] voxelized free-space evidence if provided by EVL.
counts Tensor | None Optional Tensor["B D H W", int64] per-voxel observation counts.
counts_m Tensor | None Optional Tensor["B D H W", int64] masked/debug variant of counts.
voxel_select_t Tensor | None Optional Tensor["B 1", int64] frame index anchoring the voxel grid.
cent_pr Tensor | None Optional Tensor["B 1 D H W", float32] centerness probabilities.
bbox_pr Tensor | None Optional Tensor["B 7 D H W", float32] bounding box regressions.
clas_pr Tensor | None Optional Tensor["B K D H W", float32] class probabilities.
cent_pr_nms Tensor | None Optional Tensor["B 1 D H W", float32] centerness after NMS.
obbs_pr_nms ObbTW | None Optional ObbTW["B M 34"] OBB predictions after NMS (voxel frame).
obb_pred ObbTW | None Optional ObbTW["B M 34"] OBB predictions in snippet coordinates.
obb_pred_viz ObbTW | None Optional ObbTW["B M 34"] visualization OBB predictions in snippet coordinates.
obb_pred_sem_id_to_name dict[int, str] | None Optional sparse semantic id to class-name map aligned with EVL taxonomy.
obb_pred_probs_full list[Tensor] | None Optional list of per-OBB class probability tensors.
obb_pred_probs_full_viz list[Tensor] | None Optional list of per-OBB class probability tensors for visualization.
pts_world Tensor | None Optional Tensor["B (D·H·W) 3", float32] world-space voxel centers.
feat2d_upsampled dict[str, Tensor] Per-stream 2D feature maps keyed by stream name.
token2d dict[str, Tensor] Per-stream 2D tokens keyed by stream name.

1.2 Methods

Name Description
to_serializable Serialize this backbone output into a cache-friendly CPU payload.
from_serializable Reconstruct one backbone output from a serialized payload.
to Move all tensors to the specified device.

1.2.1 to_serializable

vin.types.EvlBackboneOutput.to_serializable(include_fields=None)

Serialize this backbone output into a cache-friendly CPU payload.

1.2.1.1 Parameters

Name Type Description Default
include_fields set[str] | None Optional dataclass field names to include. When omitted, all fields are serialized. None

1.2.1.2 Returns

Name Type Description
dict[str, object] CPU-only payload suitable for immutable offline-store records.

1.2.2 from_serializable

vin.types.EvlBackboneOutput.from_serializable(
    payload,
    *,
    device,
    include_fields=None,
)

Reconstruct one backbone output from a serialized payload.

1.2.2.1 Parameters

Name Type Description Default
payload dict[str, object] Serialized payload produced by to_serializable. required
device torch.device Destination device for tensors and wrappers. required
include_fields set[str] | None Optional subset of fields to decode. None

1.2.2.2 Returns

Name Type Description
'EvlBackboneOutput' Reconstructed backbone output.

1.2.3 to

vin.types.EvlBackboneOutput.to(device)

Move all tensors to the specified device.