1 data_handling.efm_views
data_handling.efm_views
Typed, zero-copy views over EFM-formatted ATEK samples.
These classes mirror the style of aria_nbv.data.views but read the keys produced by efm3d.dataset.efm_model_adaptor.load_atek_wds_dataset_as_efm. All properties surface rich shape/type information to make downstream use explicit and safe.
The view layer defines which fields are actor-visible (rgb, calibrated poses, semidense points, EVL/OBB predictions) and which are oracle/evaluation assets (attached GT meshes and GT OBBs). It avoids copying large tensors so dataset writers can attach mesh and snippet context without changing the immutable VIN offline-cache rows.
1.1 Classes
| Name | Description |
|---|---|
| EfmGtCameraObbView | Per-camera oriented bounding boxes for a single timestamp (EFM schema). |
| EfmGtTimestampView | EFM GT slice for one timestamp across cameras. |
| EfmGTView | Ground-truth annotations (EFM schema) for a snippet. |
| EfmCameraView | Zero-copy camera stream view in EFM schema (images, calibration, timing, optional depth). |
| EfmTrajectoryView | World-frame rig trajectory aligned to snippet frames. |
| EfmPointsView | Padded semi-dense SLAM point cloud view with per-frame metadata. |
| EfmObbView | Snippet-level oriented bounding boxes in the EFM ObbTW layout. |
| EfmSnippetView | Typed wrapper over an EFM-formatted sample plus optional mesh. |
| VinSnippetView | Minimal snippet payload for VIN v2 batching. |
1.2 Functions
| Name | Description |
|---|---|
| is_efm_snippet_view_instance | Return whether value behaves like an EfmSnippetView. |
| is_vin_snippet_view_instance | Return whether value behaves like a VinSnippetView. |