1 pose_generation.geometry

pose_generation.geometry

Differentiable point-to-mesh geometry for candidate validity pruning.

This compatibility owner exposes the shared policy-free mesh query while pose generation continues to own pruning policy, masks, and reason aggregation.

1.1 Functions

Name	Description
point_mesh_distance	Compute point-to-mesh distances using PyTorch3D.

1.1.1 point_mesh_distance

pose_generation.geometry.point_mesh_distance(points, verts, faces)

Compute point-to-mesh distances using PyTorch3D.

1.1.1.1 Parameters

Name	Type	Description	Default
points	torch.Tensor	`(N, 3)` points in world frame.	required
verts	torch.Tensor	`(V, 3)` mesh vertices.	required
faces	torch.Tensor	`(F, 3)` mesh faces (indices into `verts`).	required

1.1.1.2 Returns

Name	Type	Description
	torch.Tensor	`(N,)` distances in metres on the same device/dtype as `points`.

# pose_generation.geometry { #aria_nbv.pose_generation.geometry }

`pose_generation.geometry`

Differentiable point-to-mesh geometry for candidate validity pruning.

This compatibility owner exposes the shared policy-free mesh query while pose
generation continues to own pruning policy, masks, and reason aggregation.

## Functions

| Name | Description |
| --- | --- |
| [point_mesh_distance](#aria_nbv.pose_generation.geometry.point_mesh_distance) | Compute point-to-mesh distances using PyTorch3D. |

### point_mesh_distance { #aria_nbv.pose_generation.geometry.point_mesh_distance }

```python
pose_generation.geometry.point_mesh_distance(points, verts, faces)
```

Compute point-to-mesh distances using PyTorch3D.

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

| Name   | Type                                      | Description                                     | Default    |
|--------|-------------------------------------------|-------------------------------------------------|------------|
| points | [torch](`torch`).[Tensor](`torch.Tensor`) | ``(N, 3)`` points in world frame.               | _required_ |
| verts  | [torch](`torch`).[Tensor](`torch.Tensor`) | ``(V, 3)`` mesh vertices.                       | _required_ |
| faces  | [torch](`torch`).[Tensor](`torch.Tensor`) | ``(F, 3)`` mesh faces (indices into ``verts``). | _required_ |

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

| Name   | Type                                      | Description                                                          |
|--------|-------------------------------------------|----------------------------------------------------------------------|
|        | [torch](`torch`).[Tensor](`torch.Tensor`) | ``(N,)`` distances in metres on the same device/dtype as ``points``. |