1 pose_generation
pose_generation
Finite-candidate generation and counterfactual rollout contracts.
The package owns the thesis action space: every NBV decision is a finite table of candidate camera poses, validity masks, reason codes, and provenance fields. CandidateSamplingResult.views is the compact valid table used for rendering and scoring; mask_valid, shell_poses, strategy ids, mixture ids, and sampler probabilities stay aligned to the full sampled shell so invalid actions remain auditable instead of becoming low-RRI samples.
Target-conditioned rollout generation adds a runtime-only actor-visible target context. TARGET_POINT candidates must use the selected observed/predicted target center, not GT geometry. GT meshes and GT target crops are consumed only by oracle scoring/evaluation.
1.1 Attributes
| Name | Description |
|---|---|
| SCENE_CROP_POLICY_SNIPPET_EXTENT_V1 | Scene-RRI crop policy matching the existing snippet occupancy-extent scorer. |
| TARGET_CROP_POLICY_GT_OBB_ORIENTED_ANY_VERTEX_V1 | Target crop policy: keep mesh faces with any vertex inside the matched oriented GT OBB. |
1.2 Classes
| Name | Description |
|---|---|
| CandidateViewGenerator | Generate candidate PoseTW around a reference rig pose using composeable and modular rules. |
| CandidateViewGeneratorConfig | Configuration for sampling and pruning candidate camera poses around a reference frame. |
| CandidateMixtureComponentConfig | One fixed-count candidate-family component inside a mixture sampler. |
| CandidateMixtureViewGenerator | Generate a fixed-size candidate table from multiple sampling families. |
| CandidateMixtureViewGeneratorConfig | Config-as-factory for fixed-count mixed candidate tables. |
| CounterfactualCandidateEvaluation | Structured per-valid-candidate rollout scores and optional diagnostics. |
| CounterfactualMetricBundle | Typed per-valid-candidate metrics emitted by rollout evaluators. |
| CounterfactualOracleRriScorer | Evaluate valid candidates with oracle RRI relative to the current trajectory. |
| CounterfactualOracleRriScorerConfig | Config-as-factory wrapper for oracle-RRI rollout scoring. |
| CounterfactualPoseGenerator | Expand a multi-step counterfactual pose tree from the current generator. |
| CounterfactualPoseGeneratorConfig | Configuration for multi-step finite-candidate rollout generation. |
| CounterfactualRolloutResult | All trajectories produced by one rollout call. |
| CounterfactualSelectionPolicy | Built-in policies used to rank valid candidates during rollout expansion. |
| CounterfactualSelectionRecord | Selected valid-candidate index plus the distribution used to draw it. |
| CounterfactualStepResult | One selected rollout step. |
| CounterfactualTrajectory | One rollout trajectory rooted at one initial pose. |
| CounterfactualTargetOracleRriScorer | Evaluate valid candidates with target-cropped oracle RRI. |
| CounterfactualTargetOracleRriScorerConfig | Config-as-factory wrapper for target-cropped oracle-RRI rollout scoring. |
| TargetRriInvalidError | Expected data invalidity that prevents target-RRI labeling for a row. |
| CandidateGenerationRuntimeContext | Runtime-only context for target-conditioned candidate generation. |
| CandidatePositionMode | Spatial prior used to turn raw sphere samples into candidate centers. |
| CandidateSamplingResult | Immutable result of candidate sampling and rule-based pruning. |
| CollisionBackend | Backend for collision tests. |
| SamplingStrategy | Angular sampling strategy for candidate directions on S^2. |
| ViewDirectionMode | Base orientation family applied after candidate centers are sampled. |
1.3 Functions
| Name | Description |
|---|---|
| candidate_position_id | Return the stable integer provenance id for a position family. |
| candidate_strategy_id | Return the stable integer provenance id for a view-direction family. |
| stats_to_markdown_table | Convert nested stats dict into a GitHub-flavoured Markdown table. |