1 rendering.unproject

rendering.unproject

Utilities to back-project rendered depth maps into world-frame point clouds.

This module centralises depth unprojection for candidate renders to avoid frame confusion between the PyTorch3D renderer (which outputs metric z depth in the physical camera frame) and downstream visualisations or fusion steps.

1.1 All functions assume

depth is metric depth along the camera +Z axis (same convention as pytorch3d.renderer.MeshRasterizer with in_ndc=False).
pose_world_cam is a efm3d.aria.pose.PoseTW storing world ← camera extrinsics (LUF camera frame).
camera is the matching efm3d.aria.camera.CameraTW carrying intrinsics (and, if batched, per-candidate extrinsics that align with the provided depths/poses).

The returned points live in the same VIO/world frame as the ASE mesh and semidense history. Conceptually a valid depth pixel \(d(u,v)\) maps to \(\mathbf{p}_w = T_{w \leftarrow c}\,\pi^{-1}(u,v,d)\); crop and RRI code then decide whether the point contributes to scene-level or target-level scoring.

1.2 Functions

Name	Description
backproject_depths_p3d_batch	Back-project a batch of PyTorch3D depth maps to world-frame points.
backproject_depth_with_p3d	Back-project a single depth map using PyTorch3D cameras and a validity mask.
backproject_batch	Back-project a `CandidateDepths` batch into a merged world point cloud.

# rendering.unproject { #aria_nbv.rendering.unproject }

`rendering.unproject`

Utilities to back-project rendered depth maps into world-frame point clouds.

This module centralises depth unprojection for candidate renders to avoid frame
confusion between the PyTorch3D renderer (which outputs metric ``z`` depth in
the physical camera frame) and downstream visualisations or fusion steps.

## All functions assume {.doc-section .doc-section-all-functions-assume}

* ``depth`` is metric depth along the camera +Z axis (same convention as
  `pytorch3d.renderer.MeshRasterizer` with ``in_ndc=False``).
* ``pose_world_cam`` is a `efm3d.aria.pose.PoseTW` storing
  **world ← camera** extrinsics (LUF camera frame).
* ``camera`` is the matching `efm3d.aria.camera.CameraTW` carrying
  intrinsics (and, if batched, per-candidate extrinsics that align with the
  provided depths/poses).

The returned points live in the same VIO/world frame as the ASE mesh and
semidense history. Conceptually a valid depth pixel $d(u,v)$ maps to
$\mathbf{p}_w = T_{w \leftarrow c}\,\pi^{-1}(u,v,d)$; crop and RRI code then
decide whether the point contributes to scene-level or target-level scoring.

## Functions

| Name | Description |
| --- | --- |
| [backproject_depths_p3d_batch](aria_nbv.rendering.unproject.backproject_depths_p3d_batch.qmd#aria_nbv.rendering.unproject.backproject_depths_p3d_batch) | Back-project a batch of PyTorch3D depth maps to world-frame points. |
| [backproject_depth_with_p3d](aria_nbv.rendering.unproject.backproject_depth_with_p3d.qmd#aria_nbv.rendering.unproject.backproject_depth_with_p3d) | Back-project a single depth map using PyTorch3D cameras and a validity mask. |
| [backproject_batch](aria_nbv.rendering.unproject.backproject_batch.qmd#aria_nbv.rendering.unproject.backproject_batch) | Back-project a `CandidateDepths` batch into a merged world point cloud. |