1 vin.feature_bank.sampling

vin.feature_bank.sampling

Sampling helpers for building actor-visible point-feature banks.

This module owns logged-camera projection, multiview descriptor reduction, and assembly of source-labelled PointFeatureBank payloads at world-frame points.

1.1 Functions

Name Description
sample_logged_image_features_at_world_points Sample logged image features at semidense or fused world points.

1.1.1 sample_logged_image_features_at_world_points

vin.feature_bank.sampling.sample_logged_image_features_at_world_points(
    points_world,
    feat2d,
    cameras,
    t_world_camera,
    point_weights=None,
    source_frame_indices=None,
    feature_source='efm3d_feat2d_upsampled',
    source_role='actor_visible',
    compression_projection=None,
    compression_output_dim=None,
    compression_id='raw',
    eps=1e-06,
    warn=False,
)

Sample logged image features at semidense or fused world points.

1.1.1.1 Parameters

Name Type Description Default
points_world Tensor Tensor["N_p 3", float32] or Tensor["B N_p 3", float32] world-frame points in metres. required
feat2d Tensor Logged Tensor["B T C H W", float32] or Tensor["T C H W", float32] feature maps. required
cameras CameraTW CameraTW with shape B T or T. required
t_world_camera PoseTW PoseTW with shape B T or T. required
point_weights Tensor | None Optional point/sample weights for pooling. None
source_frame_indices Tensor | None Optional frame ids shaped B T or T. None
feature_source str Approved actor-visible source label. This label does not replace model-config or checkpoint hashes for persisted banks. 'efm3d_feat2d_upsampled'
source_role str Actor/oracle provenance role. 'actor_visible'
compression_projection Tensor | None Optional projection matrix for descriptors. None
compression_output_dim int | None Optional slice dimension for descriptors. None
compression_id str Stable compression label; content-address the projection separately when durable identity matters. 'raw'
eps float Positive denominator guard. 1e-06
warn bool Forward low-validity warnings from EFM3D sample_images. False

1.1.1.2 Returns

Name Type Description
PointFeatureBank Actor-visible point descriptors and provenance masks.
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