1 vin.geometry.frustum

vin.geometry.frustum

Frustum point sampling helpers for VIN geometry diagnostics.

The legacy experimental VIN variants and plotting diagnostics sample fixed metric-depth grids inside PyTorch3D cameras. This module owns that camera-space math so model classes only describe when frustum samples are needed.

1.1 Functions

Name Description
build_frustum_points_world_p3d Unproject a square image grid at fixed depths into world points.
frustum_points_world_from_cameras Generate per-candidate frustum sample points in world coordinates.

1.1.1 build_frustum_points_world_p3d

vin.geometry.frustum.build_frustum_points_world_p3d(
    cameras,
    *,
    grid_size,
    depths_m,
)

Unproject a square image grid at fixed depths into world points.

1.1.1.1 Parameters

Name Type Description Default
cameras PerspectiveCameras PyTorch3D camera batch with pixel image_size and principal_point parameters. required
grid_size int Number of image samples per side. required
depths_m list[float] Positive metric depths to sample along each image ray. required

1.1.1.2 Returns

Name Type Description
Tensor Tensor["Nc G*G*D 3"] of world-frame points, where Nc is the
Tensor camera count and D is len(depths_m).

1.1.2 frustum_points_world_from_cameras

vin.geometry.frustum.frustum_points_world_from_cameras(
    poses_world_cam,
    *,
    p3d_cameras,
    grid_size,
    depths_m,
)

Generate per-candidate frustum sample points in world coordinates.

1.1.2.1 Parameters

Name Type Description Default
poses_world_cam PoseTW Candidate poses shaped as PoseTW["B N 12"]. The tensor supplies the desired B and N layout; projection uses the aligned p3d_cameras batch. required
p3d_cameras PerspectiveCameras PyTorch3D cameras aligned with candidates. The camera batch must be N when B == 1 or B * N otherwise. required
grid_size int Number of image samples per side. required
depths_m list[float] Positive metric depths sampled along each image ray. required

1.1.2.2 Returns

Name Type Description
Tensor Tensor["B N K 3"] world-frame frustum points.
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