nbv-geometry-contracts

name	nbv-geometry-contracts
description	Use when ARIA-NBV work touches pose, camera, coordinate-frame, CW90, PyTorch3D projection, depth backprojection, candidate frusta, or geometry diagnostics contracts.
metadata	{"mode":"implementation","not_when":["model-head, docs-only, or app-only changes with no pose, camera, depth, or frame contract","target/entity RRI semantics where geometry contracts are unchanged","Rerun viewer layout work that is display-only and already frame-verified"],"handoff_to":["diagnose-aria for concrete geometry failures or suspicious rendered output","rerun-nbv-inspector for Rerun frame-coordinate or entity-tree diagnostics","entity-aware-rri for target crop semantics and target-specific labels","counterfactual-rollout-planner for rollout candidate geometry in non-myopic evaluation"],"evidence_required":["frame convention, transform direction, tensor shape, and units for touched data","focused rendering, pose-generation, or RRI test output","visual diagnostic only when static tests cannot prove the frame contract"],"applies_to":["aria_nbv/aria_nbv/pose_generation/**","aria_nbv/aria_nbv/rendering/**","aria_nbv/aria_nbv/rri_metrics/**","aria_nbv/aria_nbv/utils/data_plotting.py"],"triggers":["PoseTW","CameraTW","CW90","backprojection"],"must_read":["AGENTS.md","aria_nbv/AGENTS.md",".agents/memory/state/GOTCHAS.md"],"canonical_sources":["aria_nbv/AGENTS.md#core-rules",".agents/references/python_conventions.md#core-rules",".agents/references/external_stack_contracts.md#efm3d-and-evl","docs/typst/thesis/sections/03-oracle-and-data-generation/03-01-state-and-visibility.typ",".agents/memory/state/GOTCHAS.md"],"context7_refs":["/facebookresearch/pytorch3d","/pytorch/pytorch"],"literature_refs":["egocentric-aria-substrate"],"tool_refs":["mcp__code_index.search_code_advanced","mcp__code_index.get_symbol_body","mcp__MCP_DOCKER.get_library_docs"],"verification":["cd aria_nbv && uv run pytest tests/pose_generation tests/rendering","cd aria_nbv && uv run pytest tests/rri_metrics when labels change","make context-contracts when generated contract context is needed"]}

NBV Geometry Contracts

OMX Integration

OMX owns orchestration; this skill owns ARIA geometry invariants used by an OMX phase. Return frame/shape/unit evidence, the smallest failing or passing test, and any required handoff to Rerun, RRI, or rollout sidecars.

When To Use

Use this skill for changes or reviews involving:

• PoseTW, CameraTW, rig/camera/world transforms, or T_target_source naming
• candidate poses, candidate frusta, PyTorch3D cameras, NDC, or depth maps
• CW90 corrections, gravity alignment, or display-only rotations
• depth backprojection, point-cloud construction, or visibility diagnostics

Do not use it for pure model-head, docs-only, or non-geometry app changes.

Read First

1. AGENTS.md
2. aria_nbv/AGENTS.md
3. .agents/references/python_conventions.md
4. .agents/references/external_stack_contracts.md
5. .agents/memory/state/GOTCHAS.md
6. aria_nbv/aria_nbv/vin/AGENTS.md when VIN batch/candidate fields are touched
7. The focused rendering or pose-generation tests for the changed path
8. docs/_generated/context/data_contracts.md only after make context-contracts when you need the generated contract index

Contract Rules

• Treat aria_nbv/AGENTS.md, .agents/references/python_conventions.md, and .agents/references/external_stack_contracts.md as the canonical owners for frame, transform, camera, and external-stack conventions.
• Return the frame convention, transform direction, tensor shape, units, and smallest relevant test evidence for the touched surface.
• Keep display-only visualization corrections out of training, rendering, and store semantics unless the canonical owner and tests change together.
• Hand off target crop semantics to entity-aware-rri and Rerun entity-tree or visual artifact issues to rerun-nbv-inspector.

Verification

• cd aria_nbv && uv run pytest tests/rendering/test_depth_backprojection_conventions.py
• cd aria_nbv && uv run pytest tests/rendering/test_candidate_renderer_integration.py tests/rendering/test_pytorch3d_renderer.py
• cd aria_nbv && uv run pytest tests/vin/test_vin_utils.py when VIN diagnostics or batch fields are affected
• make check-agent-memory for guidance or memory edits

Diagnostics Matrix

• Pose/frame edits: assert transform direction, units, and PoseTW batch shape.
• Camera/projection edits: assert CameraTW intrinsics/extrinsics and PyTorch3D/NDC conventions.
• Depth/backprojection edits: assert metric-depth interpretation, valid masks, and world-frame point bounds.
• Candidate-frustum edits: assert display-only CW90 corrections do not mutate training, rendering, or store semantics.
• Streamlit diagnostics: verify figures are display transforms only and do not feed back into model or oracle data.