1 CounterfactualTargetOracleRriScorer

pose_generation.target_counterfactuals.CounterfactualTargetOracleRriScorer(
    config,
    *,
    sample,
    target_sample,
    target_row,
)

Evaluate valid candidates with target-cropped oracle RRI.

The scorer renders candidate depth, backprojects world-frame point clouds, crops current and candidate points to the matched target OBB, crops the mesh with the configured policy, and returns target-RRI labels plus audit metrics. Invalid target crops abort the target row rather than producing low labels.

# CounterfactualTargetOracleRriScorer { #aria_nbv.pose_generation.target_counterfactuals.CounterfactualTargetOracleRriScorer }

```python
pose_generation.target_counterfactuals.CounterfactualTargetOracleRriScorer(
    config,
    *,
    sample,
    target_sample,
    target_row,
)
```

Evaluate valid candidates with target-cropped oracle RRI.

The scorer renders candidate depth, backprojects world-frame point clouds,
crops current and candidate points to the matched target OBB, crops the mesh
with the configured policy, and returns target-RRI labels plus audit metrics.
Invalid target crops abort the target row rather than producing low labels.