1 CounterfactualTargetOracleRriScorerConfig
pose_generation.target_counterfactuals.CounterfactualTargetOracleRriScorerConfig(
)Config-as-factory wrapper for target-cropped oracle-RRI rollout scoring.
1.1 Attributes
| Name | Description |
|---|---|
| depth | Depth renderer used once per candidate table before target/scene scoring. |
| oracle | Point-mesh oracle metric configuration shared by target and scene RRI. |
| backprojection_stride | Pixel stride for backprojecting rendered candidate depths. |
| target_crop_margin_m | Optional symmetric margin applied in GT-OBB local coordinates. |
| min_current_target_points | Minimum current observed/support points inside the target crop. |
| include_scene_rri | Whether to compute diagnostic scene RRI from the same point-cloud batch. |
| eval_point_cloud_source | Oracle current/root point-cloud source used for target and scene labels. |
| eval_camera_label | Camera stream used for ASE-depth root evaluation points. |
| eval_depth_far_m | Maximum ASE root depth to retain; defaults to the renderer zfar. |
| eval_fusion_voxel_size_m | Voxel size used to canonical-fuse root and selected-history eval points. |
| eval_fusion_max_points | Maximum retained current-eval points after canonical fusion. |
| target_eval_max_points | Maximum retained oracle/eval points after target-local crop fusion. |
| reward_mode | Candidate score used for rollout selection. |
| target_crop_policy | Explicit target mesh crop policy stored as rollout lineage. |
| scene_crop_policy | Diagnostic scene-RRI crop policy matching the scene-level scorer. |
| verbosity | Console verbosity. |
| is_debug | Enable debug logging in scorer dependencies. |
| log_timing | Emit per-call timing diagnostics for rollout evidence generation. |