def step_reward(self, observation): # THINK ABOUT yet another reward return self.model.observation_similarity(observation) if self.illustrate: illustrate_mesh(vertices, faces).display() return reward
def compute_reward(self, points, normals, depth): faces, vertices = poisson_reconstruction(points, normals, depth=depth) reward = self.env.model.surface_similarity(vertices, faces) if self._illustrate: illustrate_mesh(vertices, faces).display() return reward
def illustrate(self): plot = illustrate_mesh(self.mesh.vertices, self.mesh.faces) plot = illustrate_points([vp.point for vp in self.view_points], plot, size=0.1) return plot