torchdrivesim.rendering.cv2
===========================

.. py:module:: torchdrivesim.rendering.cv2


Classes
-------

.. autoapisummary::

   torchdrivesim.rendering.cv2.CV2RendererConfig
   torchdrivesim.rendering.cv2.CV2Renderer


Module Contents
---------------

.. py:class:: CV2RendererConfig

   Bases: :py:obj:`torchdrivesim.rendering.RendererConfig`


   Determines behavior of the renderer.
   Subclasses determine renderer class used.


   .. py:attribute:: backend
      :type:  str
      :value: 'cv2'



   .. py:attribute:: trim_mesh_before_rendering
      :type:  bool
      :value: True



.. py:class:: CV2Renderer(cfg: CV2RendererConfig, *args, **kwargs)

   Bases: :py:obj:`torchdrivesim.rendering.BirdviewRenderer`


   Renderer based on OpenCV. Slow, but easy to install. Renders on CPU.


   .. py:attribute:: cfg
      :type:  CV2RendererConfig


   .. py:method:: render_rgb_mesh(mesh: torchdrivesim.mesh.RGBMesh, res: torchdrivesim.utils.Resolution, cameras: torchdrivesim.rendering.base.Cameras) -> torch.Tensor

      Renders a given mesh, producing BxHxWxC tensor image of float RGB values in [0,255] range.