torchdrivesim.rendering.pytorch3d
=================================

.. py:module:: torchdrivesim.rendering.pytorch3d

.. autoapi-nested-parse::

   PyTorch3D-based renderers, used by default in TorchDriveSim.



Attributes
----------

.. autoapisummary::

   torchdrivesim.rendering.pytorch3d.is_available


Exceptions
----------

.. autoapisummary::

   torchdrivesim.rendering.pytorch3d.Pytorch3DNotFound


Classes
-------

.. autoapisummary::

   torchdrivesim.rendering.pytorch3d.RenderingBlend
   torchdrivesim.rendering.pytorch3d.Pytorch3DRendererConfig
   torchdrivesim.rendering.pytorch3d.Shader2D
   torchdrivesim.rendering.pytorch3d.Pytorch3DRenderer


Functions
---------

.. autoapisummary::

   torchdrivesim.rendering.pytorch3d.construct_pytorch3d_cameras


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

.. py:data:: is_available
   :value: True


.. py:exception:: Pytorch3DNotFound

   Bases: :py:obj:`ImportError`


   Import can't find module, or can't find name in module.


.. py:class:: RenderingBlend

   Bases: :py:obj:`enum.Enum`


   Blending choices from pytorch3d. May be ignored by other renderer types.
   https://pytorch3d.readthedocs.io/en/latest/modules/renderer/blending.html


   .. py:attribute:: hard
      :value: 'hard'



   .. py:attribute:: soft
      :value: 'soft'



   .. py:attribute:: sigmoid
      :value: 'sigmoid'



.. py:class:: Pytorch3DRendererConfig

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


   Configuration of pytorch3d-based renderer.


   .. py:attribute:: backend
      :type:  str
      :value: 'pytorch3d'



   .. py:attribute:: differentiable_rendering
      :type:  RenderingBlend


.. py:class:: Shader2D(device='cpu', background_color: Tuple[float, float, float] = (0, 0, 0), blend=RenderingBlend.soft)

   Bases: :py:obj:`torch.nn.Module`


   Shader that ignores lighting, based on https://github.com/facebookresearch/pytorch3d/issues/84


   .. py:attribute:: background_color
      :value: (0, 0, 0)



   .. py:attribute:: blend


   .. py:method:: forward(fragments, meshes, **kwargs) -> torch.Tensor


.. py:class:: Pytorch3DRenderer(cfg: Pytorch3DRendererConfig, *args, **kwargs)

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


   Renderer based on pytorch3d, using an orthographic projection and a trivial shader.
   Works on both GPU and CPU, but CPU is very slow.


   .. py:attribute:: cfg
      :type:  Pytorch3DRendererConfig


   .. py:attribute:: renderer


   .. 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.



   .. py:method:: make_renderer(res, blend, background_color)
      :classmethod:



.. py:function:: construct_pytorch3d_cameras(cameras: torchdrivesim.rendering.base.Cameras) -> pytorch3d.renderer.FoVOrthographicCameras