torchdrivesim.rendering.cv2

Classes

CV2RendererConfig	Determines behavior of the renderer.
CV2Renderer	Renderer based on OpenCV. Slow, but easy to install. Renders on CPU.

Module Contents

class torchdrivesim.rendering.cv2.CV2RendererConfig

Bases: torchdrivesim.rendering.RendererConfig

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

backend: str = 'cv2'

trim_mesh_before_rendering: bool = True

class torchdrivesim.rendering.cv2.CV2Renderer(cfg: CV2RendererConfig, *args, **kwargs)

Bases: torchdrivesim.rendering.BirdviewRenderer

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

render_mesh(mesh: torchdrivesim.mesh.BirdviewMesh, 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.