Render raw images of the scene. Parameters ---------- render_color : bool If True, both a color and a depth image are returned. If False, only a depth image is returned. front_and_back : bool If True, all surface normals are treat
(self, render_color=True, front_and_back=False)
| 170 | self._renderer = None |
| 171 | |
| 172 | def render(self, render_color=True, front_and_back=False): |
| 173 | """Render raw images of the scene. |
| 174 | |
| 175 | Parameters |
| 176 | ---------- |
| 177 | render_color : bool |
| 178 | If True, both a color and a depth image are returned. |
| 179 | If False, only a depth image is returned. |
| 180 | |
| 181 | front_and_back : bool |
| 182 | If True, all surface normals are treated as if they're facing the camera. |
| 183 | |
| 184 | Returns |
| 185 | ------- |
| 186 | tuple of (h, w, 3) uint8, (h, w) float32 |
| 187 | A raw RGB color image with pixel values in [0, 255] and a depth image |
| 188 | with true depths expressed as floats. If render_color was False, |
| 189 | only the depth image is returned. |
| 190 | |
| 191 | Raises |
| 192 | ------ |
| 193 | ValueError |
| 194 | If the scene has no set camera. |
| 195 | |
| 196 | Note |
| 197 | ----- |
| 198 | This function can be called repeatedly, regardless of changes to the scene |
| 199 | (i.e. moving SceneObjects, adding and removing lights, moving the camera). |
| 200 | However, adding or removing objects causes a new OpenGL context to be created, |
| 201 | so put all the objects in the scene before calling it. |
| 202 | |
| 203 | Note |
| 204 | ---- |
| 205 | Values listed as 0.0 in the depth image are actually at infinity |
| 206 | (i.e. no object present at that pixel). |
| 207 | """ |
| 208 | if self._camera is None: |
| 209 | raise ValueError('scene.camera must be set before calling render()') |
| 210 | if self._renderer is None: |
| 211 | self._renderer = OpenGLRenderer(self) |
| 212 | return self._renderer.render(render_color, front_and_back=front_and_back) |
| 213 | |
| 214 | def wrapped_render(self, render_modes, front_and_back=False): |
| 215 | """Render images of the scene and wrap them with Image wrapper classes |
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