Function renderViewAndDepthOnViewerThread

src/python/lfs/py_rendering.cpp:620–657

        }

        [[nodiscard]] std::optional<std::pair<core::Tensor, core::Tensor>> renderViewAndDepthOnViewerThread(
            const glm::mat3& rotation,
            const glm::vec3& translation,
            const int width,
            const int height,
            const float fov_degrees,
            const bool expected_depth) {
            if (width <= 0 || height <= 0 || !std::isfinite(fov_degrees) || fov_degrees <= 0.0f) {
                return std::nullopt;
            }
            auto* const viewer = get_visualizer();
            auto* const rendering_manager = viewer ? viewer->getRenderingManager() : nullptr;
            auto* const scene_manager = viewer ? viewer->getSceneManager() : nullptr;
            if (!rendering_manager || !scene_manager) {
                return std::nullopt;
            }
            auto rgbd = rendering_manager->renderPreviewImageAndDepth(
                scene_manager,
                rotation,
                translation,
                lfs::rendering::vFovToFocalLength(fov_degrees),
                width,
                height,
                expected_depth,
                std::nullopt);
            if (!rgbd.image || !rgbd.depth || !rgbd.image->is_valid() || !rgbd.depth->is_valid()) {
                return std::nullopt;
            }
            auto image = *rgbd.image;
            auto depth = *rgbd.depth;
            if (image.device() != core::Device::CPU) {
                image = image.cpu();
            }
            if (depth.device() != core::Device::CPU) {
                depth = depth.cpu();
            }
            return std::make_pair(image.contiguous(), depth.contiguous());
        }

        [[nodiscard]] std::optional<std::pair<core::Tensor, core::Tensor>> renderViewAndDepthThreadSafe(
            const glm::mat3& rotation,