irtk.connectors.pytorch3d_connector.PyTorch3DConnector

class irtk.connectors.pytorch3d_connector.PyTorch3DConnector
__init__()
renderC(scene, render_options, sensor_ids=[0], integrator_id=0)

Renders the scene with the given sensor IDs and integrator IDs.

Parameters:

  • scene – The scene to render.

  • render_options – The render options.

  • sensor_ids – The sensor IDs.

  • integrator_id – The integrator ID.

Returns:

A torch.Tensor containing the rendered images with shape (num_sensors, h, w, c).

renderD(image_grads, scene, render_options, sensor_ids=[0], integrator_id=0)

Given the gradients of the rendered images, compute the gradients of the scene parameters.

Parameters:

  • image_grads – The image gradients.

  • scene – The scene passed to renderC.

  • render_options – The render options.

  • sensor_ids – The sensor IDs.

  • integrator_id – The integrator ID.

Returns:

A list of torch.Tensors, where each tensor corresponds to the gradient of a parameter in scene.requiring_grad, in the same order.