irtk.renderer.Renderer

class irtk.renderer.Renderer(*args: Any, **kwargs: Any)

A PyTorch module for rendering.

This class wraps the rendering process in a PyTorch module, allowing it to be used seamlessly with other PyTorch operations.

__init__(connector_name: str, render_options: Dict[str, Any] = {})

Initializes the Renderer.

Parameters:

  • connector_name – Name of the connector to use for rendering.

  • render_options – Options for the rendering process.

forward(scene: Any, sensor_ids: List[int] | torch.Tensor = [0], integrator_id: int = 0) → torch.Tensor

Performs the forward pass of the rendering.

Parameters:

  • scene – The scene to be rendered.

  • sensor_ids – List of sensor IDs to render from.

  • integrator_id – ID of the integrator to use.

Returns:

The rendered image(s) as a tensor.

Return type:

torch.Tensor