Dynamic Rendering

crt.rendering.instance_pass(camera, entities, return_image=False)[source]

Perform an instance segmentation pass with dynamic entities

Parameters

  • camera (Camera) – Camera model to be used for generating rays

  • entities (Union[Entity, List[Entity], Tuple[Entity,...]]) – Entity/Entities against which ray tracing is performed

  • return_image (bool, optional) – Flag to return an image representation of the instances

    Default: False

Returns

An array unique id codes for each unique entity intersected. If return_image is set to True, then an image where each unique id is represented with a unique RGB color is returned as a second output.

Return type

Union[np.ndarray, Tuple(np.ndarray, np.ndarray)]

crt.rendering.intersection_pass(camera, entities, return_image=False)[source]

Perform a normal pass with dynamic entities

Parameters

  • camera (Camera) – Camera model to be used for generating rays

  • entities (Union[Entity, List[Entity], Tuple[Entity,...]]) – Entity/Entities against which ray tracing is performed

  • return_image (bool, optional) – Flag to return an image representation of the intersection depth

    Default: False

Returns

An array of the intersected points. If return_image is set to True, then an image where the distance to each intersected point is represented via pixel intensity is returned as a second output.

Return type

Union[np.ndarray, Tuple(np.ndarray, np.ndarray)]

crt.rendering.normal_pass(camera, entities, return_image=False)[source]

Perform a normal pass with dynamic entities

Parameters

  • camera (Camera) – Camera model to be used for generating rays

  • entities (Union[Entity, List[Entity], Tuple[Entity,...]]) – Entity/Entities against which ray tracing is performed

  • return_image (bool, optional) – Flag to return an image representation of the intersected normals

    Default: False

Returns

An array of the intersected normals. If return_image is set to True, then an image where the normal XYZ values are represented using RGB color values is returned as a second output.

Return type

Union[np.ndarray, Tuple(np.ndarray, np.ndarray)]

crt.rendering.render(camera, lights, entities, min_samples=1, max_samples=1, noise_threshold=1.0, num_bounces=1)[source]

Render a scene with dynamic entities. Prior to rendering, a Bounding Volume Heirarchy will be built from scratch for the entire scene

Parameters

  • camera (Camera) – Camera model to be used for generatring rays

  • lights (Union[Light, List[Light], Tuple[Light,...]]) – Light(s) to be used for rendering

  • entities (Union[Entity, List[Entity], Tuple[Entity,...]]) – Entity/Entities to be rendered

  • min_samples (int, optional) – Minimum number of ray samples per pixel

    Default: 1

  • max_samples (int, optional) – Maximum number of ray samples per pixel

    Default: 1

  • noise_threshold (float, optional) – Pixel noise threshold for adaptive sampling

    Default: 1

  • num_bounces (int, optional) – Number of ray bounces

    Default: 1

Returns

Rendered image

Return type

np.ndarray