1 Efm3dDepthRenderer

rendering.Efm3dDepthRenderer(config)

CPU depth renderer built on trimesh ray tracing.

1.1 Attributes

Name	Description
device	Torch device used for outputs.

1.2 Methods

Name	Description
render_depth	Render a depth map for a single pose.
render_batch	Render depth for a batch of poses (iterative CPU fallback).

1.2.1 render_depth

rendering.Efm3dDepthRenderer.render_depth(
    pose_world_cam,
    mesh,
    camera,
    *,
    frame_index=None,
    occupancy_extent=None,
)

Render a depth map for a single pose.

1.2.1.1 Parameters

Name	Type	Description	Default
pose_world_cam	PoseTW	`T_world_camera` pose to render from.	required
mesh	Trimesh	Trimesh instance in world coordinates.	required
camera	CameraTW	Camera intrinsics/extrinsics (`CameraTW`).	required
frame_index	int \| None	Optional frame index for the calib tensor; defaults to the last frame if omitted.	`None`
occupancy_extent	Tensor \| None	Optional `[6]` tensor `[xmin,xmax,ymin,ymax,zmin,zmax]` to expand bounds when synthesising proxy walls.	`None`

1.2.1.2 Returns

Name	Type	Description
	Tensor	Tensor[H, W] on `config.device` filled with `zfar` on misses.

1.2.2 render_batch

rendering.Efm3dDepthRenderer.render_batch(
    poses,
    mesh,
    camera,
    *,
    frame_index=None,
    occupancy_extent=None,
)

Render depth for a batch of poses (iterative CPU fallback).

# Efm3dDepthRenderer { #aria_nbv.rendering.Efm3dDepthRenderer } ```python rendering.Efm3dDepthRenderer(config) ``` CPU depth renderer built on trimesh ray tracing. ## Attributes | Name | Description | | --- | --- | | [device](#aria_nbv.rendering.Efm3dDepthRenderer.device) | Torch device used for outputs. | ## Methods | Name | Description | | --- | --- | | [render_depth](#aria_nbv.rendering.Efm3dDepthRenderer.render_depth) | Render a depth map for a single pose. | | [render_batch](#aria_nbv.rendering.Efm3dDepthRenderer.render_batch) | Render depth for a batch of poses (iterative CPU fallback). | ### render_depth { #aria_nbv.rendering.Efm3dDepthRenderer.render_depth } ```python rendering.Efm3dDepthRenderer.render_depth( pose_world_cam, mesh, camera, *, frame_index=None, occupancy_extent=None, ) ``` Render a depth map for a single pose. #### Parameters {.doc-section .doc-section-parameters} | Name | Type | Description | Default | |------------------|----------------|-------------------------------------------------------------------------------------------------------------|------------| | pose_world_cam | PoseTW | ``T_world_camera`` pose to render from. | _required_ | | mesh | Trimesh | Trimesh instance in world coordinates. | _required_ | | camera | CameraTW | Camera intrinsics/extrinsics (``CameraTW``). | _required_ | | frame_index | int \| None | Optional frame index for the calib tensor; defaults to the last frame if omitted. | `None` | | occupancy_extent | Tensor \| None | Optional ``[6]`` tensor ``[xmin,xmax,ymin,ymax,zmin,zmax]`` to expand bounds when synthesising proxy walls. | `None` | #### Returns {.doc-section .doc-section-returns} | Name | Type | Description | |--------|--------|-------------------------------------------------------------------| | | Tensor | Tensor[H, W] on ``config.device`` filled with ``zfar`` on misses. | ### render_batch { #aria_nbv.rendering.Efm3dDepthRenderer.render_batch } ```python rendering.Efm3dDepthRenderer.render_batch( poses, mesh, camera, *, frame_index=None, occupancy_extent=None, ) ``` Render depth for a batch of poses (iterative CPU fallback).