drtk.rasterize#

`rasterize`	Rasterizes a mesh defined by v and vi.
`rasterize_with_depth`	Same as `rasterize()` function, additionally returns depth image.

drtk.rasterize(v, vi, height, width, wireframe=False)[source]#

Rasterizes a mesh defined by v and vi.

Parameters:

v (th.Tensor) – vertex positions. The first two components are the projected vertex’s location (x, y) on the image plane. The coordinates of the top left corner are (-0.5, -0.5), and the coordinates of the bottom right corner are (width - 0.5, height - 0.5). The z component is expected to be in the camera space coordinate frame (before projection). N x V x 3
vi (th.Tensor) – face vertex index list tensor. The most significant nibble of vi is reserved for controlling visibility of the edges in wireframe mode. In non-wireframe mode, content of the most significant nibble of vi will be ignored. V x 3
height (int) – height of the image in pixels.
width (int) – width of the image in pixels.
wireframe (bool) – If False (default), rasterizes triangles. If True, rasterizes lines, where the most significant nibble of vi is reinterpreted as a bit field controlling the visibility of the edges. The least significant bit controls the visibility of the first edge, the second bit controls the visibility of the second edge, and the third bit controls the visibility of the third edge. This limits the maximum number of vertices to 268435455.

Returns:

The rasterized image of triangle indices which is represented with an index tensor of a shape [N, H, W] of type int32 that stores a triangle ID for each pixel. If a triangle covers a pixel and is the closest triangle to the camera, then the pixel will have the ID of that triangle. If no triangles cover a pixel, then its ID is -1.

Note

This function is not differentiable. The gradients should be computed with edge_grad_estimator() instead.

drtk.rasterize_with_depth(v, vi, height, width, wireframe=False)[source]#

Same as rasterize() function, additionally returns depth image. Internally it uses the same implementation as the rasterize function which still computes depth but does not return depth.

Note

The function is not differentiable, including the depth output.

The split is done intentionally to hide the depth image from the user as it is not differentiable which may cause errors if assumed otherwise. Instead, the`barycentrics` function should be used instead to compute the differentiable version of depth.

However, we still provide rasterize_with_depth which returns non-differentiable depth which could allow to avoid call to barycentrics function when differentiability is not required.

Returns:: The rasterized image of triangle indices of shape [N, H, W] and a depth image of shape [N, H, W]. Values in of pixels in the depth image not covered by any pixel are 0.