def __init__()

in tacto/renderer.py [0:0]

• 30 lines of code
• 9 McCabe index (conditional complexity)

    def __init__(self, width, height, background, config_path):
        """

        :param width: scalar
        :param height: scalar
        :param background: image
        :param config_path:
        """
        self._width = width
        self._height = height

        if background is not None:
            self.set_background(background)
        else:
            self._background_real = None

        logger.info("Loading configuration from: %s" % config_path)
        self.conf = OmegaConf.load(config_path)

        self.force_enabled = (
            self.conf.sensor.force is not None and self.conf.sensor.force.enable
        )

        if self.force_enabled:
            self.min_force = self.conf.sensor.force.range_force[0]
            self.max_force = self.conf.sensor.force.range_force[1]
            self.max_deformation = self.conf.sensor.force.max_deformation

        self.shadow_enabled = (
            "shadow" in self.conf.sensor.lights and self.conf.sensor.lights.shadow
        )

        self.spot_light_enabled = (
            "spot" in self.conf.sensor.lights and self.conf.sensor.lights.spot
        )

        self.flags_render = 0

        # enable flags for rendering
        if self.shadow_enabled:
            # Please use spotlight for rendering shadows
            # Reference: https://pyrender.readthedocs.io/en/latest/_modules/pyrender/light.html
            assert self.spot_light_enabled == True

            self.flags_render |= (
                pyrender.constants.RenderFlags.RGBA
                | pyrender.constants.RenderFlags.SHADOWS_SPOT
            )

        self._init_pyrender()