def render()

in tacto/sensor.py [0:0]

• 18 lines of code
• 4 McCabe index (conditional complexity)

    def render(self):
        """
        Render tacto images from each camera's view.
        """

        self._update_object_poses()

        colors = []
        depths = []

        for i in range(self.nb_cam):
            cam_name = "cam" + str(i)

            # get the contact normal forces
            normal_forces = self.get_force(cam_name)

            if normal_forces:
                position, orientation = self.cameras[cam_name].get_pose()
                self.renderer.update_camera_pose(position, orientation)
                color, depth = self.renderer.render(self.object_poses, normal_forces)

                # Remove the depth from curved gel
                for j in range(len(depth)):
                    depth[j] = self.renderer.depth0[j] - depth[j]
            else:
                color, depth = self._render_static()

            colors += color
            depths += depth

        return colors, depths