def __init__()

in mujoco_py/mjbatchrenderer.pyx [0:0]

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

    def __init__(self, width, height, batch_size=1, device_id=0,
                 depth=False, use_cuda=False):
        """
        Args:
        - width (int): Image width.
        - height (int): Image height.
        - batch_size (int): Size of batch to render into. Memory is
            allocated once upon initialization of object.
        - device_id (int): Device to use for storing the batch.
        - depth (bool): if True, render depth in addition to RGB.
        - use_cuda (bool): if True, use OpenGL-CUDA interop to map
            the PBO onto a CUDA buffer.
        """
        # Early initialization to prevent failure in __del__
        self._use_cuda = False
        self.pbo_depth, self.pbo_depth = 0, 0

        if not usingEGL():
            raise MjBatchRendererNotSupported(
                "MjBatchRenderer currently only supported with EGL-backed"
                "rendering context.")

        # Make sure OpenGL Context is available before creating PBOs
        initOpenGL(device_id)
        makeOpenGLContextCurrent(device_id)

        self.pbo_rgb = createPBO(width, height, batch_size, 0)
        self.pbo_depth = createPBO(width, height, batch_size, 1) if depth else 0

        self._depth = depth
        self._device_id = device_id
        self._width = width
        self._height = height
        self._batch_size = batch_size
        self._current_batch_offset = 0

        self._use_cuda = use_cuda
        self._cuda_buffers_are_mapped = False
        self._cuda_rgb_ptr, self._cuda_depth_ptr = None, None
        if use_cuda:
            self._init_cuda()