Move per-output loop from Camera into renderer and fix docs

Author: nvsekkin

docs/source/how-to/save_camera_output.rst

@@ -32,18 +32,11 @@ images in a numpy format. For more information on the basic writer, please check
 
 While stepping the simulator, the images can be saved to the defined folder. Since the BasicWriter only supports
 saving data using NumPy format, we first need to convert the PyTorch sensors to NumPy arrays before packing
-them in a dictionary.
+them in a dictionary and writing with the BasicWriter.
 
 .. literalinclude:: ../../../scripts/tutorials/04_sensors/run_usd_camera.py
    :language: python
    :start-at: # Save images from camera at camera_index
-   :end-at: single_cam_info = camera.data.info[camera_index]
-
-After this step, we can save the images using the BasicWriter.
-
-.. literalinclude:: ../../../scripts/tutorials/04_sensors/run_usd_camera.py
-   :language: python
-   :start-at: # Pack data back into replicator format to save them using its writer
    :end-at: rep_writer.write(rep_output)
 
 

source/isaaclab/isaaclab/renderers/base_renderer.py

@@ -14,6 +14,7 @@
     import torch
 
     from isaaclab.sensors import SensorBase
+    from isaaclab.sensors.camera.camera_data import CameraData
 
 
 class BaseRenderer(ABC):
@@ -93,16 +94,11 @@ def render(self, render_data: Any) -> None:
         pass
 
     @abstractmethod
-    def read_output(self, render_data: Any, output_name: str, camera_data: Any) -> None:
-        """Read a named output from the renderer into the camera data container.
-
-        Implementations should populate ``camera_data.output[output_name]`` with
-        rendered data and, when available, ``camera_data.info[output_name]`` with
-        annotator metadata (e.g. ``idToLabels`` for segmentation types).
+    def read_output(self, render_data: Any, camera_data: CameraData) -> None:
+        """Read rendered outputs from the renderer into the camera data container.
 
         Args:
             render_data: The render data object from :meth:`create_render_data`.
-            output_name: Name of the output (e.g. ``"rgba"``, ``"depth"``).
             camera_data: The :class:`~isaaclab.sensors.camera.camera_data.CameraData`
                 instance to populate.
         """

source/isaaclab/isaaclab/sensors/camera/camera.py

@@ -462,10 +462,7 @@ def _update_buffers_impl(self, env_mask: wp.array):
         self._renderer.update_transforms()
         self._renderer.render(self._render_data)
 
-        for output_name in self._data.output:
-            if output_name == "rgb":
-                continue
-            self._renderer.read_output(self._render_data, output_name, self._data)
+        self._renderer.read_output(self._render_data, self._data)
 
     """
     Private Helpers

source/isaaclab/test/renderers/test_renderer_factory.py

@@ -46,7 +46,7 @@ def update_camera(self, render_data, positions, orientations, intrinsics):
         def render(self, render_data):
             pass
 
-        def read_output(self, render_data, output_name, camera_data):
+        def read_output(self, render_data, camera_data):
             pass
 
         def cleanup(self, render_data):

source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py

@@ -224,14 +224,17 @@ def render(self, render_data: RenderData):
             shape_index_image=render_data.outputs.instance_segmentation_image,
         )
 
-    def read_output(self, render_data: RenderData, output_name: str, camera_data: CameraData) -> None:
-        """Copy a specific output to the camera data buffer.
+    def read_output(self, render_data: RenderData, camera_data: CameraData) -> None:
+        """Copy rendered outputs to the camera data buffers.
         See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.read_output`."""
-        image_data = render_data.get_output(output_name)
-        if image_data is not None:
-            output_data = camera_data.output[output_name]
-            if image_data.ptr != output_data.data_ptr():
-                wp.copy(wp.from_torch(output_data), image_data)
+        for output_name in camera_data.output:
+            if output_name == "rgb":
+                continue
+            image_data = render_data.get_output(output_name)
+            if image_data is not None:
+                output_data = camera_data.output[output_name]
+                if image_data.ptr != output_data.data_ptr():
+                    wp.copy(wp.from_torch(output_data), image_data)
 
     def cleanup(self, render_data: RenderData | None):
         """Release resources. No-op for Newton Warp.

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py

@@ -391,16 +391,18 @@ def update_camera(
     def read_output(
         self,
         render_data: OVRTXRenderData,
-        output_name: str,
         camera_data: CameraData,
     ) -> None:
-        """Copy from render_data warp buffer to camera data output tensor."""
-        if output_name not in render_data.warp_buffers:
-            return
-        src = render_data.warp_buffers[output_name]
-        output_data = camera_data.output[output_name]
-        if src.ptr != output_data.data_ptr():
-            wp.copy(dest=wp.from_torch(output_data), src=src)
+        """Copy from render_data warp buffers to camera data output tensors."""
+        for output_name in camera_data.output:
+            if output_name == "rgb":
+                continue
+            src = render_data.warp_buffers.get(output_name)
+            if src is None:
+                continue
+            output_data = camera_data.output[output_name]
+            if src.ptr != output_data.data_ptr():
+                wp.copy(dest=wp.from_torch(output_data), src=src)
 
     def _generate_random_colors_from_ids(self, input_ids: wp.array) -> wp.array:
         """Generate pseudo-random colors from semantic IDs."""

source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py

@@ -327,12 +327,12 @@ def tiling_grid_shape():
                     0.0 if cfg.depth_clipping_behavior == "zero" else cfg.spawn.clipping_range[1]
                 )
 
-    def read_output(self, render_data: IsaacRtxRenderData, output_name: str, camera_data: CameraData) -> None:
+    def read_output(self, render_data: IsaacRtxRenderData, camera_data: CameraData) -> None:
         """Populate per-output metadata collected during render(). Pixel data already written in render().
         See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.read_output`."""
-        info = render_data.renderer_info.get(output_name)
-        if info is not None:
-            camera_data.info[output_name] = info
+        for output_name, info in render_data.renderer_info.items():
+            if info is not None:
+                camera_data.info[output_name] = info
 
     def cleanup(self, render_data: IsaacRtxRenderData | None):
         """Detach annotators from render product.