pyvale 2025.5.3__cp311-cp311-macosx_14_0_arm64.whl → 2025.7.1__cp311-cp311-macosx_14_0_arm64.whl

pyvale/rasternp.py

@@ -1,31 +1,121 @@
-# ==============================================================================
+#===============================================================================
 # pyvale: the python validation engine
 # License: MIT
 # Copyright (C) 2025 The Computer Aided Validation Team
-# ==============================================================================
+#===============================================================================
 
 """
-NOTE: this module is a feature under developement.
+NOTE: this module is a feature under developement
 """
 
 from pathlib import Path
+import time
 from multiprocessing.pool import Pool
 import numpy as np
 import numba
+#import matplotlib.pyplot as plt
+from pyvale.dataset import DataSet
 from pyvale.cameradata import CameraData
 from pyvale.cameratools import CameraTools
-from pyvale.rendermesh import RenderMeshData
+from pyvale.rendermesh import RenderMesh
+from pyvale.renderer import IRenderer, RenderScene
+from pyvale.rasteropts import RasterOpts, save_raster
+from pyvale.imagetools import ImageTools
+#from pyvale.visualimages import plot_field_image
 import pyvale.cython.rastercyth as rastercyth
 
+
+# NOTE: This module is a feature under developement.
+
+#===============================================================================
+class RasterNumpy(IRenderer):
+    __slots__ = ("scene","opts",)
+
+    def __init__(self, opts: RasterOpts) -> None:
+        self.opts = opts
+
+
+    def render(self,
+               scene: RenderScene,
+               cam_ind: int = 0,
+               frame_ind: int = 0,
+               field_ind: int = 0) -> np.ndarray:
+
+        image = RasterNP.raster_frame(
+            cam_ind=cam_ind,
+            frame_ind=frame_ind,
+            field_ind=field_ind,
+            cam_data=scene.cameras[cam_ind],
+            meshes=scene.meshes,
+            opts=self.opts,
+            save_path=None,
+        )
+
+        return image
+
+
+    def render_to_disk(self,
+                       scene: RenderScene,
+                       cam_ind: int = 0,
+                       frame_ind: int = 0,
+                       field_ind: int = 0,
+                       save_path: Path | None = None) -> None:
+
+        if save_path is None:
+            save_path = DataSet.create_output_path()
+
+        if not save_path.is_dir():
+            raise FileExistsError(f"Save path for render images does not exist:\n{save_path}")
+
+        RasterNP.raster_frame(
+            cam_ind=cam_ind,
+            frame_ind=frame_ind,
+            field_ind=field_ind,
+            cam_data=scene.cameras[cam_ind],
+            meshes=scene.meshes,
+            opts=self.opts,
+            save_path=save_path,
+        )
+
+
+    def render_all(self, scene: RenderScene) -> list[np.ndarray]:
+
+        images = RasterNP.raster_scene(
+            scene=scene,
+            opts=self.opts,
+            save_path=None,
+        )
+
+        return images
+
+
+    def render_all_to_disk(self,
+                           scene: RenderScene,
+                           save_path: Path | None = None) -> None:
+
+        if save_path is None:
+            save_path = DataSet.create_output_path()
+
+        if not save_path.is_dir():
+            raise FileExistsError(f"Save path for render images does not exist:\n{save_path}")
+
+        RasterNP.raster_scene(scene=scene,opts=self.opts,save_path=save_path)
+
+
+
+#===============================================================================
 class RasterNP:
     @staticmethod
-    def world_to_raster_coords(cam_data: CameraData,
+    def world_to_raster_coords(world_to_cam_mat: np.ndarray,
+                               pixels_num: np.ndarray,
+                               image_dims: np.ndarray,
+                               image_dist: float,
                                coords_world: np.ndarray) -> np.ndarray:
         # coords_world.shape=(num_nodes,coord[X,Y,Z,W])
 
         # Project onto camera coords
         # coords_raster.shape=(num_nodes,coord[X,Y,Z,W])
-        coords_raster = np.matmul(coords_world,cam_data.world_to_cam_mat.T)
+        coords_raster = np.matmul(coords_world,world_to_cam_mat.T)
 
         # NOTE: w is not 1 when the matrix is a perspective projection! It is only 1
         # here when we have an affine transformation
@@ -34,30 +124,30 @@ class RasterNP:
         coords_raster[:,2] = coords_raster[:,2] / coords_raster[:,3]
 
         # Coords Image: Perspective divide
-        coords_raster[:,0] = (cam_data.image_dist * coords_raster[:,0]
+        coords_raster[:,0] = (image_dist * coords_raster[:,0]
                             / -coords_raster[:,2])
-        coords_raster[:,1] = (cam_data.image_dist * coords_raster[:,1]
+        coords_raster[:,1] = (image_dist * coords_raster[:,1]
                             / -coords_raster[:,2])
 
         # Coords NDC: Convert to normalised device coords in the range [-1,1]
-        coords_raster[:,0] = 2*coords_raster[:,0] / cam_data.image_dims[0]
-        coords_raster[:,1] = 2*coords_raster[:,1] / cam_data.image_dims[1]
+        coords_raster[:,0] = 2*coords_raster[:,0] / image_dims[0]
+        coords_raster[:,1] = 2*coords_raster[:,1] / image_dims[1]
 
         # Coords Raster: Covert to pixel (raster) coords
         # Shape = ([X,Y,Z],num_nodes)
-        coords_raster[:,0] = (coords_raster[:,0] + 1)/2 * cam_data.pixels_num[0]
-        coords_raster[:,1] = (1-coords_raster[:,1])/2 * cam_data.pixels_num[1]
+        coords_raster[:,0] = (coords_raster[:,0] + 1)/2 * pixels_num[0]
+        coords_raster[:,1] = (1-coords_raster[:,1])/2 * pixels_num[1]
         coords_raster[:,2] = -coords_raster[:,2]
 
         return coords_raster
 
 
     @staticmethod
-    def back_face_removal_mask(cam_data: CameraData,
-                            coords_world: np.ndarray,
-                            connect: np.ndarray
-                            ) -> np.ndarray:
-        coords_cam = np.matmul(coords_world,cam_data.world_to_cam_mat.T)
+    def back_face_removal_mask(world_to_cam_mat: np.ndarray,
+                               coords_world: np.ndarray,
+                               connect: np.ndarray
+                               ) -> np.ndarray:
+        coords_cam = np.matmul(coords_world,world_to_cam_mat.T)
 
         # shape=(num_elems,nodes_per_elem,coord[x,y,z,w])
         elem_cam_coords = coords_cam[connect,:]
@@ -75,12 +165,12 @@ class RasterNP:
         proj_elem_to_cam = np.dot(cam_normal,elem_cam_normals)
 
         # NOTE this should be a numerical precision tolerance (epsilon)
-        back_face_mask = proj_elem_to_cam > 1e-6
+        back_face_mask = proj_elem_to_cam > 1e-12
 
         return back_face_mask
 
     @staticmethod
-    def crop_and_bound_by_connect(cam_data: CameraData,
+    def crop_and_bound_by_connect(pixels_num: np.ndarray,
                                   coords_raster: np.ndarray,
                                   connectivity: np.ndarray,
                                   ) -> tuple[np.ndarray,np.ndarray]:
@@ -97,8 +187,8 @@ class RasterNP:
         # Check that min/max nodes are within the 4 edges of the camera image
         #shape=(4_edges_to_check,num_elems)
         crop_mask = np.zeros([connectivity.shape[0],4],dtype=np.int8)
-        crop_mask[elem_raster_coord_min[:,0] <= (cam_data.pixels_num[0]-1), 0] = 1
-        crop_mask[elem_raster_coord_min[:,1] <= (cam_data.pixels_num[1]-1), 1] = 1
+        crop_mask[elem_raster_coord_min[:,0] <= (pixels_num[0]-1), 0] = 1
+        crop_mask[elem_raster_coord_min[:,1] <= (pixels_num[1]-1), 1] = 1
         crop_mask[elem_raster_coord_max[:,0] >= 0, 2] = 1
         crop_mask[elem_raster_coord_max[:,1] >= 0, 3] = 1
         crop_mask = np.sum(crop_mask,axis=1) == 4
@@ -117,12 +207,12 @@ class RasterNP:
                                             elem_raster_coord_min[:,0])
         elem_bound_boxes_inds[:,1] = RasterNP.elem_bound_box_high(
                                             elem_raster_coord_max[:,0],
-                                            cam_data.pixels_num[0]-1)
+                                            pixels_num[0]-1)
         elem_bound_boxes_inds[:,2] = RasterNP.elem_bound_box_low(
                                             elem_raster_coord_min[:,1])
         elem_bound_boxes_inds[:,3] = RasterNP.elem_bound_box_high(
                                             elem_raster_coord_max[:,1],
-                                            cam_data.pixels_num[1]-1)
+                                            pixels_num[1]-1)
 
         return (crop_mask,elem_bound_boxes_inds)
 
@@ -143,28 +233,61 @@ class RasterNP:
         bound = np.min(bound_mat,axis=0)
         return bound
 
+    @staticmethod
+    def average_buffers(cam_data: CameraData,
+                        image_buff_subpx: np.ndarray,
+                        depth_buff_subpx: np.ndarray) -> tuple[np.ndarray,np.ndarray]:
+
+        depth_buff_avg = np.empty((cam_data.pixels_num[1],cam_data.pixels_num[0]),
+                                    dtype=np.float64)
+        image_buff_avg = np.empty((cam_data.pixels_num[1],cam_data.pixels_num[0]),
+                                      dtype=np.float64)
+
+        if Path(rastercyth.__file__).suffix in (".so",".dll",".dylib"):
+            depth_buff_avg = np.array(
+                rastercyth.average_image(depth_buff_subpx,cam_data.sub_samp))
+
+
+            image_buff_avg = np.array(
+                rastercyth.average_image(image_buff_subpx,cam_data.sub_samp))
+
+        else:
+            depth_buff_avg = CameraTools.average_subpixel_image(
+                depth_buff_subpx,cam_data.sub_samp)
+            image_buff_avg = CameraTools.average_subpixel_image(
+                image_buff_subpx,cam_data.sub_samp)
+
+        return (image_buff_avg,depth_buff_avg)
+
 
     @staticmethod
-    def setup_frame(cam_data: CameraData,
-                    coords_world: np.ndarray,
-                    connectivity: np.ndarray,
-                    disp_field_frame: np.ndarray | None = None,
+    def setup_frame(camera: CameraData,
+                    mesh: RenderMesh,
+                    frame_ind: int = 0,
                     ) -> tuple[np.ndarray,np.ndarray,np.ndarray]:
 
-        connect_in_frame = np.copy(connectivity)
-        coords_deform = np.copy(coords_world)
+        connect_in_frame = np.copy(mesh.connectivity)
+        coords_deform = np.copy(mesh.coords)
 
         #-----------------------------------------------------------------------
         # DEFORM MESH WITH DISPLACEMENT
-        if disp_field_frame is not None:
+        if mesh.fields_disp is not None:
             # Exclude w coord from mesh deformation
-            coords_deform[:,:-1] = coords_deform[:,:-1] + disp_field_frame
+            coords_deform[:,:-1] = (coords_deform[:,:-1]
+                                    + mesh.fields_disp[:,frame_ind,:])
+
+        #-----------------------------------------------------------------------
+        # Convert all meshes from local to world coords
+        coords_deform = np.matmul(coords_deform,mesh.mesh_to_world_mat.T)
 
         #-----------------------------------------------------------------------
         # Convert world coords of all elements in the scene
         # shape=(num_nodes,coord[x,y,z,w])
-        coords_raster = RasterNP.world_to_raster_coords(cam_data,
-                                                            coords_deform)
+        coords_raster = RasterNP.world_to_raster_coords(camera.world_to_cam_mat,
+                                                        camera.pixels_num,
+                                                        camera.image_dims,
+                                                        camera.image_dist,
+                                                        coords_deform)
 
         # Convert to perspective correct hyperbolic interpolation for z interp
         # shape=(num_nodes,coord[x,y,z,w])
@@ -175,16 +298,16 @@ class RasterNP:
         #-----------------------------------------------------------------------
         # BACKFACE REMOVAL
         # shape=(num_elems,)
-        back_face_mask = RasterNP.back_face_removal_mask(cam_data,
-                                                             coords_deform,
-                                                             connect_in_frame)
+        back_face_mask = RasterNP.back_face_removal_mask(camera.world_to_cam_mat,
+                                                         coords_deform,
+                                                         connect_in_frame)
         connect_in_frame = connect_in_frame[back_face_mask,:]
 
         #-----------------------------------------------------------------------
         # CROPPING & BOUNDING BOX OPERATIONS
         (crop_mask,
          elem_bound_box_inds) = RasterNP.crop_and_bound_by_connect(
-            cam_data,
+            camera.pixels_num,
             coords_raster,
             connect_in_frame,
         )
@@ -201,21 +324,24 @@ class RasterNP:
 
 
     @staticmethod
-    def raster_elem(cam_data: CameraData,
-                    elem_raster_coords: np.ndarray,
+    def raster_elem(elem_raster_coords: np.ndarray,
                     elem_bound_box_inds: np.ndarray,
                     elem_area: float,
-                    field_divide_z: np.ndarray
+                    field_divide_z: np.ndarray,
+                    sub_samp: int,
                     ) -> tuple[np.ndarray,np.ndarray,np.ndarray,np.ndarray]:
+        # elem_raster_coords.shape=()
+        # elem_bound_box_inds.shape=()
+        # field_divide_z.shape=()
 
         # Create the subpixel coords inside the bounding box to test with the
         # edge function. Use the pixel indices of the bounding box.
         bound_subpx_x = np.arange(elem_bound_box_inds[0],
                                   elem_bound_box_inds[1],
-                                  1/cam_data.sub_samp) + 1/(2*cam_data.sub_samp)
+                                  1/sub_samp) + 1/(2*sub_samp)
         bound_subpx_y = np.arange(elem_bound_box_inds[2],
                                   elem_bound_box_inds[3],
-                                  1/cam_data.sub_samp) + 1/(2*cam_data.sub_samp)
+                                  1/sub_samp) + 1/(2*sub_samp)
         (bound_subpx_grid_x,bound_subpx_grid_y) = np.meshgrid(bound_subpx_x,
                                                               bound_subpx_y)
         bound_coords_grid_shape = bound_subpx_grid_x.shape
@@ -224,10 +350,10 @@ class RasterNP:
                                              bound_subpx_grid_y.flatten()))
 
         # Create the subpixel indices for buffer slicing later
-        subpx_inds_x = np.arange(cam_data.sub_samp*elem_bound_box_inds[0],
-                                 cam_data.sub_samp*elem_bound_box_inds[1])
-        subpx_inds_y = np.arange(cam_data.sub_samp*elem_bound_box_inds[2],
-                                 cam_data.sub_samp*elem_bound_box_inds[3])
+        subpx_inds_x = np.arange(sub_samp*elem_bound_box_inds[0],
+                                 sub_samp*elem_bound_box_inds[1])
+        subpx_inds_y = np.arange(sub_samp*elem_bound_box_inds[2],
+                                 sub_samp*elem_bound_box_inds[3])
         (subpx_inds_grid_x,subpx_inds_grid_y) = np.meshgrid(subpx_inds_x,
                                                             subpx_inds_y)
 
@@ -275,225 +401,203 @@ class RasterNP:
                 subpx_inds_grid_x[edge_mask_grid],
                 subpx_inds_grid_y[edge_mask_grid])
 
+
     @staticmethod
-    def raster_frame(cam_data: CameraData,
-                     connect_in_frame: np.ndarray,
-                     coords_raster: np.ndarray,
-                     elem_bound_box_inds: np.ndarray,
-                     elem_areas: np.ndarray,
-                     field_frame_div_z: np.ndarray
-                     ) -> tuple[np.ndarray,np.ndarray,int]:
+    def raster_one_mesh(connect_in_frame: np.ndarray,
+                          coords_raster: np.ndarray,
+                          elem_bound_box_inds: np.ndarray,
+                          elem_areas: np.ndarray,
+                          field_frame_div_z: np.ndarray,
+                          sub_samp: int,
+                          image_buff_subpx: np.ndarray,
+                          depth_buff_subpx: np.ndarray,
+                          ) -> tuple[np.ndarray,np.ndarray]:
         #connect_in_frame.shape=(num_elems,nodes_per_elem)
         #coords_raster.shape=(num_coords,coord[x,y,z,w])
         #elem_bound_box_inds.shape=(num_elems,[min_x,max_x,min_y,max_y])
         #elem_areas.shape=(num_elems,)
         #field_frame_divide_z=(num_coords,)
 
-        depth_buffer = 1e5*cam_data.image_dist*np.ones(
-            cam_data.sub_samp*cam_data.pixels_num).T
-        image_buffer = np.full(cam_data.sub_samp*cam_data.pixels_num,0.0).T
-
-        # elem_raster_coords.shape=(num_elems,nodes_per_elem,coord[x,y,z,w])
-        # field_divide_z.shape=(num_elems,nodes_per_elem,num_time_steps)
-        # elem_raster_coords.shape=(nodes_per_elem,coord[x,y,z,w])
-
         for ee in range(connect_in_frame.shape[0]):
             cc = connect_in_frame[ee,:]
 
             (px_coord_z,
             field_interp,
             subpx_inds_x_in,
-            subpx_inds_y_in) = RasterNP.raster_elem(
-                                                cam_data,
-                                                coords_raster[cc,:],
-                                                elem_bound_box_inds[ee,:],
-                                                elem_areas[ee],
-                                                field_frame_div_z[cc])
+            subpx_inds_y_in) = RasterNP.raster_elem(coords_raster[cc,:],
+                                                    elem_bound_box_inds[ee,:],
+                                                    elem_areas[ee],
+                                                    field_frame_div_z[cc],
+                                                    sub_samp)
 
 
             #  Build a mask to replace the depth information if there is already an
             # element in front of the one we are rendering
             px_coord_z_depth_mask = (px_coord_z
-                < depth_buffer[subpx_inds_y_in,subpx_inds_x_in])
+                < depth_buff_subpx[subpx_inds_y_in,subpx_inds_x_in])
 
             # Initialise the z coord to the value in the depth buffer
-            px_coord_z_masked = depth_buffer[subpx_inds_y_in,subpx_inds_x_in]
+            px_coord_z_masked = depth_buff_subpx[subpx_inds_y_in,subpx_inds_x_in]
             # Use the depth mask to overwrite the depth buffer values if points are in
             # front of the values in the depth buffer
             px_coord_z_masked[px_coord_z_depth_mask] = px_coord_z[px_coord_z_depth_mask]
 
             # Push the masked values into the depth buffer
-            depth_buffer[subpx_inds_y_in,subpx_inds_x_in] = px_coord_z_masked
+            depth_buff_subpx[subpx_inds_y_in,subpx_inds_x_in] = px_coord_z_masked
 
             # Mask the image buffer using the depth mask
-            image_buffer_depth_masked = image_buffer[subpx_inds_y_in,subpx_inds_x_in]
+            image_buffer_depth_masked = image_buff_subpx[subpx_inds_y_in,subpx_inds_x_in]
             image_buffer_depth_masked[px_coord_z_depth_mask] = field_interp[px_coord_z_depth_mask]
 
             # Push the masked values into the image buffer
-            image_buffer[subpx_inds_y_in,subpx_inds_x_in] = image_buffer_depth_masked
+            image_buff_subpx[subpx_inds_y_in,subpx_inds_x_in] = image_buffer_depth_masked
 
         #---------------------------------------------------------------------------
         # END RASTER LOOP
-        # TODO: fix this for windows
-        if Path(rastercyth.__file__).suffix == ".so":
-            depth_buff = np.empty((cam_data.pixels_num[1],cam_data.pixels_num[0]),dtype=np.float64)
-            depth_buff = np.array(rastercyth.average_image(depth_buffer,cam_data.sub_samp))
-            image_buff = np.empty((cam_data.pixels_num[1],cam_data.pixels_num[0]),dtype=np.float64)
-            image_buff = np.array(rastercyth.average_image(image_buffer,cam_data.sub_samp))
-        else:
-            depth_buff = CameraTools.average_subpixel_image(depth_buffer,cam_data.sub_samp)
-            image_buff = CameraTools.average_subpixel_image(image_buffer,cam_data.sub_samp)
-
-        return (image_buff,depth_buff)
-
+        return (image_buff_subpx,depth_buff_subpx)
 
     @staticmethod
-    def raster_static_mesh(cam_data: CameraData,
-                           render_mesh: RenderMeshData,
-                           save_path: Path | None = None,
-                           threads_num: int | None = None,
-                           ) -> np.ndarray | None:
-
-        frames_num = render_mesh.fields_render.shape[1]
-        field_num = render_mesh.fields_render.shape[2]
-        (frames,fields) = np.meshgrid(np.arange(0,frames_num),
-                                       np.arange(0,field_num))
-        frames = frames.flatten()
-        fields = fields.flatten()
-
-        if save_path is None:
-            images = np.empty((cam_data.pixels_num[1],
-                            cam_data.pixels_num[0],
-                            frames_num,
-                            field_num))
-        else:
-            images = None
-            if not save_path.is_dir():
-                save_path.mkdir()
-
-        # DO THIS ONCE: for non deforming meshes
-        # coords_raster.shape=(num_coords,coord[x,y,z,w])
-        # connect_in_frame.shape=(num_elems_in_scene,nodes_per_elem)
-        # elem_bound_box_inds.shape=(num_elems_in_scene,4[x_min,x_max,y_min,y_max])
-        # elem_areas.shape=(num_elems,)
-        (coords_raster,
-        connect_in_frame,
-        elem_bound_box_inds,
-        elem_areas) = RasterNP.setup_frame(
-            cam_data,
-            render_mesh.coords,
-            render_mesh.connectivity,
-        )
-
-        if threads_num is None:
-            for ff in range(0,frames.shape[0]):
-                image = RasterNP._static_mesh_frame_loop(
-                    frames[ff],
-                    fields[ff],
-                    cam_data,
-                    coords_raster,
-                    connect_in_frame,
-                    elem_bound_box_inds,
-                    elem_areas,
-                    render_mesh.fields_render[:,frames[ff],fields[ff]],
-                    save_path
-                )
+    def raster_frame(cam_ind: int,
+                     frame_ind: int,
+                     field_ind: int,
+                     cam_data: CameraData,
+                     meshes: list[RenderMesh],
+                     opts: RasterOpts,
+                     save_path: Path | None
+                     ) -> np.ndarray | None:
+
+        depth_buff_subpx = 1e5*cam_data.image_dist*np.ones(cam_data.sub_samp*cam_data.pixels_num).T
+        image_buff_subpx = np.full(cam_data.sub_samp*cam_data.pixels_num,0.0).T
+
+        for mm in meshes:
+            # coords_raster.shape=(num_coords,coord[x,y,z,w])
+            # connect_in_frame.shape=(num_elems_in_scene,nodes_per_elem)
+            # elem_bound_box_inds.shape=(num_elems_in_scene,4[x_min,x_max,y_min,y_max])
+            # elem_areas.shape=(num_elems,)
+            (coords_raster,
+            connect_in_frame,
+            elem_bound_box_inds,
+            elem_areas) = RasterNP.setup_frame(
+                cam_data,
+                mm,
+                frame_ind,
+            )
+
+            # NOTE: the z coord has already been inverted in setup so we multiply here
+            render_field_div_z = (mm.fields_render[:,frame_ind,field_ind]
+                                 *coords_raster[:,2])
+
+            # image_buffer.shape=(num_px_y,num_px_x)
+            # depth_buffer.shape=(num_px_y,num_px_x)
+            (image_buff_subpx,
+            depth_buff_subpx) = RasterNP.raster_one_mesh(
+                connect_in_frame,
+                coords_raster,
+                elem_bound_box_inds,
+                elem_areas,
+                render_field_div_z,
+                cam_data.sub_samp,
+                image_buff_subpx,
+                depth_buff_subpx
+            )
 
-                if images is not None:
-                    images[:,:,frames[ff],fields[ff]] = image
-        else:
-            with Pool(threads_num) as pool:
-                processes_with_id = []
 
-                for ff in range(0,frames.shape[0]):
-                    args = (frames[ff],
-                            fields[ff],
-                            cam_data,
-                            coords_raster,
-                            connect_in_frame,
-                            elem_bound_box_inds,
-                            elem_areas,
-                            render_mesh.fields_render[:,frames[ff],fields[ff]],
-                            save_path)
+        # TODO: make this configurable
+        image_buff_subpx[depth_buff_subpx > 1000*cam_data.image_dist] = np.nan
+        depth_buff_subpx[depth_buff_subpx > 1000*cam_data.image_dist] = np.nan
 
-                    process = pool.apply_async(
-                            RasterNP._static_mesh_frame_loop, args=args
-                    )
-                    processes_with_id.append({"process": process,
-                                              "frame": frames[ff],
-                                              "field": fields[ff]})
+        # Average buffers
+        (image_buff_avg,
+         depth_buff_avg) = RasterNP.average_buffers(cam_data,
+                                                    image_buff_subpx,
+                                                    depth_buff_subpx)
 
-                for pp in processes_with_id:
-                    image = pp["process"].get()
-                    images[:,:,pp["frame"],pp["field"]] = image
-
-        if images is not None:
-            return images
+        if save_path is None:
+            return image_buff_avg
 
+        save_name = ImageTools.get_save_name(cam_ind,frame_ind,field_ind)
+        image_save_file = save_path/save_name
+        save_raster(image_save_file,image_buff_avg,depth_buff_avg,opts)
         return None
 
 
 
-
     @staticmethod
-    def raster_deformed_mesh(cam_data: CameraData,
-                             render_mesh: RenderMeshData,
-                             save_path: Path | None = None,
-                             parallel: int | None = None
-                             ) -> np.ndarray | None:
+    def raster_scene(scene: RenderScene,
+                    opts: RasterOpts,
+                    save_path: Path | None = None,
+                    ) -> list[np.ndarray] | None:
 
-        frames_num = render_mesh.fields_render.shape[1]
-        field_num = render_mesh.fields_render.shape[2]
-        (frames,fields) = np.meshgrid(np.arange(0,frames_num),
-                                       np.arange(0,field_num))
-        frames = frames.flatten()
-        fields = fields.flatten()
+        # TODO: we assume the number of frames and fields is the same per camera
+        # Fix this
+        frames_num = scene.meshes[0].fields_render.shape[1]
+        field_num = scene.meshes[0].fields_render.shape[2]
+
+        (cam_inds,
+         frame_inds,
+         field_inds) = np.meshgrid(np.arange(0,len(scene.cameras)),
+                                    np.arange(0,frames_num),
+                                    np.arange(0,field_num))
+
+        cam_inds = cam_inds.flatten()
+        frame_inds = frame_inds.flatten()
+        field_inds = field_inds.flatten()
+        frames_total = cam_inds.shape[0]
 
 
         if save_path is None:
-            images = np.empty((cam_data.pixels_num[1],
-                               cam_data.pixels_num[0],
-                               frames_num,
-                               field_num))
+            images = []
+            for cc in scene.cameras:
+                images.append(np.empty((cc.pixels_num[1],
+                                        cc.pixels_num[0],
+                                        frames_num,
+                                        field_num)))
         else:
             images = None
             if not save_path.is_dir():
                 save_path.mkdir()
 
 
-        if parallel is None:
-            for ff in range(0,frames.shape[0]):
-                image = RasterNP._deformed_mesh_frame_loop(
-                    frames[ff],
-                    fields[ff],
-                    cam_data,
-                    render_mesh,
+        if opts.parallel is None:
+            for ff in range(0,frames_total):
+                image = RasterNP.raster_frame(
+                    cam_inds[ff],
+                    frame_inds[ff],
+                    field_inds[ff],
+                    scene.cameras[cam_inds[ff]],
+                    scene.meshes,
+                    opts,
                     save_path,
                 )
 
                 if images is not None:
-                    images[:,:,frames[ff],fields[ff]] = image
+                    images[cam_inds[ff]][:,:,frame_inds[ff],field_inds[ff]] = image
+
         else:
-            with Pool(parallel) as pool:
+            with Pool(opts.parallel) as pool:
                 processes_with_id = []
 
-                for ff in range(0,frames.shape[0]):
-                    args = (frames[ff],
-                            fields[ff],
-                            cam_data,
-                            render_mesh,
+                for ff in range(0,frames_total):
+                    args = (cam_inds[ff],
+                            frame_inds[ff],
+                            field_inds[ff],
+                            scene.cameras[cam_inds[ff]],
+                            scene.meshes,
+                            opts,
                             save_path)
 
                     process = pool.apply_async(
-                            RasterNP._deformed_mesh_frame_loop, args=args
+                            RasterNP.raster_frame, args=args
                     )
                     processes_with_id.append({"process": process,
-                                              "frame": frames[ff],
-                                              "field": fields[ff]})
+                                              "camera": cam_inds[ff],
+                                              "frame": frame_inds[ff],
+                                              "field": field_inds[ff]})
 
                 for pp in processes_with_id:
                     image = pp["process"].get()
-                    images[:,:,pp["frame"],pp["field"]] = image
+                    if images is not None:
+                        images[cam_inds[ff]][:,:,pp["frame"],pp["field"]] = image
 
         if images is not None:
             return images
@@ -501,87 +605,6 @@ class RasterNP:
         return None
 
 
-    @staticmethod
-    def _static_mesh_frame_loop(frame_ind: int,
-                                field_ind: int,
-                                cam_data: CameraData,
-                                coords_raster: np.ndarray,
-                                connect_in_frame: np.ndarray,
-                                elem_bound_box_inds: np.ndarray,
-                                elem_areas: np.ndarray,
-                                field_to_render: np.ndarray,
-                                save_path: Path | None,
-                                ) -> np.ndarray | None:
-
-        # NOTE: the z coord has already been inverted in setup so we multiply here
-        render_field_div_z = field_to_render*coords_raster[:,2]
-
-        (image_buffer,
-        depth_buffer) = RasterNP.raster_frame(
-                                    cam_data,
-                                    connect_in_frame,
-                                    coords_raster,
-                                    elem_bound_box_inds,
-                                    elem_areas,
-                                    render_field_div_z)
-
-        # TODO: make this configurable
-        image_buffer[depth_buffer > 1000*cam_data.image_dist] = np.nan
-
-        if save_path is None:
-            return image_buffer
-
-        image_file = save_path/f"image_frame{frame_ind}_field{field_ind}"
-        np.save(image_file,image_buffer)
-        return None
-
-
-    @staticmethod
-    def _deformed_mesh_frame_loop(frame_ind: int,
-                                  field_ind: int,
-                                  cam_data: CameraData,
-                                  render_mesh: RenderMeshData,
-                                  save_path: Path | None
-                                  ) -> np.ndarray | None:
-        # coords_raster.shape=(num_coords,coord[x,y,z,w])
-        # connect_in_frame.shape=(num_elems_in_scene,nodes_per_elem)
-        # elem_bound_box_inds.shape=(num_elems_in_scene,4[x_min,x_max,y_min,y_max])
-        # elem_areas.shape=(num_elems,)
-        (coords_raster,
-        connect_in_frame,
-        elem_bound_box_inds,
-        elem_areas) = RasterNP.setup_frame(
-            cam_data,
-            render_mesh.coords,
-            render_mesh.connectivity,
-            render_mesh.fields_disp[:,frame_ind,:],
-        )
-
-        # NOTE: the z coord has already been inverted in setup so we multiply here
-        render_field_div_z = (render_mesh.fields_render[:,frame_ind,field_ind]
-                            *coords_raster[:,2])
-
-        # image_buffer.shape=(num_px_y,num_px_x)
-        # depth_buffer.shape=(num_px_y,num_px_x)
-        (image_buffer,
-        depth_buffer) = RasterNP.raster_frame(
-                                    cam_data,
-                                    connect_in_frame,
-                                    coords_raster,
-                                    elem_bound_box_inds,
-                                    elem_areas,
-                                    render_field_div_z)
-
-        # TODO: make this configurable
-        image_buffer[depth_buffer > 1000*cam_data.image_dist] = np.nan
-
-        if save_path is None:
-            return image_buffer
-
-        image_file = save_path/f"image_frame{frame_ind}_field{field_ind}"
-        np.save(image_file.with_suffix(".npy"),image_buffer)
-        return None
-
 
 #-------------------------------------------------------------------------------
 @numba.jit(nopython=True)
@@ -599,5 +622,6 @@ def edge_function_slice(vert_a: np.ndarray,
 
     return  ((vert_c[:,0] - vert_a[:,0]) * (vert_b[:,1] - vert_a[:,1])
               - (vert_c[:,1] - vert_a[:,1]) * (vert_b[:,0] - vert_a[:,0]))
+#-------------------------------------------------------------------------------