How to render images from the scene '.glb' files with assigned camera configurations?

[wzcai99]

Hi, I was wondering how to render RGB images with respect to any possible camera intrinsic and extrinsic matrix. I am running habitat on a headless server, could anyone provide me with some suggestions on how to load the HM3D .glb files and render images? Thank you.

[wzcai99]

And I tried with python library trimesh and pyrender, but I can only got such kind of images without any color.