GPU-to-CPU batch renderer API to render color and depth sensors into images.

[0mdc]

Motivation and Context

This changes the replay renderer API to support rendering of both color and depth sensors into images.
Semantic image views are expected to be added to the API at a later time.

Accompanying lab PR: facebookresearch/habitat-lab#1408

Prior to this change, this API could only produce color images.

Before:

replay_renderer.render(color)

After:

replay_renderer.render(color_images=color, depth_images=depth)

How Has This Been Tested

On Habitat-Lab and CI.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[eundersander]

I left some comments. I'm not super-familiar with this code. Maybe @mosra can take a final look and give a green check.

[jturner65]

I may have missed something (I'm not that familiar with the batch renderer), but to me this looks good to go.