def METHOD_NAME(self):
    camera_origin, intensity = self._sample_parameters()
    camera_to_world, world_to_camera = compute_modelview_matrices(
        camera_origin, self.world_origin, self.roll, self.shift)
    self.light.light.intensity = intensity
    self.scene.set_pose(self.camera, camera_to_world)
    self.scene.set_pose(self.light, camera_to_world)
    self.pixel_mesh.mesh.is_visible = False
    image, depth = self.renderer.METHOD_NAME(self.scene, self.flags_RGBA)
    self.pixel_mesh.mesh.is_visible = True
    image, alpha = split_alpha_channel(image)
    self.mesh.mesh.is_visible = False
    RGB_mask, _ = self.renderer.METHOD_NAME(self.scene, self.flags_FLAT)
    self.mesh.mesh.is_visible = True
    return image, alpha, RGB_mask