A pass to render outlines of an object.

Resize rendering resources on window resize.

Return how the joints are connected in the kinematic chain where skeleton[0, i] is the parent of joint skeleton[1, i].

Update the configuration with another configuration file or another OmegaConf configuration object.

View from the camera with the given index deactivating all other cameras, this also enables the billboard and disables the frustums.

Initializer. :param center: Center of the plane. :param v1: 3D vector lying in the plane. :param v2: 3D vector lying

Helper function to create a billboard for the camera at the given index.

Computes the size of the viewports depending on the current mode. Uses the window buffer size to update the extents of all existing v

Rotate vertices and normals such that the main axis of the cylinder aligns with `target`. :param target: A np array of shape (N, 3) specifyin

Apply affine transformation (4-by-4 matrix) to a 3D directon.

Upload the current frame data to the GPU for rendering.

Activates the camera at the given index, showing its frustum and billboard if enabled.

Calculates the rotation matrices for a batch of rotation vectors Parameters ---------- rot_vecs: torch.tensor Nx3

Compute (unnormalized) vertex normals for the given vertices. This is a rather expensive operation despite it being fully optimized with nump

Compute face and vertex normals for the given frame. We use an LRU cache since this is a potentially expensive operation. This functi

Create all framebuffers which depend on the window size. This is called once at startup and every time the window is resized.

Convert euler angles (XYZ order) to rotation matrices. :param euler_angles: A numpy array of shape (..., 3). :param degrees: Must be True

Save the current frame to an image. :param file_path: the path where the image is saved. :param scale_factor: a scale factor used to s

Get joints and/or vertices from the poses.

Return a mask as a numpy array of shape (height, width) and type np.uint32. Each element in the array is the UID of the node covering

Interpolate positions given at timestamps `ts_in` to timestamps given at `ts_out` with a cubic spline. :param positions: A numpy array of sha

Interpolate rotations given at timestamps `ts_in` to timestamps given at `ts_out`. This performs the equivalent of cubic interpolation in SO(

Return intersection of a line passing through the mouse position at pixel coordinates x, y and the trackball as a point in world coor

Loads the camera parameters

Return a model-view-projection matrix to project vertices into the view of the light.

Returns a perspective projection matrix.

Processes all messages received since the last time this method was called.

Upload the current frame data to the GPU for rendering.

Main rendering function.

Convert rotation matrices to euler angles (XYZ order) :param rotation_matrices: A numpy array of shape (..., 3, 3). :param degrees: The r

Rotate the camera position left-right and up-down orbiting around the target (roll is not allowed).

Saves the current camera parameters

Selects the object at pixel coordinates x, y, returns True if an object is selected

Send a message to a single client or to all connected clients. :param msg: a python object that is serialized with pickle and sent t

Set the current active frame of the remote viewer. :param frame: an integer representing the id of the frame.

Sets the viewports in a 2x2 grid with a viewport looking at the scene with an orthographic projection from each of the main axes.

Save the current frame to an image in the screenshots directory inside the export directory

Get or set the current time. This can be used to jump around in the timeline. Returns: The current time in seconds

Get or compute the vertex normals at the given frame.

If the viewer is specified for this camera, change the current view to view from this camera

Initializer. :param lines: Set of 3D coordinates as a np array of shape (F, L, 3) or (L, 3). :param r_base: Thickness of the

Initializer. :param vertices: A np array of shape (N, V, 3) or (V, 3). :param faces: A np array of shape (F, 3). :par

Construct the chessboard mesh.

Create a cone from points v1 to v2. :param v1: A np array of shape (N, 3). :param v2: A np array of shape (N, 3). :param radius: The

Create cylinders from points v1 to v2. :param v1: A np array of shape (N, 3). :param v2: A np array of shape (N, 3). :param radius1:

Create a sphere centered at the origin. This is a port of moderngl-window's geometry.sphere() function, but it returns the vertices and faces