Create and add normals at runtime

Convert rotation vectors (angle-axis representation) to euler angles (XYZ order) :param rotation_vectors: A numpy array of shape (..., 3).

Sets the camera target to the average of the center of all objects in the scene

Finds the minimum lower bound in the y coordinate from all the children bounds and uses that as the floor

Applies a batch of rigid transformations to the joints Parameters ---------- rot_mats : torch.tensor BxNx3x3 Tensor of rotat

Calculates the per vertex displacement due to the blend shapes Parameters ---------- betas : torch.tensor Bx(num_betas) Blend s

Clear all cached shaders.

Compute (unnormalized) vertex normals for the given vertices. :param vertices: A tensor of shape (N, V, 3). :param faces: A tensor of sha

Converts from spherical coordinates to a direction vector. :param theta: elevation angle from -PI/2 to PI/2, 0 represents the horizon and PI

Find camera translation that brings 3D joints S closest to 2D the corresponding joints_2d. Input: S: (25, 3) 3D joint locations

Convert euler angles (XYZ order) to rotation vectors (angle-axis representation) :param euler_angles: A numpy array of shape (..., 3). :p

Convert body pose data (joint angles and shape parameters) to positional data (joint and mesh vertex positions). :param poses_body: A

Load a 3DPW sequence which might contain multiple people.

Create an axis-aligned bounding box from the 3D diagonal. :param v_min: np array of shape (N, 3). :param v_max: np array of s

Generator that yields 'count' sequential rendered images from the viewer.

Render and return the depth buffer as a 'F' PIL image. Depth is stored as the z coordinate in eye (view) space. Therefore val

Render and return a color mask as a 'RGB' PIL image. Each object in the mask has a uniform color computed from the Node UID (can be a

Returns the next message received by the remote viewer. :param block: if True this function blocks until a message is received, othe

Returns the Node corresponding to the remote uid and client passed in. :param remote_uid: the remote uid to look up. :param

GUI to control scene settings.

GUI to edit the selected node

Resets the viewer to the state expected when running a test.

Creates and returns an instanced sequence of N frames and I instances. Each instance will have its own position, rotation and scale.

Called when the user clicked on a mesh while holding ctrl. :param intersection: The result of intersecting the user click with the sc

Returns true if the object is transparent and should thus be sorted when rendering. Subclassess that use a different color should imp

Create and return a PinholeCamera that follows a node, the target of the camera is the center of the node at each frame and the camer

Prepares this object for rendering. This function must be called before `render` is used. :param ctx: The moderngl context.

Called when the current frame is about to change, 'self.current_frame_id' still has the id of the previous frame.

Clean up before destroying the window

Called when the current frame is changed.

Called when the node is selected :param node: the node which was clicked (can be None if the selection wasn't a mouse event)

Move the camera in the image plane.

Pause the timer by setting the internal pause time using ``time.perf_counter()``

This function computes the perspective projection of a set of points. Input: points (bs, N, 3): 3D points rotation (bs, 3, 3): Ca

Default processing of messages. :param type: the type of the message. :param remote_uid: the remote id of the node that this

将四元数转换为旋转矩阵 :param quat: 四元数数组，形状为 (N, 4)，其中第一个元素为实部，后三个元素为虚部 :return: 旋转矩阵数组，形状为 (N, 3, 3)

Convert quaternion coefficients to rotation matrix. Args: quat: size = [B, 4] 4 <===>(w, x, y, z) Returns: Rotation matrix co

This function is borrowed from https://github.com/kornia/kornia Convert quaternion vector to angle axis of rotation. Adapted from ceres C

Given an x/y screen coordinate, get the intersected object, triangle id, and xyz point in camera space.