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.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+assets/test2.png filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,13 +1,13 @@
 ---
 title: WiLoR
-emoji: 📊
-colorFrom: purple
-colorTo: indigo
+emoji: 🚀
+colorFrom: red
+colorTo: red
 sdk: gradio
 sdk_version: 4.44.0
 app_file: app.py
 pinned: false
-license: cc-by-nc-4.0
+license: cc-by-nc-2.0
 ---
 
 Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference

app.py

@@ -0,0 +1,181 @@
+import os 
+import sys 
+os.environ["PYOPENGL_PLATFORM"] = "egl"
+os.environ["MESA_GL_VERSION_OVERRIDE"] = "4.1"
+os.system('pip install /home/user/app/pyrender')
+sys.path.append('/home/user/app/pyrender')
+
+import gradio as gr
+import cv2 
+import numpy as np 
+import torch 
+from ultralytics import YOLO
+from pathlib import Path
+import argparse
+import json
+from typing import Dict, Optional
+
+from wilor.models import WiLoR, load_wilor
+from wilor.utils import recursive_to
+from wilor.datasets.vitdet_dataset import ViTDetDataset, DEFAULT_MEAN, DEFAULT_STD
+from wilor.utils.renderer import Renderer, cam_crop_to_full
+device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
+
+LIGHT_PURPLE=(0.25098039,  0.274117647,  0.65882353)
+
+model, model_cfg = load_wilor(checkpoint_path = './pretrained_models/wilor_final.ckpt' , cfg_path= './pretrained_models/model_config.yaml')
+# Setup the renderer
+renderer = Renderer(model_cfg, faces=model.mano.faces)
+renderer_side = Renderer(model_cfg, faces=model.mano.faces)
+model = model.to(device)
+model.eval()
+
+detector = YOLO('./pretrained_models/detector.pt').to(device)
+
+def run_wilow_model(image, conf, IoU_threshold=0.5):
+    img_cv2 = image[...,::-1]
+    img_vis = image.copy()
+    
+    detections = detector(img_cv2, conf=conf, verbose=False, iou=IoU_threshold)[0]
+    
+    bboxes    = []
+    is_right  = []
+    for det in detections: 
+        Bbox = det.boxes.data.cpu().detach().squeeze().numpy()
+        Conf = det.boxes.conf.data.cpu().detach()[0].numpy().reshape(-1).astype(np.float16)
+        Side = det.boxes.cls.data.cpu().detach()
+        #Bbox[:2] -= np.int32(0.1 * Bbox[:2])
+        #Bbox[2:] += np.int32(0.1 * Bbox[ 2:])
+        is_right.append(det.boxes.cls.cpu().detach().squeeze().item())
+        bboxes.append(Bbox[:4].tolist())
+        
+        color = (255*0.208, 255*0.647 ,255*0.603 ) if Side==0. else (255*1, 255*0.78039, 255*0.2353)
+        label = f'L - {Conf[0]:.3f}' if Side==0 else f'R - {Conf[0]:.3f}'
+
+        cv2.rectangle(img_vis, (int(Bbox[0]), int(Bbox[1])), (int(Bbox[2]), int(Bbox[3])), color , 3) 
+        (w, h), _ = cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.6, 1)
+        cv2.rectangle(img_vis, (int(Bbox[0]), int(Bbox[1]) - 20), (int(Bbox[0]) + w, int(Bbox[1])), color, -1)
+        cv2.putText(img_vis, label, (int(Bbox[0]), int(Bbox[1]) - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0,0,0), 2)
+          
+    if len(bboxes) != 0: 
+        boxes = np.stack(bboxes)
+        right = np.stack(is_right)
+        dataset = ViTDetDataset(model_cfg, img_cv2, boxes, right, rescale_factor=2.0 )
+        dataloader = torch.utils.data.DataLoader(dataset, batch_size=32, shuffle=False, num_workers=0)
+    
+        all_verts = []
+        all_cam_t = []
+        all_right = []
+        all_joints= []
+    
+        for batch in dataloader: 
+            batch = recursive_to(batch, device)
+    
+            with torch.no_grad():
+                out = model(batch) 
+                
+            multiplier    = (2*batch['right']-1)
+            pred_cam      = out['pred_cam']
+            pred_cam[:,1] = multiplier*pred_cam[:,1]
+            box_center    = batch["box_center"].float()
+            box_size      = batch["box_size"].float()
+            img_size      = batch["img_size"].float()
+            scaled_focal_length = model_cfg.EXTRA.FOCAL_LENGTH / model_cfg.MODEL.IMAGE_SIZE * img_size.max()
+            pred_cam_t_full     = cam_crop_to_full(pred_cam, box_center, box_size, img_size, scaled_focal_length).detach().cpu().numpy()
+            
+            # Render the result
+            all_verts  = []
+            all_cam_t  = []
+            all_right  = []
+            all_joints = []
+            
+            batch_size = batch['img'].shape[0]
+            for n in range(batch_size):
+                
+                verts  = out['pred_vertices'][n].detach().cpu().numpy()
+                joints = out['pred_keypoints_3d'][n].detach().cpu().numpy()
+                
+                is_right = batch['right'][n].cpu().numpy()
+                verts[:,0] = (2*is_right-1)*verts[:,0]
+                joints[:,0] = (2*is_right-1)*joints[:,0]
+                
+                cam_t = pred_cam_t_full[n]
+                
+                all_verts.append(verts)
+                all_cam_t.append(cam_t)
+                all_right.append(is_right)
+                all_joints.append(joints)
+            # Render front view
+    
+            misc_args = dict(
+                mesh_base_color=LIGHT_PURPLE,
+                scene_bg_color=(1, 1, 1),
+                focal_length=scaled_focal_length,
+            )
+            cam_view = renderer.render_rgba_multiple(all_verts, cam_t=all_cam_t, render_res=img_size[n], is_right=all_right, **misc_args)
+    
+            # Overlay image
+            
+            input_img = img_vis.astype(np.float32)/255.0
+            input_img = np.concatenate([input_img, np.ones_like(input_img[:,:,:1])], axis=2) # Add alpha channel
+            input_img_overlay = input_img[:,:,:3] * (1-cam_view[:,:,3:]) + cam_view[:,:,:3] * cam_view[:,:,3:]
+            
+    image = input_img_overlay
+    return image, f'{len(detections)} hands detected'        
+
+
+
+header = ('''
+<div class="embed_hidden" style="text-align: center;">
+    <h1> <b>WiLoR</b>: End-to-end 3D hand localization and reconstruction in-the-wild</h1>
+    <h3>
+        <a href="https://rolpotamias.github.io" target="_blank" rel="noopener noreferrer">Rolandos Alexandros Potamias</a><sup>1</sup>,
+        <a href="" target="_blank" rel="noopener noreferrer">Jinglei Zhang</a><sup>2</sup>,
+        <br>
+        <a href="https://jiankangdeng.github.io/" target="_blank" rel="noopener noreferrer">Jiankang Deng</a><sup>1</sup>,
+        <a href="https://wp.doc.ic.ac.uk/szafeiri/" target="_blank" rel="noopener noreferrer">Stefanos Zafeiriou</a><sup>1</sup>
+    </h3>
+    <h3>
+        <sup>1</sup>Imperial College London;
+        <sup>2</sup>Shanghai Jiao Tong University
+    </h3>
+</div>
+<div style="display:flex; gap: 0.3rem; justify-content: center; align-items: center;" align="center">
+<a href=''><img src='https://img.shields.io/badge/Arxiv-2405.20340-A42C25?style=flat&logo=arXiv&logoColor=A42C25'></a> 
+<a href=''><img src='https://img.shields.io/badge/Paper-PDF-yellow?style=flat&logo=arXiv&logoColor=yellow'></a> 
+<a href='https://rolpotamias.github.io/wilor/'><img src='https://img.shields.io/badge/Project-Page-%23df5b46?style=flat&logo=Google%20chrome&logoColor=%23df5b46'></a> 
+<a href='https://github.com/rolpotamias/WiLoR'><img src='https://img.shields.io/badge/GitHub-Code-black?style=flat&logo=github&logoColor=white'></a> 
+''')
+
+
+with gr.Blocks(title="WiLoR: End-to-end 3D hand localization and reconstruction in-the-wild", css=".gradio-container") as demo:
+
+    gr.Markdown(header)
+
+    with gr.Row():
+        with gr.Column():
+            input_image = gr.Image(label="Input image", type="numpy")
+            threshold = gr.Slider(value=0.3, minimum=0.05, maximum=0.95, step=0.05, label='Detection Confidence Threshold')
+            #nms = gr.Slider(value=0.5, minimum=0.05, maximum=0.95, step=0.05, label='IoU NMS Threshold')
+            submit = gr.Button("Submit", variant="primary")
+        
+        
+        with gr.Column():
+            reconstruction = gr.Image(label="Reconstructions", type="numpy")
+            hands_detected = gr.Textbox(label="Hands Detected")
+    
+        submit.click(fn=run_wilow_model, inputs=[input_image, threshold], outputs=[reconstruction, hands_detected])
+
+    with gr.Row():
+        
+        example_images = gr.Examples([
+            
+            ['/home/user/app/assets/test1.jpg'], 
+            ['/home/user/app/assets/test2.png'], 
+            ['/home/user/app/assets/test3.jpg'], 
+            ['/home/user/app/assets/test4.jpg'],
+            ['/home/user/app/assets/test5.jpeg'] 
+            ], 
+            inputs=input_image)
+    
+demo.launch()

mano_data/mano/MANO_RIGHT.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767
+size 3821356

mano_data/mano_mean_params.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc0ec58e4a5cef78f3abfb4e8f91623b8950be9eff8b8e0dbb0d036ebc63988
+size 1178

packages.txt

@@ -0,0 +1,12 @@
+libglfw3-dev
+libgles2-mesa-dev
+libgl1
+freeglut3-dev
+unzip
+ffmpeg 
+libsm6 
+libxext6
+libgl1-mesa-dri
+libegl1-mesa
+libgbm1
+build-essential

pretrained_models/dataset_config.yaml

@@ -0,0 +1,62 @@
+ARCTIC-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/arctic-train/{000000..000176}.tar
+  epoch_size: 177000
+BEDLAM-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/bedlam-train/{000000..000300}.tar
+  epoch_size: 301000
+COCOW-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/cocow-train/{000000..000036}.tar
+  epoch_size: 78666
+DEX-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/dex-train/{000000..000406}.tar
+  epoch_size: 406888
+FREIHAND-MOCAP:
+  DATASET_FILE: hamer_training_data/freihand_mocap.npz
+FREIHAND-TEST:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/freihand-test/{000000..000003}.tar
+  epoch_size: 3960
+FREIHAND-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/freihand-train/{000000..000130}.tar
+  epoch_size: 130240
+H2O3D-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/h2o3d-train/{000000..000060}.tar
+  epoch_size: 121996
+HALPE-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/halpe-train/{000000..000022}.tar
+  epoch_size: 34289
+HO3D-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/ho3d-train/{000000..000083}.tar
+  epoch_size: 83325
+HOT3D-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/hot3d-train/{000000..000571}.tar
+  epoch_size: 572000
+INTERHAND26M-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/interhand26m-train/{000000..001056}.tar
+  epoch_size: 1424632
+MPIINZSL-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/mpiinzsl-train/{000000..000015}.tar
+  epoch_size: 15184
+MTC-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/mtc-train/{000000..000306}.tar
+  epoch_size: 363947
+REINTER-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/reinter-train/{000000..000418}.tar
+  epoch_size: 419000
+RHD-TRAIN:
+  TYPE: ImageDataset
+  URLS: hamer_training_data/dataset_tars/rhd-train/{000000..000041}.tar
+  epoch_size: 61705

pretrained_models/detector.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef3df44e42d2db52d4ffe91f83a22ce9925e2acc9abebf453f2c5d22e380033
+size 53582271

pretrained_models/model_config.yaml

@@ -0,0 +1,119 @@
+task_name: train
+tags:
+- dev
+train: true
+test: false
+ckpt_path: null
+seed: null
+DATASETS:
+  TRAIN:
+    FREIHAND-TRAIN:
+      WEIGHT: 0.2
+    INTERHAND26M-TRAIN:
+      WEIGHT: 0.1
+    MTC-TRAIN:
+      WEIGHT: 0.05
+    RHD-TRAIN:
+      WEIGHT: 0.05
+    COCOW-TRAIN:
+      WEIGHT: 0.05
+    HALPE-TRAIN:
+      WEIGHT: 0.05
+    MPIINZSL-TRAIN:
+      WEIGHT: 0.05
+    HO3D-TRAIN:
+      WEIGHT: 0.05
+    H2O3D-TRAIN:
+      WEIGHT: 0.05
+    DEX-TRAIN:
+      WEIGHT: 0.05
+    BEDLAM-TRAIN:
+      WEIGHT: 0.05
+    REINTER-TRAIN:
+      WEIGHT: 0.1
+    HOT3D-TRAIN:
+      WEIGHT: 0.05
+    ARCTIC-TRAIN:
+      WEIGHT: 0.1
+  VAL:
+    FREIHAND-TRAIN:
+      WEIGHT: 1.0
+  MOCAP: FREIHAND-MOCAP
+  BETAS_REG: true
+  CONFIG:
+    SCALE_FACTOR: 0.3
+    ROT_FACTOR: 30
+    TRANS_FACTOR: 0.02
+    COLOR_SCALE: 0.2
+    ROT_AUG_RATE: 0.6
+    TRANS_AUG_RATE: 0.5
+    DO_FLIP: false
+    FLIP_AUG_RATE: 0.0
+    EXTREME_CROP_AUG_RATE: 0.0
+    EXTREME_CROP_AUG_LEVEL: 1
+extras:
+  ignore_warnings: false
+  enforce_tags: true
+  print_config: true
+exp_name: WiLoR
+MANO:
+  DATA_DIR: mano_data
+  MODEL_PATH: ${MANO.DATA_DIR}/mano
+  GENDER: neutral
+  NUM_HAND_JOINTS: 15
+  MEAN_PARAMS: ${MANO.DATA_DIR}/mano_mean_params.npz
+  CREATE_BODY_POSE: false
+EXTRA:
+  FOCAL_LENGTH: 5000
+  NUM_LOG_IMAGES: 4
+  NUM_LOG_SAMPLES_PER_IMAGE: 8
+  PELVIS_IND: 0
+GENERAL:
+  TOTAL_STEPS: 1000000
+  LOG_STEPS: 1000
+  VAL_STEPS: 1000
+  CHECKPOINT_STEPS: 1000
+  CHECKPOINT_SAVE_TOP_K: 1
+  NUM_WORKERS: 8
+  PREFETCH_FACTOR: 2
+TRAIN:
+  LR: 1.0e-05
+  WEIGHT_DECAY: 0.0001
+  BATCH_SIZE: 32
+  LOSS_REDUCTION: mean
+  NUM_TRAIN_SAMPLES: 2
+  NUM_TEST_SAMPLES: 64
+  POSE_2D_NOISE_RATIO: 0.01
+  SMPL_PARAM_NOISE_RATIO: 0.005
+MODEL:
+  IMAGE_SIZE: 256
+  IMAGE_MEAN:
+  - 0.485
+  - 0.456
+  - 0.406
+  IMAGE_STD:
+  - 0.229
+  - 0.224
+  - 0.225
+  BACKBONE:
+    TYPE: vit
+    PRETRAINED_WEIGHTS: hamer_training_data/vitpose_backbone.pth
+  MANO_HEAD:
+    TYPE: transformer_decoder
+    IN_CHANNELS: 2048
+    TRANSFORMER_DECODER:
+      depth: 6
+      heads: 8
+      mlp_dim: 1024
+      dim_head: 64
+      dropout: 0.0
+      emb_dropout: 0.0
+      norm: layer
+      context_dim: 1280
+LOSS_WEIGHTS:
+  KEYPOINTS_3D: 0.05
+  KEYPOINTS_2D: 0.01
+  GLOBAL_ORIENT: 0.001
+  HAND_POSE: 0.001
+  BETAS: 0.0005
+  ADVERSARIAL: 0.0005

pretrained_models/wilor_final.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e97aafc7dd08d883a4cc5a027df61fdb6fda6136dbd1319405413862ada6bb2
+size 2564989533

pyrender/.coveragerc

@@ -0,0 +1,5 @@
+[report]
+exclude_lines =
+    def __repr__
+    def __str__
+    @abc.abstractmethod

pyrender/.flake8

@@ -0,0 +1,8 @@
+[flake8]
+ignore = E231,W504,F405,F403
+max-line-length = 79
+select = B,C,E,F,W,T4,B9
+exclude = 
+    docs/source/conf.py,
+    __pycache__,
+    examples/*

pyrender/.gitignore

@@ -0,0 +1,106 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+docs/**/generated/**
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/

pyrender/.pre-commit-config.yaml

@@ -0,0 +1,6 @@
+repos:
+- repo: https://gitlab.com/pycqa/flake8
+  rev: 3.7.1
+  hooks:
+    - id: flake8
+      exclude: ^setup.py

pyrender/.travis.yml

@@ -0,0 +1,43 @@
+language: python
+sudo: required
+dist: xenial
+
+python:
+- '3.6'
+- '3.7'
+
+before_install:
+  # Pre-install osmesa
+  - sudo apt update
+  - sudo wget https://github.com/mmatl/travis_debs/raw/master/xenial/mesa_18.3.3-0.deb
+  - sudo dpkg -i ./mesa_18.3.3-0.deb || true
+  - sudo apt install -f
+  - git clone https://github.com/mmatl/pyopengl.git
+  - cd pyopengl
+  - pip install .
+  - cd ..
+
+install:
+  - pip install .
+    #  - pip install -q pytest pytest-cov coveralls
+  - pip install pytest pytest-cov coveralls
+  - pip install ./pyopengl
+
+script:
+  - PYOPENGL_PLATFORM=osmesa pytest --cov=pyrender tests
+
+after_success:
+- coveralls || true
+
+deploy:
+  provider: pypi
+  skip_existing: true
+  user: mmatl
+  on:
+    tags: true
+    branch: master
+  password:
+    secure: O4WWMbTYb2eVYIO4mMOVa6/xyhX7mPvJpd96cxfNvJdyuqho8VapOhzqsI5kahMB1hFjWWr61yR4+Ru5hoDYf3XA6BQVk8eCY9+0H7qRfvoxex71lahKAqfHLMoE1xNdiVTgl+QN9hYjOnopLod24rx8I8eXfpHu/mfCpuTYGyLlNcDP5St3bXpXLPB5wg8Jo1YRRv6W/7fKoXyuWjewk9cJAS0KrEgnDnSkdwm6Pb+80B2tcbgdGvpGaByw5frndwKiMUMgVUownepDU5POQq2p29wwn9lCvRucULxjEgO+63jdbZRj5fNutLarFa2nISfYnrd72LOyDfbJubwAzzAIsy2JbFORyeHvCgloiuE9oE7a9oOQt/1QHBoIV0seiawMWn55Yp70wQ7HlJs4xSGJWCGa5+9883QRNsvj420atkb3cgO8P+PXwiwTi78Dq7Z/xHqccsU0b8poqBneQoA+pUGgNnF6V7Z8e9RsCcse2gAWSZWuOK3ua+9xCgH7I7MeL3afykr2aJ+yFCoYJMFrUjJeodMX2RbL0q+3FzIPZeGW3WdhTEAL9TSKRcJBSQTskaQlZx/OcpobxS7t3d2S68CCLG9uMTqOTYws55WZ1etalA75sRk9K2MR7ZGjZW3jdtvMViISc/t6Rrjea1GE8ZHGJC6/IeLIWA2c7nc=
+  distributions: sdist bdist_wheel
+notifications:
+  email: false

pyrender/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019 Matthew Matl
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

pyrender/MANIFEST.in

@@ -0,0 +1,5 @@
+# Include the license
+include LICENSE
+include README.rst
+include pyrender/fonts/*
+include pyrender/shaders/*

pyrender/README.md

@@ -0,0 +1,92 @@
+# Pyrender
+
+[![Build Status](https://travis-ci.org/mmatl/pyrender.svg?branch=master)](https://travis-ci.org/mmatl/pyrender)
+[![Documentation Status](https://readthedocs.org/projects/pyrender/badge/?version=latest)](https://pyrender.readthedocs.io/en/latest/?badge=latest)
+[![Coverage Status](https://coveralls.io/repos/github/mmatl/pyrender/badge.svg?branch=master)](https://coveralls.io/github/mmatl/pyrender?branch=master)
+[![PyPI version](https://badge.fury.io/py/pyrender.svg)](https://badge.fury.io/py/pyrender)
+[![Downloads](https://pepy.tech/badge/pyrender)](https://pepy.tech/project/pyrender)
+
+Pyrender is a pure Python (2.7, 3.4, 3.5, 3.6) library for physically-based
+rendering and visualization.
+It is designed to meet the [glTF 2.0 specification from Khronos](https://www.khronos.org/gltf/).
+
+Pyrender is lightweight, easy to install, and simple to use.
+It comes packaged with both an intuitive scene viewer and a headache-free
+offscreen renderer with support for GPU-accelerated rendering on headless
+servers, which makes it perfect for machine learning applications.
+
+Extensive documentation, including a quickstart guide, is provided [here](https://pyrender.readthedocs.io/en/latest/).
+
+For a minimal working example of GPU-accelerated offscreen rendering using EGL,
+check out the [EGL Google CoLab Notebook](https://colab.research.google.com/drive/1pcndwqeY8vker3bLKQNJKr3B-7-SYenE?usp=sharing).
+
+
+<p align="center">
+  <img width="48%" src="https://github.com/mmatl/pyrender/blob/master/docs/source/_static/rotation.gif?raw=true" alt="GIF of Viewer"/>
+  <img width="48%" src="https://github.com/mmatl/pyrender/blob/master/docs/source/_static/damaged_helmet.png?raw=true" alt="Damaged Helmet"/>
+</p>
+
+## Installation
+You can install pyrender directly from pip.
+
+```bash
+pip install pyrender
+```
+
+## Features
+
+Despite being lightweight, pyrender has lots of features, including:
+
+* Simple interoperation with the amazing [trimesh](https://github.com/mikedh/trimesh) project,
+which enables out-of-the-box support for dozens of mesh types, including OBJ,
+STL, DAE, OFF, PLY, and GLB.
+* An easy-to-use scene viewer with support for animation, showing face and vertex
+normals, toggling lighting conditions, and saving images and GIFs.
+* An offscreen rendering module that supports OSMesa and EGL backends.
+* Shadow mapping for directional and spot lights.
+* Metallic-roughness materials for physically-based rendering, including several
+types of texture and normal mapping.
+* Transparency.
+* Depth and color image generation.
+
+## Sample Usage
+
+For sample usage, check out the [quickstart
+guide](https://pyrender.readthedocs.io/en/latest/examples/index.html) or one of
+the Google CoLab Notebooks:
+
+* [EGL Google CoLab Notebook](https://colab.research.google.com/drive/1pcndwqeY8vker3bLKQNJKr3B-7-SYenE?usp=sharing)
+
+## Viewer Keyboard and Mouse Controls
+
+When using the viewer, the basic controls for moving about the scene are as follows:
+
+* To rotate the camera about the center of the scene, hold the left mouse button and drag the cursor.
+* To rotate the camera about its viewing axis, hold `CTRL` left mouse button and drag the cursor.
+* To pan the camera, do one of the following:
+    * Hold `SHIFT`, then hold the left mouse button and drag the cursor.
+    * Hold the middle mouse button and drag the cursor.
+* To zoom the camera in or out, do one of the following:
+    * Scroll the mouse wheel.
+    * Hold the right mouse button and drag the cursor.
+
+The available keyboard commands are as follows:
+
+* `a`: Toggles rotational animation mode.
+* `c`: Toggles backface culling.
+* `f`: Toggles fullscreen mode.
+* `h`: Toggles shadow rendering.
+* `i`: Toggles axis display mode (no axes, world axis, mesh axes, all axes).
+* `l`: Toggles lighting mode (scene lighting, Raymond lighting, or direct lighting).
+* `m`: Toggles face normal visualization.
+* `n`: Toggles vertex normal visualization.
+* `o`: Toggles orthographic camera mode.
+* `q`: Quits the viewer.
+* `r`: Starts recording a GIF, and pressing again stops recording and opens a file dialog.
+* `s`: Opens a file dialog to save the current view as an image.
+* `w`: Toggles wireframe mode (scene default, flip wireframes, all wireframe, or all solid).
+* `z`: Resets the camera to the default view.
+
+As a note, displaying shadows significantly slows down rendering, so if you're
+experiencing low framerates, just kill shadows or reduce the number of lights in
+your scene.

pyrender/docs/Makefile

@@ -0,0 +1,23 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+clean:
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+	rm -rf ./source/generated/*
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

pyrender/docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+
+:end
+popd

pyrender/docs/source/api/index.rst

@@ -0,0 +1,59 @@
+Pyrender API Documentation
+==========================
+
+Constants
+---------
+.. automodapi:: pyrender.constants
+   :no-inheritance-diagram:
+   :no-main-docstr:
+   :no-heading:
+
+Cameras
+-------
+.. automodapi:: pyrender.camera
+   :no-inheritance-diagram:
+   :no-main-docstr:
+   :no-heading:
+
+Lighting
+--------
+.. automodapi:: pyrender.light
+   :no-inheritance-diagram:
+   :no-main-docstr:
+   :no-heading:
+
+Objects
+-------
+.. automodapi:: pyrender
+   :no-inheritance-diagram:
+   :no-main-docstr:
+   :no-heading:
+   :skip: Camera, DirectionalLight, Light, OffscreenRenderer, Node
+   :skip: OrthographicCamera, PerspectiveCamera, PointLight, RenderFlags
+   :skip: Renderer, Scene, SpotLight, TextAlign, Viewer, GLTF
+
+Scenes
+------
+.. automodapi:: pyrender
+   :no-inheritance-diagram:
+   :no-main-docstr:
+   :no-heading:
+   :skip: Camera, DirectionalLight, Light, OffscreenRenderer
+   :skip: OrthographicCamera, PerspectiveCamera, PointLight, RenderFlags
+   :skip: Renderer, SpotLight, TextAlign, Viewer, Sampler, Texture, Material
+   :skip: MetallicRoughnessMaterial, Primitive, Mesh, GLTF
+
+On-Screen Viewer
+----------------
+.. automodapi:: pyrender.viewer
+   :no-inheritance-diagram:
+   :no-inherited-members:
+   :no-main-docstr:
+   :no-heading:
+
+Off-Screen Rendering
+--------------------
+.. automodapi:: pyrender.offscreen
+   :no-inheritance-diagram:
+   :no-main-docstr:
+   :no-heading:

pyrender/docs/source/conf.py

@@ -0,0 +1,352 @@
+# -*- coding: utf-8 -*-
+#
+# core documentation build configuration file, created by
+# sphinx-quickstart on Sun Oct 16 14:33:48 2016.
+#
+# This file is execfile()d with the current directory set to its
+# containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys
+import os
+from pyrender import __version__
+from sphinx.domains.python import PythonDomain
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+sys.path.insert(0, os.path.abspath('../../'))
+
+# -- General configuration ------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.coverage',
+    'sphinx.ext.githubpages',
+    'sphinx.ext.intersphinx',
+    'sphinx.ext.napoleon',
+    'sphinx.ext.viewcode',
+    'sphinx_automodapi.automodapi',
+    'sphinx_automodapi.smart_resolver'
+]
+numpydoc_class_members_toctree = False
+automodapi_toctreedirnm = 'generated'
+automodsumm_inherited_members = True
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'pyrender'
+copyright = u'2018, Matthew Matl'
+author = u'Matthew Matl'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = __version__
+# The full version, including alpha/beta/rc tags.
+release = __version__
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = []
+
+# The reST default role (used for this markup: `text`) to use for all
+# documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+# If true, keep warnings as "system message" paragraphs in the built documents.
+#keep_warnings = False
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = False
+
+
+# -- Options for HTML output ----------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+import sphinx_rtd_theme
+html_theme = 'sphinx_rtd_theme'
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents.  If None, it defaults to
+# "<project> v<release> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar.  Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (relative to this directory) to use as a favicon of
+# the docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# Add any extra paths that contain custom files (such as robots.txt or
+# .htaccess) here, relative to this directory. These files are copied
+# directly to the root of the documentation.
+#html_extra_path = []
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it.  The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Language to be used for generating the HTML full-text search index.
+# Sphinx supports the following languages:
+#   'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja'
+#   'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr'
+#html_search_language = 'en'
+
+# A dictionary with options for the search language support, empty by default.
+# Now only 'ja' uses this config value
+#html_search_options = {'type': 'default'}
+
+# The name of a javascript file (relative to the configuration directory) that
+# implements a search results scorer. If empty, the default will be used.
+#html_search_scorer = 'scorer.js'
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'coredoc'
+
+# -- Options for LaTeX output ---------------------------------------------
+
+latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+#'preamble': '',
+
+# Latex figure (float) alignment
+#'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, 'pyrender.tex', u'pyrender Documentation',
+     u'Matthew Matl', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output ---------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'pyrender', u'pyrender Documentation',
+     [author], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output -------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'pyrender', u'pyrender Documentation',
+     author, 'pyrender', 'One line description of project.',
+     'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
+
+# If true, do not generate a @detailmenu in the "Top" node's menu.
+#texinfo_no_detailmenu = False
+
+intersphinx_mapping = {
+    'python' : ('https://docs.python.org/', None),
+    'pyrender' : ('https://pyrender.readthedocs.io/en/latest/', None),
+}
+
+# Autosummary fix
+autosummary_generate = True
+
+# Try to suppress multiple-definition warnings by always taking the shorter
+# path when two or more paths have the same base module
+
+class MyPythonDomain(PythonDomain):
+
+    def find_obj(self, env, modname, classname, name, type, searchmode=0):
+        """Ensures an object always resolves to the desired module
+        if defined there."""
+        orig_matches = PythonDomain.find_obj(
+            self, env, modname, classname, name, type, searchmode
+        )
+
+        if len(orig_matches) <= 1:
+            return orig_matches
+
+        # If multiple matches, try to take the shortest if all the modules are
+        # the same
+        first_match_name_sp = orig_matches[0][0].split('.')
+        base_name = first_match_name_sp[0]
+        min_len = len(first_match_name_sp)
+        best_match = orig_matches[0]
+
+        for match in orig_matches[1:]:
+            match_name = match[0]
+            match_name_sp = match_name.split('.')
+            match_base = match_name_sp[0]
+
+            # If we have mismatched bases, return them all to trigger warnings
+            if match_base != base_name:
+                return orig_matches
+
+            # Otherwise, check and see if it's shorter
+            if len(match_name_sp) < min_len:
+                min_len = len(match_name_sp)
+                best_match = match
+
+        return (best_match,)
+
+
+def setup(sphinx):
+    """Use MyPythonDomain in place of PythonDomain"""
+    sphinx.override_domain(MyPythonDomain)
+

pyrender/docs/source/examples/cameras.rst

@@ -0,0 +1,26 @@
+.. _camera_guide:
+
+Creating Cameras
+================
+
+Pyrender supports three camera types -- :class:`.PerspectiveCamera` and
+:class:`.IntrinsicsCamera` types,
+which render scenes as a human would see them, and
+:class:`.OrthographicCamera` types, which preserve distances between points.
+
+Creating cameras is easy -- just specify their basic attributes:
+
+>>> pc = pyrender.PerspectiveCamera(yfov=np.pi / 3.0, aspectRatio=1.414)
+>>> oc = pyrender.OrthographicCamera(xmag=1.0, ymag=1.0)
+
+For more information, see the Khronos group's documentation here_:
+
+.. _here: https://github.com/KhronosGroup/glTF/tree/master/specification/2.0#projection-matrices
+
+When you add cameras to the scene, make sure that you're using OpenGL camera
+coordinates to specify their pose. See the illustration below for details.
+Basically, the camera z-axis points away from the scene, the x-axis points
+right in image space, and the y-axis points up in image space.
+
+.. image:: /_static/camera_coords.png
+

pyrender/docs/source/examples/index.rst

@@ -0,0 +1,20 @@
+.. _guide:
+
+User Guide
+==========
+
+This section contains guides on how to use Pyrender to quickly visualize
+your 3D data, including a quickstart guide and more detailed descriptions
+of each part of the rendering pipeline.
+
+
+.. toctree::
+   :maxdepth: 2
+
+   quickstart.rst
+   models.rst
+   lighting.rst
+   cameras.rst
+   scenes.rst
+   offscreen.rst
+   viewer.rst

pyrender/docs/source/examples/lighting.rst

@@ -0,0 +1,21 @@
+.. _lighting_guide:
+
+Creating Lights
+===============
+
+Pyrender supports three types of punctual light:
+
+- :class:`.PointLight`: Point-based light sources, such as light bulbs.
+- :class:`.SpotLight`: A conical light source, like a flashlight.
+- :class:`.DirectionalLight`: A general light that does not attenuate with
+  distance.
+
+Creating lights is easy -- just specify their basic attributes:
+
+>>> pl = pyrender.PointLight(color=[1.0, 1.0, 1.0], intensity=2.0)
+>>> sl = pyrender.SpotLight(color=[1.0, 1.0, 1.0], intensity=2.0,
+...                         innerConeAngle=0.05, outerConeAngle=0.5)
+>>> dl = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=2.0)
+
+For more information about how these lighting models are implemented,
+see their class documentation.

pyrender/docs/source/examples/models.rst

@@ -0,0 +1,143 @@
+.. _model_guide:
+
+Loading and Configuring Models
+==============================
+The first step to any rendering application is loading your models.
+Pyrender implements the GLTF 2.0 specification, which means that all
+models are composed of a hierarchy of objects.
+
+At the top level, we have a :class:`.Mesh`. The :class:`.Mesh` is
+basically a wrapper of any number of :class:`.Primitive` types,
+which actually represent geometry that can be drawn to the screen.
+
+Primitives are composed of a variety of parameters, including
+vertex positions, vertex normals, color and texture information,
+and triangle indices if smooth rendering is desired.
+They can implement point clouds, triangular meshes, or lines
+depending on how you configure their data and set their
+:attr:`.Primitive.mode` parameter.
+
+Although you can create primitives yourself if you want to,
+it's probably easier to just use the utility functions provided
+in the :class:`.Mesh` class.
+
+Creating Triangular Meshes
+--------------------------
+
+Simple Construction
+~~~~~~~~~~~~~~~~~~~
+Pyrender allows you to create a :class:`.Mesh` containing a
+triangular mesh model directly from a :class:`~trimesh.base.Trimesh` object
+using the :meth:`.Mesh.from_trimesh` static method.
+
+>>> import trimesh
+>>> import pyrender
+>>> import numpy as np
+>>> tm = trimesh.load('examples/models/fuze.obj')
+>>> m = pyrender.Mesh.from_trimesh(tm)
+>>> m.primitives
+[<pyrender.primitive.Primitive at 0x7fbb0af60e50>]
+
+You can also create a single :class:`.Mesh` from a list of
+:class:`~trimesh.base.Trimesh` objects:
+
+>>> tms = [trimesh.creation.icosahedron(), trimesh.creation.cylinder()]
+>>> m = pyrender.Mesh.from_trimesh(tms)
+[<pyrender.primitive.Primitive at 0x7fbb0c2b74d0>,
+ <pyrender.primitive.Primitive at 0x7fbb0c2b7550>]
+
+Vertex Smoothing
+~~~~~~~~~~~~~~~~
+
+The :meth:`.Mesh.from_trimesh` method has a few additional optional parameters.
+If you want to render the mesh without interpolating face normals, which can
+be useful for meshes that are supposed to be angular (e.g. a cube), you
+can specify ``smooth=False``.
+
+>>> m = pyrender.Mesh.from_trimesh(tm, smooth=False)
+
+Per-Face or Per-Vertex Coloration
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If you have an untextured trimesh, you can color it in with per-face or
+per-vertex colors:
+
+>>> tm.visual.vertex_colors = np.random.uniform(size=tm.vertices.shape)
+>>> tm.visual.face_colors = np.random.uniform(size=tm.faces.shape)
+>>> m = pyrender.Mesh.from_trimesh(tm)
+
+Instancing
+~~~~~~~~~~
+
+If you want to render many copies of the same mesh at different poses,
+you can statically create a vast array of them in an efficient manner.
+Simply specify the ``poses`` parameter to be a list of ``N`` 4x4 homogenous
+transformation matrics that position the meshes relative to their common
+base frame:
+
+>>> tfs = np.tile(np.eye(4), (3,1,1))
+>>> tfs[1,:3,3] = [0.1, 0.0, 0.0]
+>>> tfs[2,:3,3] = [0.2, 0.0, 0.0]
+>>> tfs
+array([[[1. , 0. , 0. , 0. ],
+        [0. , 1. , 0. , 0. ],
+        [0. , 0. , 1. , 0. ],
+        [0. , 0. , 0. , 1. ]],
+       [[1. , 0. , 0. , 0.1],
+        [0. , 1. , 0. , 0. ],
+        [0. , 0. , 1. , 0. ],
+        [0. , 0. , 0. , 1. ]],
+       [[1. , 0. , 0. , 0.2],
+        [0. , 1. , 0. , 0. ],
+        [0. , 0. , 1. , 0. ],
+        [0. , 0. , 0. , 1. ]]])
+
+>>> m = pyrender.Mesh.from_trimesh(tm, poses=tfs)
+
+Custom Materials
+~~~~~~~~~~~~~~~~
+
+You can also specify a custom material for any triangular mesh you create
+in the ``material`` parameter of :meth:`.Mesh.from_trimesh`.
+The main material supported by Pyrender is the
+:class:`.MetallicRoughnessMaterial`.
+The metallic-roughness model supports rendering highly-realistic objects across
+a wide gamut of materials.
+
+For more information, see the documentation of the
+:class:`.MetallicRoughnessMaterial` constructor or look at the Khronos_
+documentation for more information.
+
+.. _Khronos: https://github.com/KhronosGroup/glTF/tree/master/specification/2.0#materials
+
+Creating Point Clouds
+---------------------
+
+Point Sprites
+~~~~~~~~~~~~~
+Pyrender also allows you to create a :class:`.Mesh` containing a
+point cloud directly from :class:`numpy.ndarray` instances
+using the :meth:`.Mesh.from_points` static method.
+
+Simply provide a list of points and optional per-point colors and normals.
+
+>>> pts = tm.vertices.copy()
+>>> colors = np.random.uniform(size=pts.shape)
+>>> m = pyrender.Mesh.from_points(pts, colors=colors)
+
+Point clouds created in this way will be rendered as square point sprites.
+
+.. image:: /_static/points.png
+
+Point Spheres
+~~~~~~~~~~~~~
+If you have a monochromatic point cloud and would like to render it with
+spheres, you can render it by instancing a spherical trimesh:
+
+>>> sm = trimesh.creation.uv_sphere(radius=0.1)
+>>> sm.visual.vertex_colors = [1.0, 0.0, 0.0]
+>>> tfs = np.tile(np.eye(4), (len(pts), 1, 1))
+>>> tfs[:,:3,3] = pts
+>>> m = pyrender.Mesh.from_trimesh(sm, poses=tfs)
+
+.. image:: /_static/points2.png

pyrender/docs/source/examples/offscreen.rst

@@ -0,0 +1,87 @@
+.. _offscreen_guide:
+
+Offscreen Rendering
+===================
+
+.. note::
+   If you're using a headless server, you'll need to use either EGL (for
+   GPU-accelerated rendering) or OSMesa (for CPU-only software rendering).
+   If you're using OSMesa, be sure that you've installed it properly. See
+   :ref:`osmesa` for details.
+
+Choosing a Backend
+------------------
+
+Once you have a scene set up with its geometry, cameras, and lights,
+you can render it using the :class:`.OffscreenRenderer`. Pyrender supports
+three backends for offscreen rendering:
+
+- Pyglet, the same engine that runs the viewer. This requires an active
+  display manager, so you can't run it on a headless server. This is the
+  default option.
+- OSMesa, a software renderer.
+- EGL, which allows for GPU-accelerated rendering without a display manager.
+
+If you want to use OSMesa or EGL, you need to set the ``PYOPENGL_PLATFORM``
+environment variable before importing pyrender or any other OpenGL library.
+You can do this at the command line:
+
+.. code-block:: bash
+
+   PYOPENGL_PLATFORM=osmesa python render.py
+
+or at the top of your Python script:
+
+.. code-block:: bash
+
+   # Top of main python script
+   import os
+   os.environ['PYOPENGL_PLATFORM'] = 'egl'
+
+The handle for EGL is ``egl``, and the handle for OSMesa is ``osmesa``.
+
+Running the Renderer
+--------------------
+
+Once you've set your environment variable appropriately, create your scene and
+then configure the :class:`.OffscreenRenderer` object with a window width,
+a window height, and a size for point-cloud points:
+
+>>> r = pyrender.OffscreenRenderer(viewport_width=640,
+...                                viewport_height=480,
+...                                point_size=1.0)
+
+Then, just call the :meth:`.OffscreenRenderer.render` function:
+
+>>> color, depth = r.render(scene)
+
+.. image:: /_static/scene.png
+
+This will return a ``(w,h,3)`` channel floating-point color image and
+a ``(w,h)`` floating-point depth image rendered from the scene's main camera.
+
+You can customize the rendering process by using flag options from
+:class:`.RenderFlags` and bitwise or-ing them together. For example,
+the following code renders a color image with an alpha channel
+and enables shadow mapping for all directional lights:
+
+>>> flags = RenderFlags.RGBA | RenderFlags.SHADOWS_DIRECTIONAL
+>>> color, depth = r.render(scene, flags=flags)
+
+Once you're done with the offscreen renderer, you need to close it before you
+can run a different renderer or open the viewer for the same scene:
+
+>>> r.delete()
+
+Google CoLab Examples
+---------------------
+
+For a minimal working example of offscreen rendering using OSMesa,
+see the `OSMesa Google CoLab notebook`_.
+
+.. _OSMesa Google CoLab notebook: https://colab.research.google.com/drive/1Z71mHIc-Sqval92nK290vAsHZRUkCjUx
+
+For a minimal working example of offscreen rendering using EGL,
+see the `EGL Google CoLab notebook`_.
+
+.. _EGL Google CoLab notebook: https://colab.research.google.com/drive/1rTLHk0qxh4dn8KNe-mCnN8HAWdd2_BEh

pyrender/docs/source/examples/quickstart.rst

@@ -0,0 +1,71 @@
+.. _quickstart_guide:
+
+Quickstart
+==========
+
+
+Minimal Example for 3D Viewer
+-----------------------------
+Here is a minimal example of loading and viewing a triangular mesh model
+in pyrender.
+
+>>> import trimesh
+>>> import pyrender
+>>> fuze_trimesh = trimesh.load('examples/models/fuze.obj')
+>>> mesh = pyrender.Mesh.from_trimesh(fuze_trimesh)
+>>> scene = pyrender.Scene()
+>>> scene.add(mesh)
+>>> pyrender.Viewer(scene, use_raymond_lighting=True)
+
+.. image:: /_static/fuze.png
+
+
+Minimal Example for Offscreen Rendering
+---------------------------------------
+.. note::
+   If you're using a headless server, make sure that you followed the guide
+   for installing OSMesa. See :ref:`osmesa`.
+
+Here is a minimal example of rendering a mesh model offscreen in pyrender.
+The only additional necessities are that you need to add lighting and a camera.
+
+>>> import numpy as np
+>>> import trimesh
+>>> import pyrender
+>>> import matplotlib.pyplot as plt
+
+>>> fuze_trimesh = trimesh.load('examples/models/fuze.obj')
+>>> mesh = pyrender.Mesh.from_trimesh(fuze_trimesh)
+>>> scene = pyrender.Scene()
+>>> scene.add(mesh)
+>>> camera = pyrender.PerspectiveCamera(yfov=np.pi / 3.0, aspectRatio=1.0)
+>>> s = np.sqrt(2)/2
+>>> camera_pose = np.array([
+...    [0.0, -s,   s,   0.3],
+...    [1.0,  0.0, 0.0, 0.0],
+...    [0.0,  s,   s,   0.35],
+...    [0.0,  0.0, 0.0, 1.0],
+... ])
+>>> scene.add(camera, pose=camera_pose)
+>>> light = pyrender.SpotLight(color=np.ones(3), intensity=3.0,
+...                            innerConeAngle=np.pi/16.0,
+...                            outerConeAngle=np.pi/6.0)
+>>> scene.add(light, pose=camera_pose)
+>>> r = pyrender.OffscreenRenderer(400, 400)
+>>> color, depth = r.render(scene)
+>>> plt.figure()
+>>> plt.subplot(1,2,1)
+>>> plt.axis('off')
+>>> plt.imshow(color)
+>>> plt.subplot(1,2,2)
+>>> plt.axis('off')
+>>> plt.imshow(depth, cmap=plt.cm.gray_r)
+>>> plt.show()
+
+.. image:: /_static/minexcolor.png
+   :width: 45%
+   :align: left
+.. image:: /_static/minexdepth.png
+   :width: 45%
+   :align: right
+

pyrender/docs/source/examples/scenes.rst

@@ -0,0 +1,78 @@
+.. _scene_guide:
+
+Creating Scenes
+===============
+
+Before you render anything, you need to put all of your lights, cameras,
+and meshes into a scene. The :class:`.Scene` object keeps track of the relative
+poses of these primitives by inserting them into :class:`.Node` objects and
+keeping them in a directed acyclic graph.
+
+Adding Objects
+--------------
+
+To create a :class:`.Scene`, simply call the constructor. You can optionally
+specify an ambient light color and a background color:
+
+>>> scene = pyrender.Scene(ambient_light=[0.02, 0.02, 0.02],
+...                        bg_color=[1.0, 1.0, 1.0])
+
+You can add objects to a scene by first creating a :class:`.Node` object
+and adding the object and its pose to the :class:`.Node`. Poses are specified
+as 4x4 homogenous transformation matrices that are stored in the node's
+:attr:`.Node.matrix` attribute. Note that the :class:`.Node`
+constructor requires you to specify whether you're adding a mesh, light,
+or camera.
+
+>>> mesh = pyrender.Mesh.from_trimesh(tm)
+>>> light = pyrender.PointLight(color=[1.0, 1.0, 1.0], intensity=2.0)
+>>> cam = pyrender.PerspectiveCamera(yfov=np.pi / 3.0, aspectRatio=1.414)
+>>> nm = pyrender.Node(mesh=mesh, matrix=np.eye(4))
+>>> nl = pyrender.Node(light=light, matrix=np.eye(4))
+>>> nc = pyrender.Node(camera=cam, matrix=np.eye(4))
+>>> scene.add_node(nm)
+>>> scene.add_node(nl)
+>>> scene.add_node(nc)
+
+You can also add objects directly to a scene with the :meth:`.Scene.add` function,
+which takes care of creating a :class:`.Node` for you.
+
+>>> scene.add(mesh, pose=np.eye(4))
+>>> scene.add(light, pose=np.eye(4))
+>>> scene.add(cam, pose=np.eye(4))
+
+Nodes can be hierarchical, in which case the node's :attr:`.Node.matrix`
+specifies that node's pose relative to its parent frame. You can add nodes to
+a scene hierarchically by specifying a parent node in your calls to
+:meth:`.Scene.add` or :meth:`.Scene.add_node`:
+
+>>> scene.add_node(nl, parent_node=nc)
+>>> scene.add(cam, parent_node=nm)
+
+If you add multiple cameras to a scene, you can specify which one to render from
+by setting the :attr:`.Scene.main_camera_node` attribute.
+
+Updating Objects
+----------------
+
+You can update the poses of existing nodes with the :meth:`.Scene.set_pose`
+function. Simply call it with a :class:`.Node` that is already in the scene
+and the new pose of that node with respect to its parent as a 4x4 homogenous
+transformation matrix:
+
+>>> scene.set_pose(nl, pose=np.eye(4))
+
+If you want to get the local pose of a node, you can just access its
+:attr:`.Node.matrix` attribute. However, if you want to the get
+the pose of a node *with respect to the world frame*, you can call the
+:meth:`.Scene.get_pose` method.
+
+>>> tf = scene.get_pose(nl)
+
+Removing Objects
+----------------
+
+Finally, you can remove a :class:`.Node` and all of its children from the
+scene with the :meth:`.Scene.remove_node` function:
+
+>>> scene.remove_node(nl)

pyrender/docs/source/examples/viewer.rst

@@ -0,0 +1,61 @@
+.. _viewer_guide:
+
+Live Scene Viewer
+=================
+
+Standard Usage
+--------------
+In addition to the offscreen renderer, Pyrender comes with a live scene viewer.
+In its standard invocation, calling the :class:`.Viewer`'s constructor will
+immediately pop a viewing window that you can navigate around in.
+
+>>> pyrender.Viewer(scene)
+
+By default, the viewer uses your scene's lighting. If you'd like to start with
+some additional lighting that moves around with the camera, you can specify that
+with:
+
+>>> pyrender.Viewer(scene, use_raymond_lighting=True)
+
+For a full list of the many options that the :class:`.Viewer` supports, check out its
+documentation.
+
+.. image:: /_static/rotation.gif
+
+Running the Viewer in a Separate Thread
+---------------------------------------
+If you'd like to animate your models, you'll want to run the viewer in a
+separate thread so that you can update the scene while the viewer is running.
+To do this, first pop the viewer in a separate thread by calling its constructor
+with the ``run_in_thread`` option set:
+
+>>> v = pyrender.Viewer(scene, run_in_thread=True)
+
+Then, you can manipulate the :class:`.Scene` while the viewer is running to
+animate things. However, be careful to acquire the viewer's
+:attr:`.Viewer.render_lock` before editing the scene to prevent data corruption:
+
+>>> i = 0
+>>> while True:
+...     pose = np.eye(4)
+...     pose[:3,3] = [i, 0, 0]
+...     v.render_lock.acquire()
+...     scene.set_pose(mesh_node, pose)
+...     v.render_lock.release()
+...     i += 0.01
+
+.. image:: /_static/scissors.gif
+
+You can wait on the viewer to be closed manually:
+
+>>> while v.is_active:
+...     pass
+
+Or you can close it from the main thread forcibly.
+Make sure to still loop and block for the viewer to actually exit before using
+the scene object again.
+
+>>> v.close_external()
+>>> while v.is_active:
+...     pass
+

pyrender/docs/source/index.rst

@@ -0,0 +1,41 @@
+.. core documentation master file, created by
+   sphinx-quickstart on Sun Oct 16 14:33:48 2016.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Pyrender Documentation
+========================
+Pyrender is a pure Python (2.7, 3.4, 3.5, 3.6) library for physically-based
+rendering and visualization.
+It is designed to meet the glTF 2.0 specification_ from Khronos
+
+.. _specification: https://www.khronos.org/gltf/
+
+Pyrender is lightweight, easy to install, and simple to use.
+It comes packaged with both an intuitive scene viewer and a headache-free
+offscreen renderer with support for GPU-accelerated rendering on headless
+servers, which makes it perfect for machine learning applications.
+Check out the :ref:`guide` for a full tutorial, or fork me on
+Github_.
+
+.. _Github: https://github.com/mmatl/pyrender
+
+.. image:: _static/rotation.gif
+
+.. image:: _static/damaged_helmet.png
+
+.. toctree::
+   :maxdepth: 2
+
+   install/index.rst
+   examples/index.rst
+   api/index.rst
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
+

pyrender/docs/source/install/index.rst

@@ -0,0 +1,172 @@
+Installation Guide
+==================
+
+Python Installation
+-------------------
+
+This package is available via ``pip``.
+
+.. code-block:: bash
+
+   pip install pyrender
+
+If you're on MacOS, you'll need
+to pre-install my fork of ``pyglet``, as the version on PyPI hasn't yet included
+my change that enables OpenGL contexts on MacOS.
+
+.. code-block:: bash
+
+   git clone https://github.com/mmatl/pyglet.git
+   cd pyglet
+   pip install .
+
+.. _osmesa:
+
+Getting Pyrender Working with OSMesa
+------------------------------------
+If you want to render scenes offscreen but don't want to have to
+install a display manager or deal with the pains of trying to get
+OpenGL to work over SSH, you have two options.
+
+The first (and preferred) option is using EGL, which enables you to perform
+GPU-accelerated rendering on headless servers.
+However, you'll need EGL 1.5 to get modern OpenGL contexts.
+This comes packaged with NVIDIA's current drivers, but if you are having issues
+getting EGL to work with your hardware, you can try using OSMesa,
+a software-based offscreen renderer that is included with any Mesa
+install.
+
+If you want to use OSMesa with pyrender, you'll have to perform two additional
+installation steps:
+
+- :ref:`installmesa`
+- :ref:`installpyopengl`
+
+Then, read the offscreen rendering tutorial. See :ref:`offscreen_guide`.
+
+.. _installmesa:
+
+Installing OSMesa
+*****************
+
+As a first step, you'll need to rebuild and re-install Mesa with support
+for fast offscreen rendering and OpenGL 3+ contexts.
+I'd recommend installing from source, but you can also try my ``.deb``
+for Ubuntu 16.04 and up.
+
+Installing from a Debian Package
+********************************
+
+If you're running Ubuntu 16.04 or newer, you should be able to install the
+required version of Mesa from my ``.deb`` file.
+
+.. code-block:: bash
+
+   sudo apt update
+   sudo wget https://github.com/mmatl/travis_debs/raw/master/xenial/mesa_18.3.3-0.deb
+   sudo dpkg -i ./mesa_18.3.3-0.deb || true
+   sudo apt install -f
+
+If this doesn't work, try building from source.
+
+Building From Source
+********************
+
+First, install build dependencies via `apt` or your system's package manager.
+
+.. code-block:: bash
+
+   sudo apt-get install llvm-6.0 freeglut3 freeglut3-dev
+
+Then, download the current release of Mesa from here_.
+Unpack the source and go to the source folder:
+
+.. _here: https://archive.mesa3d.org/mesa-18.3.3.tar.gz
+
+.. code-block:: bash
+
+   tar xfv mesa-18.3.3.tar.gz
+   cd mesa-18.3.3
+
+Replace ``PREFIX`` with the path you want to install Mesa at.
+If you're not worried about overwriting your default Mesa install,
+a good place is at ``/usr/local``.
+
+Now, configure the installation by running the following command:
+
+.. code-block:: bash
+
+   ./configure --prefix=PREFIX                                   \
+               --enable-opengl --disable-gles1 --disable-gles2   \
+               --disable-va --disable-xvmc --disable-vdpau       \
+               --enable-shared-glapi                             \
+               --disable-texture-float                           \
+               --enable-gallium-llvm --enable-llvm-shared-libs   \
+               --with-gallium-drivers=swrast,swr                 \
+               --disable-dri --with-dri-drivers=                 \
+               --disable-egl --with-egl-platforms= --disable-gbm \
+               --disable-glx                                     \
+               --disable-osmesa --enable-gallium-osmesa          \
+               ac_cv_path_LLVM_CONFIG=llvm-config-6.0
+
+Finally, build and install Mesa.
+
+.. code-block:: bash
+
+   make -j8
+   make install
+
+Finally, if you didn't install Mesa in the system path,
+add the following lines to your ``~/.bashrc`` file after
+changing ``MESA_HOME`` to your mesa installation path (i.e. what you used as
+``PREFIX`` during the configure command).
+
+.. code-block:: bash
+
+   MESA_HOME=/path/to/your/mesa/installation
+   export LIBRARY_PATH=$LIBRARY_PATH:$MESA_HOME/lib
+   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MESA_HOME/lib
+   export C_INCLUDE_PATH=$C_INCLUDE_PATH:$MESA_HOME/include/
+   export CPLUS_INCLUDE_PATH=$CPLUS_INCLUDE_PATH:$MESA_HOME/include/
+
+.. _installpyopengl:
+
+Installing a Compatible Fork of PyOpenGL
+****************************************
+
+Next, install and use my fork of ``PyOpenGL``.
+This fork enables getting modern OpenGL contexts with OSMesa.
+My patch has been included in ``PyOpenGL``, but it has not yet been released
+on PyPI.
+
+.. code-block:: bash
+
+   git clone https://github.com/mmatl/pyopengl.git
+   pip install ./pyopengl
+
+
+Building Documentation
+----------------------
+
+The online documentation for ``pyrender`` is automatically built by Read The Docs.
+Building ``pyrender``'s documentation locally requires a few extra dependencies --
+specifically, `sphinx`_ and a few plugins.
+
+.. _sphinx: http://www.sphinx-doc.org/en/master/
+
+To install the dependencies required, simply change directories into the `pyrender` source and run
+
+.. code-block:: bash
+
+    $ pip install .[docs]
+
+Then, go to the ``docs`` directory and run ``make`` with the appropriate target.
+For example,
+
+.. code-block:: bash
+
+    $ cd docs/
+    $ make html
+
+will generate a set of web pages. Any documentation files
+generated in this manner can be found in ``docs/build``.

pyrender/examples/duck.py

@@ -0,0 +1,13 @@
+from pyrender import Mesh, Scene, Viewer
+from io import BytesIO
+import numpy as np
+import trimesh
+import requests
+
+duck_source = "https://github.com/KhronosGroup/glTF-Sample-Models/raw/master/2.0/Duck/glTF-Binary/Duck.glb"
+
+duck = trimesh.load(BytesIO(requests.get(duck_source).content), file_type='glb')
+duckmesh = Mesh.from_trimesh(list(duck.geometry.values())[0])
+scene = Scene(ambient_light=np.array([1.0, 1.0, 1.0, 1.0]))
+scene.add(duckmesh)
+Viewer(scene)

pyrender/examples/example.py

@@ -0,0 +1,157 @@
+"""Examples of using pyrender for viewing and offscreen rendering.
+"""
+import pyglet
+pyglet.options['shadow_window'] = False
+import os
+import numpy as np
+import trimesh
+
+from pyrender import PerspectiveCamera,\
+                     DirectionalLight, SpotLight, PointLight,\
+                     MetallicRoughnessMaterial,\
+                     Primitive, Mesh, Node, Scene,\
+                     Viewer, OffscreenRenderer, RenderFlags
+
+#==============================================================================
+# Mesh creation
+#==============================================================================
+
+#------------------------------------------------------------------------------
+# Creating textured meshes from trimeshes
+#------------------------------------------------------------------------------
+
+# Fuze trimesh
+fuze_trimesh = trimesh.load('./models/fuze.obj')
+fuze_mesh = Mesh.from_trimesh(fuze_trimesh)
+
+# Drill trimesh
+drill_trimesh = trimesh.load('./models/drill.obj')
+drill_mesh = Mesh.from_trimesh(drill_trimesh)
+drill_pose = np.eye(4)
+drill_pose[0,3] = 0.1
+drill_pose[2,3] = -np.min(drill_trimesh.vertices[:,2])
+
+# Wood trimesh
+wood_trimesh = trimesh.load('./models/wood.obj')
+wood_mesh = Mesh.from_trimesh(wood_trimesh)
+
+# Water bottle trimesh
+bottle_gltf = trimesh.load('./models/WaterBottle.glb')
+bottle_trimesh = bottle_gltf.geometry[list(bottle_gltf.geometry.keys())[0]]
+bottle_mesh = Mesh.from_trimesh(bottle_trimesh)
+bottle_pose = np.array([
+    [1.0, 0.0,  0.0, 0.1],
+    [0.0, 0.0, -1.0, -0.16],
+    [0.0, 1.0,  0.0, 0.13],
+    [0.0, 0.0,  0.0, 1.0],
+])
+
+#------------------------------------------------------------------------------
+# Creating meshes with per-vertex colors
+#------------------------------------------------------------------------------
+boxv_trimesh = trimesh.creation.box(extents=0.1*np.ones(3))
+boxv_vertex_colors = np.random.uniform(size=(boxv_trimesh.vertices.shape))
+boxv_trimesh.visual.vertex_colors = boxv_vertex_colors
+boxv_mesh = Mesh.from_trimesh(boxv_trimesh, smooth=False)
+
+#------------------------------------------------------------------------------
+# Creating meshes with per-face colors
+#------------------------------------------------------------------------------
+boxf_trimesh = trimesh.creation.box(extents=0.1*np.ones(3))
+boxf_face_colors = np.random.uniform(size=boxf_trimesh.faces.shape)
+boxf_trimesh.visual.face_colors = boxf_face_colors
+boxf_mesh = Mesh.from_trimesh(boxf_trimesh, smooth=False)
+
+#------------------------------------------------------------------------------
+# Creating meshes from point clouds
+#------------------------------------------------------------------------------
+points = trimesh.creation.icosphere(radius=0.05).vertices
+point_colors = np.random.uniform(size=points.shape)
+points_mesh = Mesh.from_points(points, colors=point_colors)
+
+#==============================================================================
+# Light creation
+#==============================================================================
+
+direc_l = DirectionalLight(color=np.ones(3), intensity=1.0)
+spot_l = SpotLight(color=np.ones(3), intensity=10.0,
+                   innerConeAngle=np.pi/16, outerConeAngle=np.pi/6)
+point_l = PointLight(color=np.ones(3), intensity=10.0)
+
+#==============================================================================
+# Camera creation
+#==============================================================================
+
+cam = PerspectiveCamera(yfov=(np.pi / 3.0))
+cam_pose = np.array([
+    [0.0,  -np.sqrt(2)/2, np.sqrt(2)/2, 0.5],
+    [1.0, 0.0,           0.0,           0.0],
+    [0.0,  np.sqrt(2)/2,  np.sqrt(2)/2, 0.4],
+    [0.0,  0.0,           0.0,          1.0]
+])
+
+#==============================================================================
+# Scene creation
+#==============================================================================
+
+scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
+
+#==============================================================================
+# Adding objects to the scene
+#==============================================================================
+
+#------------------------------------------------------------------------------
+# By manually creating nodes
+#------------------------------------------------------------------------------
+fuze_node = Node(mesh=fuze_mesh, translation=np.array([0.1, 0.15, -np.min(fuze_trimesh.vertices[:,2])]))
+scene.add_node(fuze_node)
+boxv_node = Node(mesh=boxv_mesh, translation=np.array([-0.1, 0.10, 0.05]))
+scene.add_node(boxv_node)
+boxf_node = Node(mesh=boxf_mesh, translation=np.array([-0.1, -0.10, 0.05]))
+scene.add_node(boxf_node)
+
+#------------------------------------------------------------------------------
+# By using the add() utility function
+#------------------------------------------------------------------------------
+drill_node = scene.add(drill_mesh, pose=drill_pose)
+bottle_node = scene.add(bottle_mesh, pose=bottle_pose)
+wood_node = scene.add(wood_mesh)
+direc_l_node = scene.add(direc_l, pose=cam_pose)
+spot_l_node = scene.add(spot_l, pose=cam_pose)
+
+#==============================================================================
+# Using the viewer with a default camera
+#==============================================================================
+
+v = Viewer(scene, shadows=True)
+
+#==============================================================================
+# Using the viewer with a pre-specified camera
+#==============================================================================
+cam_node = scene.add(cam, pose=cam_pose)
+v = Viewer(scene, central_node=drill_node)
+
+#==============================================================================
+# Rendering offscreen from that camera
+#==============================================================================
+
+r = OffscreenRenderer(viewport_width=640*2, viewport_height=480*2)
+color, depth = r.render(scene)
+
+import matplotlib.pyplot as plt
+plt.figure()
+plt.imshow(color)
+plt.show()
+
+#==============================================================================
+# Segmask rendering
+#==============================================================================
+
+nm = {node: 20*(i + 1) for i, node in enumerate(scene.mesh_nodes)}
+seg = r.render(scene, RenderFlags.SEG, nm)[0]
+plt.figure()
+plt.imshow(seg)
+plt.show()
+
+r.delete()
+

pyrender/pyrender/__init__.py

@@ -0,0 +1,24 @@
+from .camera import (Camera, PerspectiveCamera, OrthographicCamera,
+                     IntrinsicsCamera)
+from .light import Light, PointLight, DirectionalLight, SpotLight
+from .sampler import Sampler
+from .texture import Texture
+from .material import Material, MetallicRoughnessMaterial
+from .primitive import Primitive
+from .mesh import Mesh
+from .node import Node
+from .scene import Scene
+from .renderer import Renderer
+from .viewer import Viewer
+from .offscreen import OffscreenRenderer
+from .version import __version__
+from .constants import RenderFlags, TextAlign, GLTF
+
+__all__ = [
+    'Camera', 'PerspectiveCamera', 'OrthographicCamera', 'IntrinsicsCamera',
+    'Light', 'PointLight', 'DirectionalLight', 'SpotLight',
+    'Sampler', 'Texture', 'Material', 'MetallicRoughnessMaterial',
+    'Primitive', 'Mesh', 'Node', 'Scene', 'Renderer', 'Viewer',
+    'OffscreenRenderer', '__version__', 'RenderFlags', 'TextAlign',
+    'GLTF'
+]

pyrender/pyrender/camera.py

@@ -0,0 +1,437 @@
+"""Virtual cameras compliant with the glTF 2.0 specification as described at
+https://github.com/KhronosGroup/glTF/tree/master/specification/2.0#reference-camera
+
+Author: Matthew Matl
+"""
+import abc
+import numpy as np
+import six
+import sys
+
+from .constants import DEFAULT_Z_NEAR, DEFAULT_Z_FAR
+
+
+@six.add_metaclass(abc.ABCMeta)
+class Camera(object):
+    """Abstract base class for all cameras.
+
+    Note
+    ----
+    Camera poses are specified in the OpenGL format,
+    where the z axis points away from the view direction and the
+    x and y axes point to the right and up in the image plane, respectively.
+
+    Parameters
+    ----------
+    znear : float
+        The floating-point distance to the near clipping plane.
+    zfar : float
+        The floating-point distance to the far clipping plane.
+        ``zfar`` must be greater than ``znear``.
+    name : str, optional
+        The user-defined name of this object.
+    """
+
+    def __init__(self,
+                 znear=DEFAULT_Z_NEAR,
+                 zfar=DEFAULT_Z_FAR,
+                 name=None):
+        self.name = name
+        self.znear = znear
+        self.zfar = zfar
+
+    @property
+    def name(self):
+        """str : The user-defined name of this object.
+        """
+        return self._name
+
+    @name.setter
+    def name(self, value):
+        if value is not None:
+            value = str(value)
+        self._name = value
+
+    @property
+    def znear(self):
+        """float : The distance to the near clipping plane.
+        """
+        return self._znear
+
+    @znear.setter
+    def znear(self, value):
+        value = float(value)
+        if value < 0:
+            raise ValueError('z-near must be >= 0.0')
+        self._znear = value
+
+    @property
+    def zfar(self):
+        """float : The distance to the far clipping plane.
+        """
+        return self._zfar
+
+    @zfar.setter
+    def zfar(self, value):
+        value = float(value)
+        if value <= 0 or value <= self.znear:
+            raise ValueError('zfar must be >0 and >znear')
+        self._zfar = value
+
+    @abc.abstractmethod
+    def get_projection_matrix(self, width=None, height=None):
+        """Return the OpenGL projection matrix for this camera.
+
+        Parameters
+        ----------
+        width : int
+            Width of the current viewport, in pixels.
+        height : int
+            Height of the current viewport, in pixels.
+        """
+        pass
+
+
+class PerspectiveCamera(Camera):
+
+    """A perspective camera for perspective projection.
+
+    Parameters
+    ----------
+    yfov : float
+        The floating-point vertical field of view in radians.
+    znear : float
+        The floating-point distance to the near clipping plane.
+        If not specified, defaults to 0.05.
+    zfar : float, optional
+        The floating-point distance to the far clipping plane.
+        ``zfar`` must be greater than ``znear``.
+        If None, the camera uses an infinite projection matrix.
+    aspectRatio : float, optional
+        The floating-point aspect ratio of the field of view.
+        If not specified, the camera uses the viewport's aspect ratio.
+    name : str, optional
+        The user-defined name of this object.
+    """
+
+    def __init__(self,
+                 yfov,
+                 znear=DEFAULT_Z_NEAR,
+                 zfar=None,
+                 aspectRatio=None,
+                 name=None):
+        super(PerspectiveCamera, self).__init__(
+            znear=znear,
+            zfar=zfar,
+            name=name,
+        )
+
+        self.yfov = yfov
+        self.aspectRatio = aspectRatio
+
+    @property
+    def yfov(self):
+        """float : The vertical field of view in radians.
+        """
+        return self._yfov
+
+    @yfov.setter
+    def yfov(self, value):
+        value = float(value)
+        if value <= 0.0:
+            raise ValueError('Field of view must be positive')
+        self._yfov = value
+
+    @property
+    def zfar(self):
+        """float : The distance to the far clipping plane.
+        """
+        return self._zfar
+
+    @zfar.setter
+    def zfar(self, value):
+        if value is not None:
+            value = float(value)
+            if value <= 0 or value <= self.znear:
+                raise ValueError('zfar must be >0 and >znear')
+        self._zfar = value
+
+    @property
+    def aspectRatio(self):
+        """float : The ratio of the width to the height of the field of view.
+        """
+        return self._aspectRatio
+
+    @aspectRatio.setter
+    def aspectRatio(self, value):
+        if value is not None:
+            value = float(value)
+            if value <= 0.0:
+                raise ValueError('Aspect ratio must be positive')
+        self._aspectRatio = value
+
+    def get_projection_matrix(self, width=None, height=None):
+        """Return the OpenGL projection matrix for this camera.
+
+        Parameters
+        ----------
+        width : int
+            Width of the current viewport, in pixels.
+        height : int
+            Height of the current viewport, in pixels.
+        """
+        aspect_ratio = self.aspectRatio
+        if aspect_ratio is None:
+            if width is None or height is None:
+                raise ValueError('Aspect ratio of camera must be defined')
+            aspect_ratio = float(width) / float(height)
+
+        a = aspect_ratio
+        t = np.tan(self.yfov / 2.0)
+        n = self.znear
+        f = self.zfar
+
+        P = np.zeros((4,4))
+        P[0][0] = 1.0 / (a * t)
+        P[1][1] = 1.0 / t
+        P[3][2] = -1.0
+
+        if f is None:
+            P[2][2] = -1.0
+            P[2][3] = -2.0 * n
+        else:
+            P[2][2] = (f + n) / (n - f)
+            P[2][3] = (2 * f * n) / (n - f)
+
+        return P
+
+
+class OrthographicCamera(Camera):
+    """An orthographic camera for orthographic projection.
+
+    Parameters
+    ----------
+    xmag : float
+        The floating-point horizontal magnification of the view.
+    ymag : float
+        The floating-point vertical magnification of the view.
+    znear : float
+        The floating-point distance to the near clipping plane.
+        If not specified, defaults to 0.05.
+    zfar : float
+        The floating-point distance to the far clipping plane.
+        ``zfar`` must be greater than ``znear``.
+        If not specified, defaults to 100.0.
+    name : str, optional
+        The user-defined name of this object.
+    """
+
+    def __init__(self,
+                 xmag,
+                 ymag,
+                 znear=DEFAULT_Z_NEAR,
+                 zfar=DEFAULT_Z_FAR,
+                 name=None):
+        super(OrthographicCamera, self).__init__(
+            znear=znear,
+            zfar=zfar,
+            name=name,
+        )
+
+        self.xmag = xmag
+        self.ymag = ymag
+
+    @property
+    def xmag(self):
+        """float : The horizontal magnification of the view.
+        """
+        return self._xmag
+
+    @xmag.setter
+    def xmag(self, value):
+        value = float(value)
+        if value <= 0.0:
+            raise ValueError('X magnification must be positive')
+        self._xmag = value
+
+    @property
+    def ymag(self):
+        """float : The vertical magnification of the view.
+        """
+        return self._ymag
+
+    @ymag.setter
+    def ymag(self, value):
+        value = float(value)
+        if value <= 0.0:
+            raise ValueError('Y magnification must be positive')
+        self._ymag = value
+
+    @property
+    def znear(self):
+        """float : The distance to the near clipping plane.
+        """
+        return self._znear
+
+    @znear.setter
+    def znear(self, value):
+        value = float(value)
+        if value <= 0:
+            raise ValueError('z-near must be > 0.0')
+        self._znear = value
+
+    def get_projection_matrix(self, width=None, height=None):
+        """Return the OpenGL projection matrix for this camera.
+
+        Parameters
+        ----------
+        width : int
+            Width of the current viewport, in pixels.
+            Unused in this function.
+        height : int
+            Height of the current viewport, in pixels.
+            Unused in this function.
+        """
+        xmag = self.xmag
+        ymag = self.ymag
+
+        # If screen width/height defined, rescale xmag
+        if width is not None and height is not None:
+            xmag = width / height * ymag
+
+        n = self.znear
+        f = self.zfar
+        P = np.zeros((4,4))
+        P[0][0] = 1.0 / xmag
+        P[1][1] = 1.0 / ymag
+        P[2][2] = 2.0 / (n - f)
+        P[2][3] = (f + n) / (n - f)
+        P[3][3] = 1.0
+        return P
+
+
+class IntrinsicsCamera(Camera):
+    """A perspective camera with custom intrinsics.
+
+    Parameters
+    ----------
+    fx : float
+        X-axis focal length in pixels.
+    fy : float
+        Y-axis focal length in pixels.
+    cx : float
+        X-axis optical center in pixels.
+    cy : float
+        Y-axis optical center in pixels.
+    znear : float
+        The floating-point distance to the near clipping plane.
+        If not specified, defaults to 0.05.
+    zfar : float
+        The floating-point distance to the far clipping plane.
+        ``zfar`` must be greater than ``znear``.
+        If not specified, defaults to 100.0.
+    name : str, optional
+        The user-defined name of this object.
+    """
+
+    def __init__(self,
+                 fx,
+                 fy,
+                 cx,
+                 cy,
+                 znear=DEFAULT_Z_NEAR,
+                 zfar=DEFAULT_Z_FAR,
+                 name=None):
+        super(IntrinsicsCamera, self).__init__(
+            znear=znear,
+            zfar=zfar,
+            name=name,
+        )
+
+        self.fx = fx
+        self.fy = fy
+        self.cx = cx
+        self.cy = cy
+
+    @property
+    def fx(self):
+        """float : X-axis focal length in meters.
+        """
+        return self._fx
+
+    @fx.setter
+    def fx(self, value):
+        self._fx = float(value)
+
+    @property
+    def fy(self):
+        """float : Y-axis focal length in meters.
+        """
+        return self._fy
+
+    @fy.setter
+    def fy(self, value):
+        self._fy = float(value)
+
+    @property
+    def cx(self):
+        """float : X-axis optical center in pixels.
+        """
+        return self._cx
+
+    @cx.setter
+    def cx(self, value):
+        self._cx = float(value)
+
+    @property
+    def cy(self):
+        """float : Y-axis optical center in pixels.
+        """
+        return self._cy
+
+    @cy.setter
+    def cy(self, value):
+        self._cy = float(value)
+
+    def get_projection_matrix(self, width, height):
+        """Return the OpenGL projection matrix for this camera.
+
+        Parameters
+        ----------
+        width : int
+            Width of the current viewport, in pixels.
+        height : int
+            Height of the current viewport, in pixels.
+        """
+        width = float(width)
+        height = float(height)
+
+        cx, cy = self.cx, self.cy
+        fx, fy = self.fx, self.fy
+        if sys.platform == 'darwin':
+            cx = self.cx * 2.0
+            cy = self.cy * 2.0
+            fx = self.fx * 2.0
+            fy = self.fy * 2.0
+
+        P = np.zeros((4,4))
+        P[0][0] = 2.0 * fx / width
+        P[1][1] = 2.0 * fy / height
+        P[0][2] = 1.0 - 2.0 * cx / width
+        P[1][2] = 2.0 * cy / height - 1.0
+        P[3][2] = -1.0
+
+        n = self.znear
+        f = self.zfar
+        if f is None:
+            P[2][2] = -1.0
+            P[2][3] = -2.0 * n
+        else:
+            P[2][2] = (f + n) / (n - f)
+            P[2][3] = (2 * f * n) / (n - f)
+
+        return P
+
+
+__all__ = ['Camera', 'PerspectiveCamera', 'OrthographicCamera',
+           'IntrinsicsCamera']

pyrender/pyrender/constants.py

@@ -0,0 +1,149 @@
+DEFAULT_Z_NEAR = 0.05     # Near clipping plane, in meters
+DEFAULT_Z_FAR = 100.0     # Far clipping plane, in meters
+DEFAULT_SCENE_SCALE = 2.0 # Default scene scale
+MAX_N_LIGHTS = 4          # Maximum number of lights of each type allowed
+TARGET_OPEN_GL_MAJOR = 4  # Target OpenGL Major Version
+TARGET_OPEN_GL_MINOR = 1  # Target OpenGL Minor Version
+MIN_OPEN_GL_MAJOR = 3     # Minimum OpenGL Major Version
+MIN_OPEN_GL_MINOR = 3     # Minimum OpenGL Minor Version
+FLOAT_SZ = 4              # Byte size of GL float32
+UINT_SZ = 4               # Byte size of GL uint32
+SHADOW_TEX_SZ = 2048      # Width and Height of Shadow Textures
+TEXT_PADDING = 20         # Width of padding for rendering text (px)
+
+
+# Flags for render type
+class RenderFlags(object):
+    """Flags for rendering in the scene.
+
+    Combine them with the bitwise or. For example,
+
+    >>> flags = OFFSCREEN | SHADOWS_DIRECTIONAL | VERTEX_NORMALS
+
+    would result in an offscreen render with directional shadows and
+    vertex normals enabled.
+    """
+    NONE = 0
+    """Normal PBR Render."""
+    DEPTH_ONLY = 1
+    """Only render the depth buffer."""
+    OFFSCREEN = 2
+    """Render offscreen and return the depth and (optionally) color buffers."""
+    FLIP_WIREFRAME = 4
+    """Invert the status of wireframe rendering for each mesh."""
+    ALL_WIREFRAME = 8
+    """Render all meshes as wireframes."""
+    ALL_SOLID = 16
+    """Render all meshes as solids."""
+    SHADOWS_DIRECTIONAL = 32
+    """Render shadows for directional lights."""
+    SHADOWS_POINT = 64
+    """Render shadows for point lights."""
+    SHADOWS_SPOT = 128
+    """Render shadows for spot lights."""
+    SHADOWS_ALL = 32 | 64 | 128
+    """Render shadows for all lights."""
+    VERTEX_NORMALS = 256
+    """Render vertex normals."""
+    FACE_NORMALS = 512
+    """Render face normals."""
+    SKIP_CULL_FACES = 1024
+    """Do not cull back faces."""
+    RGBA = 2048
+    """Render the color buffer with the alpha channel enabled."""
+    FLAT = 4096
+    """Render the color buffer flat, with no lighting computations."""
+    SEG = 8192
+
+
+class TextAlign:
+    """Text alignment options for captions.
+
+    Only use one at a time.
+    """
+    CENTER = 0
+    """Center the text by width and height."""
+    CENTER_LEFT = 1
+    """Center the text by height and left-align it."""
+    CENTER_RIGHT = 2
+    """Center the text by height and right-align it."""
+    BOTTOM_LEFT = 3
+    """Put the text in the bottom-left corner."""
+    BOTTOM_RIGHT = 4
+    """Put the text in the bottom-right corner."""
+    BOTTOM_CENTER = 5
+    """Center the text by width and fix it to the bottom."""
+    TOP_LEFT = 6
+    """Put the text in the top-left corner."""
+    TOP_RIGHT = 7
+    """Put the text in the top-right corner."""
+    TOP_CENTER = 8
+    """Center the text by width and fix it to the top."""
+
+
+class GLTF(object):
+    """Options for GL objects."""
+    NEAREST = 9728
+    """Nearest neighbor interpolation."""
+    LINEAR = 9729
+    """Linear interpolation."""
+    NEAREST_MIPMAP_NEAREST = 9984
+    """Nearest mipmapping."""
+    LINEAR_MIPMAP_NEAREST = 9985
+    """Linear mipmapping."""
+    NEAREST_MIPMAP_LINEAR = 9986
+    """Nearest mipmapping."""
+    LINEAR_MIPMAP_LINEAR = 9987
+    """Linear mipmapping."""
+    CLAMP_TO_EDGE = 33071
+    """Clamp to the edge of the texture."""
+    MIRRORED_REPEAT = 33648
+    """Mirror the texture."""
+    REPEAT = 10497
+    """Repeat the texture."""
+    POINTS = 0
+    """Render as points."""
+    LINES = 1
+    """Render as lines."""
+    LINE_LOOP = 2
+    """Render as a line loop."""
+    LINE_STRIP = 3
+    """Render as a line strip."""
+    TRIANGLES = 4
+    """Render as triangles."""
+    TRIANGLE_STRIP = 5
+    """Render as a triangle strip."""
+    TRIANGLE_FAN = 6
+    """Render as a triangle fan."""
+
+
+class BufFlags(object):
+    POSITION = 0
+    NORMAL = 1
+    TANGENT = 2
+    TEXCOORD_0 = 4
+    TEXCOORD_1 = 8
+    COLOR_0 = 16
+    JOINTS_0 = 32
+    WEIGHTS_0 = 64
+
+
+class TexFlags(object):
+    NONE = 0
+    NORMAL = 1
+    OCCLUSION = 2
+    EMISSIVE = 4
+    BASE_COLOR = 8
+    METALLIC_ROUGHNESS = 16
+    DIFFUSE = 32
+    SPECULAR_GLOSSINESS = 64
+
+
+class ProgramFlags:
+    NONE = 0
+    USE_MATERIAL = 1
+    VERTEX_NORMALS = 2
+    FACE_NORMALS = 4
+
+
+__all__ = ['RenderFlags', 'TextAlign', 'GLTF']

pyrender/pyrender/font.py

@@ -0,0 +1,272 @@
+"""Font texture loader and processor.
+
+Author: Matthew Matl
+"""
+import freetype
+import numpy as np
+import os
+
+import OpenGL
+from OpenGL.GL import *
+
+from .constants import TextAlign, FLOAT_SZ
+from .texture import Texture
+from .sampler import Sampler
+
+
+class FontCache(object):
+    """A cache for fonts.
+    """
+
+    def __init__(self, font_dir=None):
+        self._font_cache = {}
+        self.font_dir = font_dir
+        if self.font_dir is None:
+            base_dir, _ = os.path.split(os.path.realpath(__file__))
+            self.font_dir = os.path.join(base_dir, 'fonts')
+
+    def get_font(self, font_name, font_pt):
+        # If it's a file, load it directly, else, try to load from font dir.
+        if os.path.isfile(font_name):
+            font_filename = font_name
+            _, font_name = os.path.split(font_name)
+            font_name, _ = os.path.split(font_name)
+        else:
+            font_filename = os.path.join(self.font_dir, font_name) + '.ttf'
+
+        cid = OpenGL.contextdata.getContext()
+        key = (cid, font_name, int(font_pt))
+
+        if key not in self._font_cache:
+            self._font_cache[key] = Font(font_filename, font_pt)
+        return self._font_cache[key]
+
+    def clear(self):
+        for key in self._font_cache:
+            self._font_cache[key].delete()
+        self._font_cache = {}
+
+
+class Character(object):
+    """A single character, with its texture and attributes.
+    """
+
+    def __init__(self, texture, size, bearing, advance):
+        self.texture = texture
+        self.size = size
+        self.bearing = bearing
+        self.advance = advance
+
+
+class Font(object):
+    """A font object.
+
+    Parameters
+    ----------
+    font_file : str
+        The file to load the font from.
+    font_pt : int
+        The height of the font in pixels.
+    """
+
+    def __init__(self, font_file, font_pt=40):
+        self.font_file = font_file
+        self.font_pt = int(font_pt)
+        self._face = freetype.Face(font_file)
+        self._face.set_pixel_sizes(0, font_pt)
+        self._character_map = {}
+
+        for i in range(0, 128):
+
+            # Generate texture
+            face = self._face
+            face.load_char(chr(i))
+            buf = face.glyph.bitmap.buffer
+            src = (np.array(buf) / 255.0).astype(np.float32)
+            src = src.reshape((face.glyph.bitmap.rows,
+                               face.glyph.bitmap.width))
+            tex = Texture(
+                sampler=Sampler(
+                    magFilter=GL_LINEAR,
+                    minFilter=GL_LINEAR,
+                    wrapS=GL_CLAMP_TO_EDGE,
+                    wrapT=GL_CLAMP_TO_EDGE
+                ),
+                source=src,
+                source_channels='R',
+            )
+            character = Character(
+                texture=tex,
+                size=np.array([face.glyph.bitmap.width,
+                               face.glyph.bitmap.rows]),
+                bearing=np.array([face.glyph.bitmap_left,
+                                  face.glyph.bitmap_top]),
+                advance=face.glyph.advance.x
+            )
+            self._character_map[chr(i)] = character
+
+        self._vbo = None
+        self._vao = None
+
+    @property
+    def font_file(self):
+        """str : The file the font was loaded from.
+        """
+        return self._font_file
+
+    @font_file.setter
+    def font_file(self, value):
+        self._font_file = value
+
+    @property
+    def font_pt(self):
+        """int : The height of the font in pixels.
+        """
+        return self._font_pt
+
+    @font_pt.setter
+    def font_pt(self, value):
+        self._font_pt = int(value)
+
+    def _add_to_context(self):
+
+        self._vao = glGenVertexArrays(1)
+        glBindVertexArray(self._vao)
+        self._vbo = glGenBuffers(1)
+        glBindBuffer(GL_ARRAY_BUFFER, self._vbo)
+        glBufferData(GL_ARRAY_BUFFER, FLOAT_SZ * 6 * 4, None, GL_DYNAMIC_DRAW)
+        glEnableVertexAttribArray(0)
+        glVertexAttribPointer(
+            0, 4, GL_FLOAT, GL_FALSE, 4 * FLOAT_SZ, ctypes.c_void_p(0)
+        )
+        glBindVertexArray(0)
+
+        glPixelStorei(GL_UNPACK_ALIGNMENT, 1)
+        for c in self._character_map:
+            ch = self._character_map[c]
+            if not ch.texture._in_context():
+                ch.texture._add_to_context()
+
+    def _remove_from_context(self):
+        for c in self._character_map:
+            ch = self._character_map[c]
+            ch.texture.delete()
+        if self._vao is not None:
+            glDeleteVertexArrays(1, [self._vao])
+            glDeleteBuffers(1, [self._vbo])
+            self._vao = None
+            self._vbo = None
+
+    def _in_context(self):
+        return self._vao is not None
+
+    def _bind(self):
+        glBindVertexArray(self._vao)
+
+    def _unbind(self):
+        glBindVertexArray(0)
+
+    def delete(self):
+        self._unbind()
+        self._remove_from_context()
+
+    def render_string(self, text, x, y, scale=1.0,
+                      align=TextAlign.BOTTOM_LEFT):
+        """Render a string to the current view buffer.
+
+        Note
+        ----
+        Assumes correct shader program already bound w/ uniforms set.
+
+        Parameters
+        ----------
+        text : str
+            The text to render.
+        x : int
+            Horizontal pixel location of text.
+        y : int
+            Vertical pixel location of text.
+        scale : int
+            Scaling factor for text.
+        align : int
+            One of the TextAlign options which specifies where the ``x``
+            and ``y`` parameters lie on the text. For example,
+            :attr:`.TextAlign.BOTTOM_LEFT` means that ``x`` and ``y`` indicate
+            the position of the bottom-left corner of the textbox.
+        """
+        glActiveTexture(GL_TEXTURE0)
+        glEnable(GL_BLEND)
+        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
+        glDisable(GL_DEPTH_TEST)
+        glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
+        self._bind()
+
+        # Determine width and height of text relative to x, y
+        width = 0.0
+        height = 0.0
+        for c in text:
+            ch = self._character_map[c]
+            height = max(height, ch.bearing[1] * scale)
+            width += (ch.advance >> 6) * scale
+
+        # Determine offsets based on alignments
+        xoff = 0
+        yoff = 0
+        if align == TextAlign.BOTTOM_RIGHT:
+            xoff = -width
+        elif align == TextAlign.BOTTOM_CENTER:
+            xoff = -width / 2.0
+        elif align == TextAlign.TOP_LEFT:
+            yoff = -height
+        elif align == TextAlign.TOP_RIGHT:
+            yoff = -height
+            xoff = -width
+        elif align == TextAlign.TOP_CENTER:
+            yoff = -height
+            xoff = -width / 2.0
+        elif align == TextAlign.CENTER:
+            xoff = -width / 2.0
+            yoff = -height / 2.0
+        elif align == TextAlign.CENTER_LEFT:
+            yoff = -height / 2.0
+        elif align == TextAlign.CENTER_RIGHT:
+            xoff = -width
+            yoff = -height / 2.0
+
+        x += xoff
+        y += yoff
+
+        ch = None
+        for c in text:
+            ch = self._character_map[c]
+            xpos = x + ch.bearing[0] * scale
+            ypos = y - (ch.size[1] - ch.bearing[1]) * scale
+            w = ch.size[0] * scale
+            h = ch.size[1] * scale
+
+            vertices = np.array([
+                [xpos, ypos, 0.0, 0.0],
+                [xpos + w, ypos, 1.0, 0.0],
+                [xpos + w, ypos + h, 1.0, 1.0],
+                [xpos + w, ypos + h, 1.0, 1.0],
+                [xpos, ypos + h, 0.0, 1.0],
+                [xpos, ypos, 0.0, 0.0],
+            ], dtype=np.float32)
+
+            ch.texture._bind()
+
+            glBindBuffer(GL_ARRAY_BUFFER, self._vbo)
+            glBufferData(
+                GL_ARRAY_BUFFER, FLOAT_SZ * 6 * 4, vertices, GL_DYNAMIC_DRAW
+            )
+            # TODO MAKE THIS MORE EFFICIENT, lgBufferSubData is broken
+            # glBufferSubData(
+            #     GL_ARRAY_BUFFER, 0, 6 * 4 * FLOAT_SZ,
+            #     np.ascontiguousarray(vertices.flatten)
+            # )
+            glDrawArrays(GL_TRIANGLES, 0, 6)
+            x += (ch.advance >> 6) * scale
+
+        self._unbind()
+        if ch:
+            ch.texture._unbind()