examples/tutorial/camera_and_rasterization.ipynb

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      "Requirement already satisfied: matplotlib in /opt/conda/lib/python3.7/site-packages (3.5.3)\n",
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      "Requirement already satisfied: numpy>=1.17 in /opt/conda/lib/python3.7/site-packages (from matplotlib) (1.21.5)\n",
      "Requirement already satisfied: pillow>=6.2.0 in /opt/conda/lib/python3.7/site-packages (from matplotlib) (9.0.1)\n",
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      "\u001b[33mWARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv\u001b[0m\u001b[33m\n",
      "\u001b[0m"
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   "source": [
    "!pip install matplotlib\n",
    "import glob\n",
    "import math\n",
    "\n",
    "import torch\n",
    "\n",
    "import kaolin as kal\n",
    "import nvdiffrast\n",
    "from matplotlib import pyplot as plt\n",
    "glctx = nvdiffrast.torch.RasterizeGLContext(False, device='cuda')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "dd8f9d9e",
   "metadata": {},
   "source": [
    "## Load Mesh information"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "4963d2ce",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Here replace the \"root\" by the path where you are storing shapenet\n",
    "ds = kal.io.shapenet.ShapeNetV2(root='/mnt/data/ci_shapenetv2/',\n",
    "                                categories=['car'],\n",
    "                                train=True, split=1.,\n",
    "                                with_materials=True,\n",
    "                                output_dict=True)\n",
    "\n",
    "# Normalize the data between [-0.5, 0.5]\n",
    "mesh = ds[0]['mesh']\n",
    "vertices = mesh.vertices.unsqueeze(0).cuda()\n",
    "vertices_min = vertices.min(dim=1, keepdims=True)[0]\n",
    "vertices_max = vertices.max(dim=1, keepdims=True)[0]\n",
    "vertices -= (vertices_max + vertices_min) / 2.\n",
    "vertices /= (vertices_max - vertices_min).max()\n",
    "faces = mesh.faces.cuda()\n",
    "\n",
    "# Here we are preprocessing the materials, assigning faces to materials and\n",
    "# using single diffuse color as backup when map doesn't exist (and face_uvs_idx == -1)\n",
    "uvs = torch.nn.functional.pad(mesh.uvs.unsqueeze(0).cuda(), (0, 0, 0, 1)) % 1.\n",
    "face_uvs_idx = mesh.face_uvs_idx.cuda()\n",
    "materials_order = mesh.materials_order\n",
    "materials = [m['map_Kd'].permute(2, 0, 1).unsqueeze(0).cuda().float() / 255. if 'map_Kd' in m else\n",
    "             m['Kd'].reshape(1, 3, 1, 1).cuda()\n",
    "             for m in mesh.materials]\n",
    "\n",
    "nb_faces = faces.shape[0]\n",
    "\n",
    "num_consecutive_materials = \\\n",
    "    torch.cat([\n",
    "        materials_order[1:, 1],\n",
    "        torch.LongTensor([nb_faces])\n",
    "    ], dim=0)- materials_order[:, 1]\n",
    "\n",
    "face_material_idx = kal.ops.batch.tile_to_packed(\n",
    "    materials_order[:, 0],\n",
    "    num_consecutive_materials\n",
    ").cuda().squeeze(-1)\n",
    "mask = face_uvs_idx == -1\n",
    "face_uvs_idx[mask] = uvs.shape[1] - 1"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "03e898f4",
   "metadata": {},
   "source": [
    "## Instantiate a camera\n",
    "\n",
    "With the general constructor `Camera.from_args()` the underlying constructors are `CameraExtrinsics.from_lookat()` and `PinholeIntrinsics.from_fov`"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "c6eee7ab",
   "metadata": {},
   "outputs": [],
   "source": [
    "cam = kal.render.camera.Camera.from_args(eye=torch.tensor([2., 0., 0.]),\n",
    "                                         at=torch.tensor([0., 0., 0.]),\n",
    "                                         up=torch.tensor([0., 1., 0.]),\n",
    "                                         fov=math.pi * 45 / 180,\n",
    "                                         width=512, height=512, device='cuda')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "4fff8eb1",
   "metadata": {},
   "source": [
    "## Rendering a mesh\n",
    "\n",
    "Here we are rendering the loaded mesh with [nvdiffrast](https://github.com/NVlabs/nvdiffrast) using the camera object created above"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "5e4b8a49",
   "metadata": {},
   "outputs": [],
   "source": [
    "def render():\n",
    "    transformed_vertices = cam.transform(vertices)\n",
    "    # Create a fake W (See nvdiffrast documentation)\n",
    "    pos = torch.nn.functional.pad(\n",
    "        transformed_vertices, (0, 1), mode='constant', value=1.\n",
    "    ).contiguous()\n",
    "    rast = nvdiffrast.torch.rasterize(glctx, pos, faces.int(), (512, 512), grad_db=False)\n",
    "    hard_mask = rast[0][:, :, :, -1:] != 0\n",
    "    face_idx = (rast[0][..., -1].long() - 1).contiguous()\n",
    "\n",
    "    uv_map = nvdiffrast.torch.interpolate(uvs, rast[0], face_uvs_idx.int())[0]\n",
    "\n",
    "    img = torch.zeros((1, 512, 512, 3), dtype=torch.float, device='cuda')\n",
    "    # Obj meshes can be composed of multiple materials\n",
    "    # so at rendering we need to interpolate from corresponding materials\n",
    "    im_material_idx = face_material_idx[face_idx]\n",
    "    im_material_idx[face_idx == -1] = -1\n",
    "\n",
    "    for i, material in enumerate(materials):\n",
    "        mask = im_material_idx == i\n",
    "        mask_idx = torch.nonzero(mask, as_tuple=False)\n",
    "        _texcoords = uv_map[mask] * 2. - 1.\n",
    "        _texcoords[:, 1] = -_texcoords[:, 1]\n",
    "        pixel_val = torch.nn.functional.grid_sample(\n",
    "            materials[i], _texcoords.reshape(1, 1, -1, 2),\n",
    "            mode='bilinear', align_corners=False,\n",
    "            padding_mode='border')\n",
    "        img[mask] = pixel_val[0, :, 0].permute(1, 0)\n",
    "    \n",
    "    # Need to flip the image because opengl\n",
    "    return torch.flip(torch.clamp(img * hard_mask, 0., 1.)[0], dims=(0,))"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "4978003c",
   "metadata": {},
   "source": [
    "# Moving the camera\n",
    "\n",
    "Once the camera is created you can move it using `cam.move_up()`, `cam.move_right` and `cam.move_forward()`.\n",
    "\n",
    "To be noted that in OpenGL `forward` in the camera space is actually toward the viewer (so it actually move away from the object looked at)\n",
    "\n",
    "<img src=\"./assets/ndc_camera_space.png\"\n",
    "     alt=\"Markdown Monster icon\"\n",
    "     style=\"float:left;margin-right:10px;width:400px\" />\n",
    "<img src=\"./assets/ndc_image_space.png\"\n",
    "     alt=\"Markdown Monster icon\"\n",
    "     style=\"float:left;margin-right:10px;width:300px\" />\n",
    "\n",
    "Below is a simple interactive rendering, where buttons are linked to camera methods for moving it."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "83dd84cf",
   "metadata": {
    "scrolled": false
   },
   "outputs": [
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       "\n",
       "        var button = (fig.buttons[name] = document.createElement('button'));\n",
       "        button.classList = 'mpl-widget';\n",
       "        button.setAttribute('role', 'button');\n",
       "        button.setAttribute('aria-disabled', 'false');\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "\n",
       "        var icon_img = document.createElement('img');\n",
       "        icon_img.src = '_images/' + image + '.png';\n",
       "        icon_img.srcset = '_images/' + image + '_large.png 2x';\n",
       "        icon_img.alt = tooltip;\n",
       "        button.appendChild(icon_img);\n",
       "\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    var fmt_picker = document.createElement('select');\n",
       "    fmt_picker.classList = 'mpl-widget';\n",
       "    toolbar.appendChild(fmt_picker);\n",
       "    this.format_dropdown = fmt_picker;\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = document.createElement('option');\n",
       "        option.selected = fmt === mpl.default_extension;\n",
       "        option.innerHTML = fmt;\n",
       "        fmt_picker.appendChild(option);\n",
       "    }\n",
       "\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', { width: x_pixels, height: y_pixels });\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_message = function (type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function () {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function (fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1], msg['forward']);\n",
       "        fig.send_message('refresh', {});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n",
       "    var x0 = msg['x0'] / fig.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n",
       "    var x1 = msg['x1'] / fig.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0,\n",
       "        0,\n",
       "        fig.canvas.width / fig.ratio,\n",
       "        fig.canvas.height / fig.ratio\n",
       "    );\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n",
       "    fig.rubberband_canvas.style.cursor = msg['cursor'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_message = function (fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n",
       "    for (var key in msg) {\n",
       "        if (!(key in fig.buttons)) {\n",
       "            continue;\n",
       "        }\n",
       "        fig.buttons[key].disabled = !msg[key];\n",
       "        fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n",
       "    if (msg['mode'] === 'PAN') {\n",
       "        fig.buttons['Pan'].classList.add('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    } else if (msg['mode'] === 'ZOOM') {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.add('active');\n",
       "    } else {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message('ack', {});\n",
       "};\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function (fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            var img = evt.data;\n",
       "            if (img.type !== 'image/png') {\n",
       "                /* FIXME: We get \"Resource interpreted as Image but\n",
       "                 * transferred with MIME type text/plain:\" errors on\n",
       "                 * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "                 * to be part of the websocket stream */\n",
       "                img.type = 'image/png';\n",
       "            }\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src\n",
       "                );\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                img\n",
       "            );\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        } else if (\n",
       "            typeof evt.data === 'string' &&\n",
       "            evt.data.slice(0, 21) === 'data:image/png;base64'\n",
       "        ) {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig['handle_' + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\n",
       "                \"No handler for the '\" + msg_type + \"' message type: \",\n",
       "                msg\n",
       "            );\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\n",
       "                    \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n",
       "                    e,\n",
       "                    e.stack,\n",
       "                    msg\n",
       "                );\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "};\n",
       "\n",
       "// from https://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function (e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e) {\n",
       "        e = window.event;\n",
       "    }\n",
       "    if (e.target) {\n",
       "        targ = e.target;\n",
       "    } else if (e.srcElement) {\n",
       "        targ = e.srcElement;\n",
       "    }\n",
       "    if (targ.nodeType === 3) {\n",
       "        // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "    }\n",
       "\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    var boundingRect = targ.getBoundingClientRect();\n",
       "    var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n",
       "    var y = e.pageY - (boundingRect.top + document.body.scrollTop);\n",
       "\n",
       "    return { x: x, y: y };\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * https://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys(original) {\n",
       "    return Object.keys(original).reduce(function (obj, key) {\n",
       "        if (typeof original[key] !== 'object') {\n",
       "            obj[key] = original[key];\n",
       "        }\n",
       "        return obj;\n",
       "    }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function (event, name) {\n",
       "    var canvas_pos = mpl.findpos(event);\n",
       "\n",
       "    if (name === 'button_press') {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * this.ratio;\n",
       "    var y = canvas_pos.y * this.ratio;\n",
       "\n",
       "    this.send_message(name, {\n",
       "        x: x,\n",
       "        y: y,\n",
       "        button: event.button,\n",
       "        step: event.step,\n",
       "        guiEvent: simpleKeys(event),\n",
       "    });\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.key_event = function (event, name) {\n",
       "    // Prevent repeat events\n",
       "    if (name === 'key_press') {\n",
       "        if (event.key === this._key) {\n",
       "            return;\n",
       "        } else {\n",
       "            this._key = event.key;\n",
       "        }\n",
       "    }\n",
       "    if (name === 'key_release') {\n",
       "        this._key = null;\n",
       "    }\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.key !== 'Control') {\n",
       "        value += 'ctrl+';\n",
       "    }\n",
       "    else if (event.altKey && event.key !== 'Alt') {\n",
       "        value += 'alt+';\n",
       "    }\n",
       "    else if (event.shiftKey && event.key !== 'Shift') {\n",
       "        value += 'shift+';\n",
       "    }\n",
       "\n",
       "    value += 'k' + event.key;\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n",
       "    if (name === 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message('toolbar_button', { name: name });\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "\n",
       "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n",
       "// prettier-ignore\n",
       "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pgf\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";/* global mpl */\n",
       "\n",
       "var comm_websocket_adapter = function (comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.binaryType = comm.kernel.ws.binaryType;\n",
       "    ws.readyState = comm.kernel.ws.readyState;\n",
       "    function updateReadyState(_event) {\n",
       "        if (comm.kernel.ws) {\n",
       "            ws.readyState = comm.kernel.ws.readyState;\n",
       "        } else {\n",
       "            ws.readyState = 3; // Closed state.\n",
       "        }\n",
       "    }\n",
       "    comm.kernel.ws.addEventListener('open', updateReadyState);\n",
       "    comm.kernel.ws.addEventListener('close', updateReadyState);\n",
       "    comm.kernel.ws.addEventListener('error', updateReadyState);\n",
       "\n",
       "    ws.close = function () {\n",
       "        comm.close();\n",
       "    };\n",
       "    ws.send = function (m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function (msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        var data = msg['content']['data'];\n",
       "        if (data['blob'] !== undefined) {\n",
       "            data = {\n",
       "                data: new Blob(msg['buffers'], { type: data['blob'] }),\n",
       "            };\n",
       "        }\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(data);\n",
       "    });\n",
       "    return ws;\n",
       "};\n",
       "\n",
       "mpl.mpl_figure_comm = function (comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = document.getElementById(id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm);\n",
       "\n",
       "    function ondownload(figure, _format) {\n",
       "        window.open(figure.canvas.toDataURL());\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element;\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error('Failed to find cell for figure', id, fig);\n",
       "        return;\n",
       "    }\n",
       "    fig.cell_info[0].output_area.element.on(\n",
       "        'cleared',\n",
       "        { fig: fig },\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function (fig, msg) {\n",
       "    var width = fig.canvas.width / fig.ratio;\n",
       "    fig.cell_info[0].output_area.element.off(\n",
       "        'cleared',\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "    fig.resizeObserverInstance.unobserve(fig.canvas_div);\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable();\n",
       "    fig.parent_element.innerHTML =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "    fig.close_ws(fig, msg);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.close_ws = function (fig, msg) {\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width / this.ratio;\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message('ack', {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () {\n",
       "        fig.push_to_output();\n",
       "    }, 1000);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function () {\n",
       "    var fig = this;\n",
       "\n",
       "    var toolbar = document.createElement('div');\n",
       "    toolbar.classList = 'btn-toolbar';\n",
       "    this.root.appendChild(toolbar);\n",
       "\n",
       "    function on_click_closure(name) {\n",
       "        return function (_event) {\n",
       "            return fig.toolbar_button_onclick(name);\n",
       "        };\n",
       "    }\n",
       "\n",
       "    function on_mouseover_closure(tooltip) {\n",
       "        return function (event) {\n",
       "            if (!event.currentTarget.disabled) {\n",
       "                return fig.toolbar_button_onmouseover(tooltip);\n",
       "            }\n",
       "        };\n",
       "    }\n",
       "\n",
       "    fig.buttons = {};\n",
       "    var buttonGroup = document.createElement('div');\n",
       "    buttonGroup.classList = 'btn-group';\n",
       "    var button;\n",
       "    for (var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            /* Instead of a spacer, we start a new button group. */\n",
       "            if (buttonGroup.hasChildNodes()) {\n",
       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'btn-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        button = fig.buttons[name] = document.createElement('button');\n",
       "        button.classList = 'btn btn-default';\n",
       "        button.href = '#';\n",
       "        button.title = name;\n",
       "        button.innerHTML = '<i class=\"fa ' + image + ' fa-lg\"></i>';\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message pull-right';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = document.createElement('div');\n",
       "    buttongrp.classList = 'btn-group inline pull-right';\n",
       "    button = document.createElement('button');\n",
       "    button.classList = 'btn btn-mini btn-primary';\n",
       "    button.href = '#';\n",
       "    button.title = 'Stop Interaction';\n",
       "    button.innerHTML = '<i class=\"fa fa-power-off icon-remove icon-large\"></i>';\n",
       "    button.addEventListener('click', function (_evt) {\n",
       "        fig.handle_close(fig, {});\n",
       "    });\n",
       "    button.addEventListener(\n",
       "        'mouseover',\n",
       "        on_mouseover_closure('Stop Interaction')\n",
       "    );\n",
       "    buttongrp.appendChild(button);\n",
       "    var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n",
       "    titlebar.insertBefore(buttongrp, titlebar.firstChild);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._remove_fig_handler = function (event) {\n",
       "    var fig = event.data.fig;\n",
       "    if (event.target !== this) {\n",
       "        // Ignore bubbled events from children.\n",
       "        return;\n",
       "    }\n",
       "    fig.close_ws(fig, {});\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function (el) {\n",
       "    el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function (el) {\n",
       "    // this is important to make the div 'focusable\n",
       "    el.setAttribute('tabindex', 0);\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    } else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (event, _name) {\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which === 13) {\n",
       "        this.canvas_div.blur();\n",
       "        // select the cell after this one\n",
       "        var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
       "        IPython.notebook.select(index + 1);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "};\n",
       "\n",
       "mpl.find_output_cell = function (html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i = 0; i < ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code') {\n",
       "            for (var j = 0; j < cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] === html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "};\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel !== null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target(\n",
       "        'matplotlib',\n",
       "        mpl.mpl_figure_comm\n",
       "    );\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
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\" width=\"640\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "0"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "try:\n",
    "    ipy_str = str(type(get_ipython()))\n",
    "    if 'zmqshell' in ipy_str:\n",
    "        %matplotlib notebook\n",
    "finally:\n",
    "    pass\n",
    "\n",
    "from matplotlib.widgets import Button\n",
    "\n",
    "fig, ax = plt.subplots()\n",
    "plt.subplots_adjust(bottom=0.3)\n",
    "im_buffer = plt.imshow(render().cpu())\n",
    "\n",
    "def update():\n",
    "    \"\"\"Update the image buffer\"\"\"\n",
    "    im_buffer.set_data(render().cpu())\n",
    "    plt.draw()\n",
    "\n",
    "def on_button_up_clicked(b):\n",
    "    \"\"\"Callback on Up\"\"\"\n",
    "    cam.move_up(0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_down_clicked(b):\n",
    "    \"\"\"Callback on Down\"\"\"\n",
    "    cam.move_up(-0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_left_clicked(b):\n",
    "    \"\"\"Callback on Left\"\"\"\n",
    "    cam.move_right(-0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_right_clicked(b):\n",
    "    \"\"\"Callback on Right\"\"\"\n",
    "    cam.move_right(0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_forward_clicked(b):\n",
    "    \"\"\"Callback on Forward\n",
    "    \n",
    "    Note: Forward is actually on the back of the camera\n",
    "    \"\"\"\n",
    "    cam.move_forward(0.1)\n",
    "    update()\n",
    "    r\n",
    "def on_button_backward_clicked(b):\n",
    "    \"\"\"Callback on Backward\n",
    "    \n",
    "    Note: Forward is actually on the back of the camera\n",
    "    \"\"\"\n",
    "    cam.move_forward(-0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_increase_pitch_clicked(b):\n",
    "    \"\"\"Callback on increasing Pitch\"\"\"\n",
    "    cam.rotate(pitch=0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_decrease_pitch_clicked(b):\n",
    "    \"\"\"Callback on decreasing Pitch\"\"\"\n",
    "    cam.rotate(pitch=-0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_increase_yaw_clicked(b):\n",
    "    \"\"\"Callback on increasing Yaw\"\"\"\n",
    "    cam.rotate(yaw=0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_decrease_yaw_clicked(b):\n",
    "    \"\"\"Callback on decreasing Yaw\"\"\"\n",
    "    cam.rotate(yaw=-0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_increase_roll_clicked(b):\n",
    "    \"\"\"Callback on increasing Roll\"\"\"\n",
    "    cam.rotate(roll=0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_decrease_roll_clicked(b):\n",
    "    \"\"\"Callback on decreasing Roll\"\"\"\n",
    "    cam.rotate(roll=-0.1)\n",
    "    update()\n",
    "    \n",
    "up_ax = plt.axes([0.0, 0.14, 0.14, 0.08])\n",
    "left_ax = plt.axes([0.15, 0.14, 0.14, 0.08])\n",
    "down_ax = plt.axes([0.3, 0.14, 0.14, 0.08])\n",
    "right_ax = plt.axes([0.45, 0.14, 0.14, 0.08])\n",
    "forward_ax = plt.axes([0.6, 0.14, 0.14, 0.08])\n",
    "backward_ax = plt.axes([0.75, 0.14, 0.14, 0.08])\n",
    "increase_pitch_ax = plt.axes([0.0, 0.05, 0.14, 0.08])\n",
    "decrease_pitch_ax = plt.axes([0.15, 0.05, 0.14, 0.08])\n",
    "increase_yaw_ax = plt.axes([0.3, 0.05, 0.14, 0.08])\n",
    "decrease_yaw_ax = plt.axes([0.45, 0.05, 0.14, 0.08])\n",
    "increase_roll_ax = plt.axes([0.60, 0.05, 0.14, 0.08])\n",
    "decrease_roll_ax = plt.axes([0.75, 0.05, 0.14, 0.08])\n",
    "\n",
    "button_up = Button(up_ax, \"Up\")\n",
    "button_down = Button(down_ax, \"Bottom\")\n",
    "button_left = Button(left_ax, \"Left\")\n",
    "button_right = Button(right_ax, \"Right\")\n",
    "button_forward = Button(forward_ax, \"Forward\")\n",
    "button_backward = Button(backward_ax, \"Backward\")\n",
    "button_increase_pitch = Button(increase_pitch_ax, \"Increase\\nPitch\")\n",
    "button_decrease_pitch = Button(decrease_pitch_ax, \"Decrease\\nPitch\")\n",
    "button_increase_yaw = Button(increase_yaw_ax, \"Increase\\nYaw\")\n",
    "button_decrease_yaw = Button(decrease_yaw_ax, \"Decrease\\nYaw\")\n",
    "button_increase_roll = Button(increase_roll_ax, \"Increase\\nRoll\")\n",
    "button_decrease_roll = Button(decrease_roll_ax, \"Decrease\\nRoll\")\n",
    "\n",
    "button_up.on_clicked(on_button_up_clicked)\n",
    "button_down.on_clicked(on_button_down_clicked)\n",
    "button_left.on_clicked(on_button_left_clicked)\n",
    "button_right.on_clicked(on_button_right_clicked)\n",
    "button_forward.on_clicked(on_button_forward_clicked)\n",
    "button_backward.on_clicked(on_button_backward_clicked)\n",
    "button_increase_pitch.on_clicked(on_button_increase_pitch_clicked)\n",
    "button_decrease_pitch.on_clicked(on_button_decrease_pitch_clicked)\n",
    "button_increase_yaw.on_clicked(on_button_increase_yaw_clicked)\n",
    "button_decrease_yaw.on_clicked(on_button_decrease_yaw_clicked)\n",
    "button_increase_roll.on_clicked(on_button_increase_roll_clicked)\n",
    "button_decrease_roll.on_clicked(on_button_decrease_roll_clicked)\n"
   ]
  }
 ],
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  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
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  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
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   "file_extension": ".py",
   "mimetype": "text/x-python",
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