examples/tutorial/camera_and_rasterization.ipynb

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      "Requirement already satisfied: matplotlib in /opt/conda/lib/python3.8/site-packages (3.5.2)\n",
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      "Requirement already satisfied: numpy>=1.17 in /opt/conda/lib/python3.8/site-packages (from matplotlib) (1.21.2)\n",
      "Requirement already satisfied: pillow>=6.2.0 in /opt/conda/lib/python3.8/site-packages (from matplotlib) (9.0.1)\n",
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      "Requirement already satisfied: six>=1.5 in /opt/conda/lib/python3.8/site-packages (from python-dateutil>=2.7->matplotlib) (1.16.0)\n",
      "\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/', categories=['car'],\n",
    "                                train=True, split=1., with_materials=True)\n",
    "\n",
    "# Normalize the data between [-0.5, 0.5]\n",
    "mesh = ds[0].data\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))\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] = 0\n",
    "face_uvs = kal.ops.mesh.index_vertices_by_faces(\n",
    "    uvs, face_uvs_idx\n",
    ")\n",
    "face_uvs[:, mask] = 0."
   ]
  },
  {
   "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",
    "    uv_map = torch.clamp(uv_map, 0., 1.)\n",
    "\n",
    "    img = torch.zeros((1, 512, 512, 3), dtype=torch.float, device='cuda')\n",
    "\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 becasue 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": {},
   "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=0.2)\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",
    "    \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",
    "up_ax = plt.axes([0.0, 0.05, 0.13, 0.075])\n",
    "left_ax = plt.axes([0.15, 0.05, 0.13, 0.075])\n",
    "down_ax = plt.axes([0.3, 0.05, 0.13, 0.075])\n",
    "right_ax = plt.axes([0.45, 0.05, 0.13, 0.075])\n",
    "forward_ax = plt.axes([0.6, 0.05, 0.13, 0.075])\n",
    "backward_ax = plt.axes([0.75, 0.05, 0.13, 0.075])\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_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"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.12"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}