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examples/recipes/camera/camera_opengl_shaders.py

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+# ==============================================================================================================
+# The following snippet demonstrates how to use the camera for generating a view-projection matrix
+# as used in opengl shaders.
+# ==============================================================================================================
+
+import torch
+import numpy as np
+from kaolin.render.camera import Camera
+
+# !!! This example is not runnable -- it is minimal to contain integration between the opengl shader and !!!
+# !!! the camera matrix                                                                                  !!!
+try:
+    from glumpy import gloo
+except:
+    class DummyGloo(object):
+        def Program(self, vertex, fragment):
+            # see: https://glumpy.readthedocs.io/en/latest/api/gloo-shader.html#glumpy.gloo.Program
+            return dict([])
+    gloo = DummyGloo()
+
+
+device = 'cuda'
+
+camera = Camera.from_args(
+    eye=torch.tensor([4.0, 4.0, 4.0]),
+    at=torch.tensor([0.0, 0.0, 0.0]),
+    up=torch.tensor([0.0, 1.0, 0.0]),
+    fov=30 * np.pi / 180,  # In radians
+    x0=0.0, y0=0.0,
+    width=800, height=800,
+    near=1e-2, far=1e2,
+    dtype=torch.float64,
+    device=device
+)
+
+
+vertex = """
+            uniform mat4   u_viewprojection;
+            attribute vec3 position;
+            attribute vec4 color;
+            varying vec4 v_color;
+            void main()
+            {
+                v_color = color;
+                gl_Position = u_viewprojection * vec4(position, 1.0f);
+            } """
+
+fragment = """
+            varying vec4 v_color;
+            void main()
+            {
+                gl_FragColor = v_color;
+            } """
+
+# Compile GL program
+gl_program = gloo.Program(vertex, fragment)
+gl_program["u_viewprojection"] = camera.view_projection_matrix()[0].cpu().numpy().T