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This project contains a Cython version of librender by Andreas Geiger and Chaohui Wang 2014. The code enables the efficient rendering of depth maps from 3D triangle meshes.

To use the code, first compile the Cython code via

python build_ext --inplace

You can then use the rendering function

import pyrender
# vertices: a 3xN double numpy array
# faces: a 3xN double array (indices of vertices array)
# cam_intr: (fx, fy, px, py) double vector
# img_size: (width, height) int vector
depth, mask, img = pyrender.render(vertices, faces, cam_intr, img_size)

Make sure pyrender is in your $PYTHONPATH.