init

primitive_anything/michelangelo/utils/__init__.py

@@ -0,0 +1,4 @@
+# -*- coding: utf-8 -*-
+
+from .misc import get_config_from_file
+from .misc import instantiate_from_config

primitive_anything/michelangelo/utils/eval.py

@@ -0,0 +1,12 @@
+# -*- coding: utf-8 -*-
+
+import torch
+
+
+def compute_psnr(x, y, data_range: float = 2, eps: float = 1e-7):
+
+    mse = torch.mean((x - y) ** 2)
+    psnr = 10 * torch.log10(data_range / (mse + eps))
+
+    return psnr
+

primitive_anything/michelangelo/utils/io.py

@@ -0,0 +1,47 @@
+# -*- coding: utf-8 -*-
+
+import os
+import io
+import tarfile
+import json
+import numpy as np
+import numpy.lib.format
+
+
+def mkdir(path):
+    os.makedirs(path, exist_ok=True)
+    return path
+
+
+def npy_loads(data):
+    stream = io.BytesIO(data)
+    return np.lib.format.read_array(stream)
+
+
+def npz_loads(data):
+    return np.load(io.BytesIO(data))
+
+
+def json_loads(data):
+    return json.loads(data)
+
+
+def load_json(filepath):
+    with open(filepath, "r") as f:
+        data = json.load(f)
+        return data
+
+
+def write_json(filepath, data):
+    with open(filepath, "w") as f:
+        json.dump(data, f, indent=2)
+
+
+def extract_tar(tar_path, tar_cache_folder):
+
+    with tarfile.open(tar_path, "r") as tar:
+        tar.extractall(path=tar_cache_folder)
+
+    tar_uids = sorted(os.listdir(tar_cache_folder))
+    print(f"extract tar: {tar_path} to {tar_cache_folder}")
+    return tar_uids

primitive_anything/michelangelo/utils/misc.py

@@ -0,0 +1,103 @@
+# -*- coding: utf-8 -*-
+
+import importlib
+from omegaconf import OmegaConf, DictConfig, ListConfig
+
+import torch
+import torch.distributed as dist
+from typing import Union
+
+
+def get_config_from_file(config_file: str) -> Union[DictConfig, ListConfig]:
+    config_file = OmegaConf.load(config_file)
+
+    if 'base_config' in config_file.keys():
+        if config_file['base_config'] == "default_base":
+            base_config = OmegaConf.create()
+            # base_config = get_default_config()
+        elif config_file['base_config'].endswith(".yaml"):
+            base_config = get_config_from_file(config_file['base_config'])
+        else:
+            raise ValueError(f"{config_file} must be `.yaml` file or it contains `base_config` key.")
+
+        config_file = {key: value for key, value in config_file if key != "base_config"}
+
+        return OmegaConf.merge(base_config, config_file)
+
+    return config_file
+
+
+def get_obj_from_str(string, reload=False):
+    module, cls = string.rsplit(".", 1)
+    if reload:
+        module_imp = importlib.import_module(module)
+        importlib.reload(module_imp)
+    return getattr(importlib.import_module(module, package=None), cls)
+
+
+def get_obj_from_config(config):
+    if "target" not in config:
+        raise KeyError("Expected key `target` to instantiate.")
+
+    return get_obj_from_str(config["target"])
+
+
+def instantiate_from_config(config, **kwargs):
+    if "target" not in config:
+        raise KeyError("Expected key `target` to instantiate.")
+
+    cls = get_obj_from_str(config["target"])
+
+    params = config.get("params", dict())
+    # params.update(kwargs)
+    # instance = cls(**params)
+    kwargs.update(params)
+    instance = cls(**kwargs)
+
+    return instance
+
+
+def is_dist_avail_and_initialized():
+    if not dist.is_available():
+        return False
+    if not dist.is_initialized():
+        return False
+    return True
+
+
+def get_rank():
+    if not is_dist_avail_and_initialized():
+        return 0
+    return dist.get_rank()
+
+
+def get_world_size():
+    if not is_dist_avail_and_initialized():
+        return 1
+    return dist.get_world_size()
+
+
+def all_gather_batch(tensors):
+    """
+    Performs all_gather operation on the provided tensors.
+    """
+    # Queue the gathered tensors
+    world_size = get_world_size()
+    # There is no need for reduction in the single-proc case
+    if world_size == 1:
+        return tensors
+    tensor_list = []
+    output_tensor = []
+    for tensor in tensors:
+        tensor_all = [torch.ones_like(tensor) for _ in range(world_size)]
+        dist.all_gather(
+            tensor_all,
+            tensor,
+            async_op=False  # performance opt
+        )
+
+        tensor_list.append(tensor_all)
+
+    for tensor_all in tensor_list:
+        output_tensor.append(torch.cat(tensor_all, dim=0))
+    return output_tensor

primitive_anything/michelangelo/utils/visualizers/__init__.py

@@ -0,0 +1 @@
+# -*- coding: utf-8 -*-

primitive_anything/michelangelo/utils/visualizers/color_util.py

@@ -0,0 +1,43 @@
+import numpy as np
+import matplotlib.pyplot as plt
+
+
+# Helper functions
+def get_colors(inp, colormap="viridis", normalize=True, vmin=None, vmax=None):
+    colormap = plt.cm.get_cmap(colormap)
+    if normalize:
+        vmin = np.min(inp)
+        vmax = np.max(inp)
+
+    norm = plt.Normalize(vmin, vmax)
+    return colormap(norm(inp))[:, :3]
+
+
+def gen_checkers(n_checkers_x, n_checkers_y, width=256, height=256):
+    # tex dims need to be power of two.
+    array = np.ones((width, height, 3), dtype='float32')
+
+    # width in texels of each checker
+    checker_w = width / n_checkers_x
+    checker_h = height / n_checkers_y
+
+    for y in range(height):
+        for x in range(width):
+            color_key = int(x / checker_w) + int(y / checker_h)
+            if color_key % 2 == 0:
+                array[x, y, :] = [1., 0.874, 0.0]
+            else:
+                array[x, y, :] = [0., 0., 0.]
+    return array
+
+
+def gen_circle(width=256, height=256):
+    xx, yy = np.mgrid[:width, :height]
+    circle = (xx - width / 2 + 0.5) ** 2 + (yy - height / 2 + 0.5) ** 2
+    array = np.ones((width, height, 4), dtype='float32')
+    array[:, :, 0] = (circle <= width)
+    array[:, :, 1] = (circle <= width)
+    array[:, :, 2] = (circle <= width)
+    array[:, :, 3] = circle <= width
+    return array
+

primitive_anything/michelangelo/utils/visualizers/html_util.py

@@ -0,0 +1,49 @@
+# -*- coding: utf-8 -*-
+import io
+import base64
+import numpy as np
+from PIL import Image
+
+
+def to_html_frame(content):
+
+    html_frame = f"""
+    <html>
+      <body>
+        {content}
+      </body>
+    </html>
+    """
+
+    return html_frame
+
+
+def to_single_row_table(caption: str, content: str):
+
+    table_html = f"""
+    <table border = "1">
+        <caption>{caption}</caption>
+        <tr>
+            <td>{content}</td>
+        </tr>
+    </table>
+    """
+
+    return table_html
+
+
+def to_image_embed_tag(image: np.ndarray):
+
+    # Convert np.ndarray to bytes
+    img = Image.fromarray(image)
+    raw_bytes = io.BytesIO()
+    img.save(raw_bytes, "PNG")
+
+    # Encode bytes to base64
+    image_base64 = base64.b64encode(raw_bytes.getvalue()).decode("utf-8")
+
+    image_tag = f"""
+    <img src="data:image/png;base64,{image_base64}" alt="Embedded Image">
+    """
+
+    return image_tag

primitive_anything/michelangelo/utils/visualizers/pythreejs_viewer.py

@@ -0,0 +1,534 @@
+import numpy as np
+from ipywidgets import embed
+import pythreejs as p3s
+import uuid
+
+from .color_util import get_colors, gen_circle, gen_checkers
+
+
+EMBED_URL = "https://cdn.jsdelivr.net/npm/@jupyter-widgets/html-manager@1.0.1/dist/embed-amd.js"
+
+
+class PyThreeJSViewer(object):
+
+    def __init__(self, settings, render_mode="WEBSITE"):
+        self.render_mode = render_mode
+        self.__update_settings(settings)
+        self._light = p3s.DirectionalLight(color='white', position=[0, 0, 1], intensity=0.6)
+        self._light2 = p3s.AmbientLight(intensity=0.5)
+        self._cam = p3s.PerspectiveCamera(position=[0, 0, 1], lookAt=[0, 0, 0], fov=self.__s["fov"],
+                                          aspect=self.__s["width"] / self.__s["height"], children=[self._light])
+        self._orbit = p3s.OrbitControls(controlling=self._cam)
+        self._scene = p3s.Scene(children=[self._cam, self._light2], background=self.__s["background"])  # "#4c4c80"
+        self._renderer = p3s.Renderer(camera=self._cam, scene=self._scene, controls=[self._orbit],
+                                      width=self.__s["width"], height=self.__s["height"],
+                                      antialias=self.__s["antialias"])
+
+        self.__objects = {}
+        self.__cnt = 0
+
+    def jupyter_mode(self):
+        self.render_mode = "JUPYTER"
+
+    def offline(self):
+        self.render_mode = "OFFLINE"
+
+    def website(self):
+        self.render_mode = "WEBSITE"
+
+    def __get_shading(self, shading):
+        shad = {"flat": True, "wireframe": False, "wire_width": 0.03, "wire_color": "black",
+                "side": 'DoubleSide', "colormap": "viridis", "normalize": [None, None],
+                "bbox": False, "roughness": 0.5, "metalness": 0.25, "reflectivity": 1.0,
+                "line_width": 1.0, "line_color": "black",
+                "point_color": "red", "point_size": 0.01, "point_shape": "circle",
+                "text_color": "red"
+                }
+        for k in shading:
+            shad[k] = shading[k]
+        return shad
+
+    def __update_settings(self, settings={}):
+        sett = {"width": 600, "height": 600, "antialias": True, "scale": 1.5, "background": "#ffffff",
+                "fov": 30}
+        for k in settings:
+            sett[k] = settings[k]
+        self.__s = sett
+
+    def __add_object(self, obj, parent=None):
+        if not parent:  # Object is added to global scene and objects dict
+            self.__objects[self.__cnt] = obj
+            self.__cnt += 1
+            self._scene.add(obj["mesh"])
+        else:  # Object is added to parent object and NOT to objects dict
+            parent.add(obj["mesh"])
+
+        self.__update_view()
+
+        if self.render_mode == "JUPYTER":
+            return self.__cnt - 1
+        elif self.render_mode == "WEBSITE":
+            return self
+
+    def __add_line_geometry(self, lines, shading, obj=None):
+        lines = lines.astype("float32", copy=False)
+        mi = np.min(lines, axis=0)
+        ma = np.max(lines, axis=0)
+
+        geometry = p3s.LineSegmentsGeometry(positions=lines.reshape((-1, 2, 3)))
+        material = p3s.LineMaterial(linewidth=shading["line_width"], color=shading["line_color"])
+        # , vertexColors='VertexColors'),
+        lines = p3s.LineSegments2(geometry=geometry, material=material)  # type='LinePieces')
+        line_obj = {"geometry": geometry, "mesh": lines, "material": material,
+                    "max": ma, "min": mi, "type": "Lines", "wireframe": None}
+
+        if obj:
+            return self.__add_object(line_obj, obj), line_obj
+        else:
+            return self.__add_object(line_obj)
+
+    def __update_view(self):
+        if len(self.__objects) == 0:
+            return
+        ma = np.zeros((len(self.__objects), 3))
+        mi = np.zeros((len(self.__objects), 3))
+        for r, obj in enumerate(self.__objects):
+            ma[r] = self.__objects[obj]["max"]
+            mi[r] = self.__objects[obj]["min"]
+        ma = np.max(ma, axis=0)
+        mi = np.min(mi, axis=0)
+        diag = np.linalg.norm(ma - mi)
+        mean = ((ma - mi) / 2 + mi).tolist()
+        scale = self.__s["scale"] * (diag)
+        self._orbit.target = mean
+        self._cam.lookAt(mean)
+        self._cam.position = [mean[0], mean[1], mean[2] + scale]
+        self._light.position = [mean[0], mean[1], mean[2] + scale]
+
+        self._orbit.exec_three_obj_method('update')
+        self._cam.exec_three_obj_method('updateProjectionMatrix')
+
+    def __get_bbox(self, v):
+        m = np.min(v, axis=0)
+        M = np.max(v, axis=0)
+
+        # Corners of the bounding box
+        v_box = np.array([[m[0], m[1], m[2]], [M[0], m[1], m[2]], [M[0], M[1], m[2]], [m[0], M[1], m[2]],
+                          [m[0], m[1], M[2]], [M[0], m[1], M[2]], [M[0], M[1], M[2]], [m[0], M[1], M[2]]])
+
+        f_box = np.array([[0, 1], [1, 2], [2, 3], [3, 0], [4, 5], [5, 6], [6, 7], [7, 4],
+                          [0, 4], [1, 5], [2, 6], [7, 3]], dtype=np.uint32)
+        return v_box, f_box
+
+    def __get_colors(self, v, f, c, sh):
+        coloring = "VertexColors"
+        if type(c) == np.ndarray and c.size == 3:  # Single color
+            colors = np.ones_like(v)
+            colors[:, 0] = c[0]
+            colors[:, 1] = c[1]
+            colors[:, 2] = c[2]
+            # print("Single colors")
+        elif type(c) == np.ndarray and len(c.shape) == 2 and c.shape[1] == 3:  # Color values for
+            if c.shape[0] == f.shape[0]:  # faces
+                colors = np.hstack([c, c, c]).reshape((-1, 3))
+                coloring = "FaceColors"
+                # print("Face color values")
+            elif c.shape[0] == v.shape[0]:  # vertices
+                colors = c
+                # print("Vertex color values")
+            else:  # Wrong size, fallback
+                print("Invalid color array given! Supported are numpy arrays.", type(c))
+                colors = np.ones_like(v)
+                colors[:, 0] = 1.0
+                colors[:, 1] = 0.874
+                colors[:, 2] = 0.0
+        elif type(c) == np.ndarray and c.size == f.shape[0]:  # Function values for faces
+            normalize = sh["normalize"][0] != None and sh["normalize"][1] != None
+            cc = get_colors(c, sh["colormap"], normalize=normalize,
+                            vmin=sh["normalize"][0], vmax=sh["normalize"][1])
+            # print(cc.shape)
+            colors = np.hstack([cc, cc, cc]).reshape((-1, 3))
+            coloring = "FaceColors"
+            # print("Face function values")
+        elif type(c) == np.ndarray and c.size == v.shape[0]:  # Function values for vertices
+            normalize = sh["normalize"][0] != None and sh["normalize"][1] != None
+            colors = get_colors(c, sh["colormap"], normalize=normalize,
+                                vmin=sh["normalize"][0], vmax=sh["normalize"][1])
+            # print("Vertex function values")
+
+        else:
+            colors = np.ones_like(v)
+            colors[:, 0] = 1.0
+            colors[:, 1] = 0.874
+            colors[:, 2] = 0.0
+
+            # No color
+            if c is not None:
+                print("Invalid color array given! Supported are numpy arrays.", type(c))
+
+        return colors, coloring
+
+    def __get_point_colors(self, v, c, sh):
+        v_color = True
+        if c is None:  # No color given, use global color
+            # conv = mpl.colors.ColorConverter()
+            colors = sh["point_color"]  # np.array(conv.to_rgb(sh["point_color"]))
+            v_color = False
+        elif isinstance(c, str):  # No color given, use global color
+            # conv = mpl.colors.ColorConverter()
+            colors = c  # np.array(conv.to_rgb(c))
+            v_color = False
+        elif type(c) == np.ndarray and len(c.shape) == 2 and c.shape[0] == v.shape[0] and c.shape[1] == 3:
+            # Point color
+            colors = c.astype("float32", copy=False)
+
+        elif isinstance(c, np.ndarray) and len(c.shape) == 2 and c.shape[0] == v.shape[0] and c.shape[1] != 3:
+            # Function values for vertices, but the colors are features
+            c_norm = np.linalg.norm(c, ord=2, axis=-1)
+            normalize = sh["normalize"][0] != None and sh["normalize"][1] != None
+            colors = get_colors(c_norm, sh["colormap"], normalize=normalize,
+                                vmin=sh["normalize"][0], vmax=sh["normalize"][1])
+            colors = colors.astype("float32", copy=False)
+
+        elif type(c) == np.ndarray and c.size == v.shape[0]:  # Function color
+            normalize = sh["normalize"][0] != None and sh["normalize"][1] != None
+            colors = get_colors(c, sh["colormap"], normalize=normalize,
+                                vmin=sh["normalize"][0], vmax=sh["normalize"][1])
+            colors = colors.astype("float32", copy=False)
+            # print("Vertex function values")
+
+        else:
+            print("Invalid color array given! Supported are numpy arrays.", type(c))
+            colors = sh["point_color"]
+            v_color = False
+
+        return colors, v_color
+
+    def add_mesh(self, v, f, c=None, uv=None, n=None, shading={}, texture_data=None, **kwargs):
+        shading.update(kwargs)
+        sh = self.__get_shading(shading)
+        mesh_obj = {}
+
+        # it is a tet
+        if v.shape[1] == 3 and f.shape[1] == 4:
+            f_tmp = np.ndarray([f.shape[0] * 4, 3], dtype=f.dtype)
+            for i in range(f.shape[0]):
+                f_tmp[i * 4 + 0] = np.array([f[i][1], f[i][0], f[i][2]])
+                f_tmp[i * 4 + 1] = np.array([f[i][0], f[i][1], f[i][3]])
+                f_tmp[i * 4 + 2] = np.array([f[i][1], f[i][2], f[i][3]])
+                f_tmp[i * 4 + 3] = np.array([f[i][2], f[i][0], f[i][3]])
+            f = f_tmp
+
+        if v.shape[1] == 2:
+            v = np.append(v, np.zeros([v.shape[0], 1]), 1)
+
+        # Type adjustment vertices
+        v = v.astype("float32", copy=False)
+
+        # Color setup
+        colors, coloring = self.__get_colors(v, f, c, sh)
+
+        # Type adjustment faces and colors
+        c = colors.astype("float32", copy=False)
+
+        # Material and geometry setup
+        ba_dict = {"color": p3s.BufferAttribute(c)}
+        if coloring == "FaceColors":
+            verts = np.zeros((f.shape[0] * 3, 3), dtype="float32")
+            for ii in range(f.shape[0]):
+                # print(ii*3, f[ii])
+                verts[ii * 3] = v[f[ii, 0]]
+                verts[ii * 3 + 1] = v[f[ii, 1]]
+                verts[ii * 3 + 2] = v[f[ii, 2]]
+            v = verts
+        else:
+            f = f.astype("uint32", copy=False).ravel()
+            ba_dict["index"] = p3s.BufferAttribute(f, normalized=False)
+
+        ba_dict["position"] = p3s.BufferAttribute(v, normalized=False)
+
+        if uv is not None:
+            uv = (uv - np.min(uv)) / (np.max(uv) - np.min(uv))
+            if texture_data is None:
+                texture_data = gen_checkers(20, 20)
+            tex = p3s.DataTexture(data=texture_data, format="RGBFormat", type="FloatType")
+            material = p3s.MeshStandardMaterial(map=tex, reflectivity=sh["reflectivity"], side=sh["side"],
+                                                roughness=sh["roughness"], metalness=sh["metalness"],
+                                                flatShading=sh["flat"],
+                                                polygonOffset=True, polygonOffsetFactor=1, polygonOffsetUnits=5)
+            ba_dict["uv"] = p3s.BufferAttribute(uv.astype("float32", copy=False))
+        else:
+            material = p3s.MeshStandardMaterial(vertexColors=coloring, reflectivity=sh["reflectivity"],
+                                                side=sh["side"], roughness=sh["roughness"], metalness=sh["metalness"],
+                                                flatShading=sh["flat"],
+                                                polygonOffset=True, polygonOffsetFactor=1, polygonOffsetUnits=5)
+
+        if type(n) != type(None) and coloring == "VertexColors":  # TODO: properly handle normals for FaceColors as well
+            ba_dict["normal"] = p3s.BufferAttribute(n.astype("float32", copy=False), normalized=True)
+
+        geometry = p3s.BufferGeometry(attributes=ba_dict)
+
+        if coloring == "VertexColors" and type(n) == type(None):
+            geometry.exec_three_obj_method('computeVertexNormals')
+        elif coloring == "FaceColors" and type(n) == type(None):
+            geometry.exec_three_obj_method('computeFaceNormals')
+
+        # Mesh setup
+        mesh = p3s.Mesh(geometry=geometry, material=material)
+
+        # Wireframe setup
+        mesh_obj["wireframe"] = None
+        if sh["wireframe"]:
+            wf_geometry = p3s.WireframeGeometry(mesh.geometry)  # WireframeGeometry
+            wf_material = p3s.LineBasicMaterial(color=sh["wire_color"], linewidth=sh["wire_width"])
+            wireframe = p3s.LineSegments(wf_geometry, wf_material)
+            mesh.add(wireframe)
+            mesh_obj["wireframe"] = wireframe
+
+        # Bounding box setup
+        if sh["bbox"]:
+            v_box, f_box = self.__get_bbox(v)
+            _, bbox = self.add_edges(v_box, f_box, sh, mesh)
+            mesh_obj["bbox"] = [bbox, v_box, f_box]
+
+        # Object setup
+        mesh_obj["max"] = np.max(v, axis=0)
+        mesh_obj["min"] = np.min(v, axis=0)
+        mesh_obj["geometry"] = geometry
+        mesh_obj["mesh"] = mesh
+        mesh_obj["material"] = material
+        mesh_obj["type"] = "Mesh"
+        mesh_obj["shading"] = sh
+        mesh_obj["coloring"] = coloring
+        mesh_obj["arrays"] = [v, f, c]  # TODO replays with proper storage or remove if not needed
+
+        return self.__add_object(mesh_obj)
+
+    def add_lines(self, beginning, ending, shading={}, obj=None, **kwargs):
+        shading.update(kwargs)
+        if len(beginning.shape) == 1:
+            if len(beginning) == 2:
+                beginning = np.array([[beginning[0], beginning[1], 0]])
+        else:
+            if beginning.shape[1] == 2:
+                beginning = np.append(
+                    beginning, np.zeros([beginning.shape[0], 1]), 1)
+        if len(ending.shape) == 1:
+            if len(ending) == 2:
+                ending = np.array([[ending[0], ending[1], 0]])
+        else:
+            if ending.shape[1] == 2:
+                ending = np.append(
+                    ending, np.zeros([ending.shape[0], 1]), 1)
+
+        sh = self.__get_shading(shading)
+        lines = np.hstack([beginning, ending])
+        lines = lines.reshape((-1, 3))
+        return self.__add_line_geometry(lines, sh, obj)
+
+    def add_edges(self, vertices, edges, shading={}, obj=None, **kwargs):
+        shading.update(kwargs)
+        if vertices.shape[1] == 2:
+            vertices = np.append(
+                vertices, np.zeros([vertices.shape[0], 1]), 1)
+        sh = self.__get_shading(shading)
+        lines = np.zeros((edges.size, 3))
+        cnt = 0
+        for e in edges:
+            lines[cnt, :] = vertices[e[0]]
+            lines[cnt + 1, :] = vertices[e[1]]
+            cnt += 2
+        return self.__add_line_geometry(lines, sh, obj)
+
+    def add_points(self, points, c=None, shading={}, obj=None, **kwargs):
+        shading.update(kwargs)
+        if len(points.shape) == 1:
+            if len(points) == 2:
+                points = np.array([[points[0], points[1], 0]])
+        else:
+            if points.shape[1] == 2:
+                points = np.append(
+                    points, np.zeros([points.shape[0], 1]), 1)
+        sh = self.__get_shading(shading)
+        points = points.astype("float32", copy=False)
+        mi = np.min(points, axis=0)
+        ma = np.max(points, axis=0)
+
+        g_attributes = {"position": p3s.BufferAttribute(points, normalized=False)}
+        m_attributes = {"size": sh["point_size"]}
+
+        if sh["point_shape"] == "circle":  # Plot circles
+            tex = p3s.DataTexture(data=gen_circle(16, 16), format="RGBAFormat", type="FloatType")
+            m_attributes["map"] = tex
+            m_attributes["alphaTest"] = 0.5
+            m_attributes["transparency"] = True
+        else:  # Plot squares
+            pass
+
+        colors, v_colors = self.__get_point_colors(points, c, sh)
+        if v_colors:  # Colors per point
+            m_attributes["vertexColors"] = 'VertexColors'
+            g_attributes["color"] = p3s.BufferAttribute(colors, normalized=False)
+
+        else:  # Colors for all points
+            m_attributes["color"] = colors
+
+        material = p3s.PointsMaterial(**m_attributes)
+        geometry = p3s.BufferGeometry(attributes=g_attributes)
+        points = p3s.Points(geometry=geometry, material=material)
+        point_obj = {"geometry": geometry, "mesh": points, "material": material,
+                     "max": ma, "min": mi, "type": "Points", "wireframe": None}
+
+        if obj:
+            return self.__add_object(point_obj, obj), point_obj
+        else:
+            return self.__add_object(point_obj)
+
+    def remove_object(self, obj_id):
+        if obj_id not in self.__objects:
+            print("Invalid object id. Valid ids are: ", list(self.__objects.keys()))
+            return
+        self._scene.remove(self.__objects[obj_id]["mesh"])
+        del self.__objects[obj_id]
+        self.__update_view()
+
+    def reset(self):
+        for obj_id in list(self.__objects.keys()).copy():
+            self._scene.remove(self.__objects[obj_id]["mesh"])
+            del self.__objects[obj_id]
+        self.__update_view()
+
+    def update_object(self, oid=0, vertices=None, colors=None, faces=None):
+        obj = self.__objects[oid]
+        if type(vertices) != type(None):
+            if obj["coloring"] == "FaceColors":
+                f = obj["arrays"][1]
+                verts = np.zeros((f.shape[0] * 3, 3), dtype="float32")
+                for ii in range(f.shape[0]):
+                    # print(ii*3, f[ii])
+                    verts[ii * 3] = vertices[f[ii, 0]]
+                    verts[ii * 3 + 1] = vertices[f[ii, 1]]
+                    verts[ii * 3 + 2] = vertices[f[ii, 2]]
+                v = verts
+
+            else:
+                v = vertices.astype("float32", copy=False)
+            obj["geometry"].attributes["position"].array = v
+            # self.wireframe.attributes["position"].array = v # Wireframe updates?
+            obj["geometry"].attributes["position"].needsUpdate = True
+        #           obj["geometry"].exec_three_obj_method('computeVertexNormals')
+        if type(colors) != type(None):
+            colors, coloring = self.__get_colors(obj["arrays"][0], obj["arrays"][1], colors, obj["shading"])
+            colors = colors.astype("float32", copy=False)
+            obj["geometry"].attributes["color"].array = colors
+            obj["geometry"].attributes["color"].needsUpdate = True
+        if type(faces) != type(None):
+            if obj["coloring"] == "FaceColors":
+                print("Face updates are currently only possible in vertex color mode.")
+                return
+            f = faces.astype("uint32", copy=False).ravel()
+            print(obj["geometry"].attributes)
+            obj["geometry"].attributes["index"].array = f
+            # self.wireframe.attributes["position"].array = v # Wireframe updates?
+            obj["geometry"].attributes["index"].needsUpdate = True
+        #            obj["geometry"].exec_three_obj_method('computeVertexNormals')
+        # self.mesh.geometry.verticesNeedUpdate = True
+        # self.mesh.geometry.elementsNeedUpdate = True
+        # self.update()
+        if self.render_mode == "WEBSITE":
+            return self
+
+    #    def update(self):
+    #        self.mesh.exec_three_obj_method('update')
+    #        self.orbit.exec_three_obj_method('update')
+    #        self.cam.exec_three_obj_method('updateProjectionMatrix')
+    #        self.scene.exec_three_obj_method('update')
+
+    def add_text(self, text, shading={}, **kwargs):
+        shading.update(kwargs)
+        sh = self.__get_shading(shading)
+        tt = p3s.TextTexture(string=text, color=sh["text_color"])
+        sm = p3s.SpriteMaterial(map=tt)
+        text = p3s.Sprite(material=sm, scaleToTexture=True)
+        self._scene.add(text)
+
+    # def add_widget(self, widget, callback):
+    #    self.widgets.append(widget)
+    #    widget.observe(callback, names='value')
+
+    #    def add_dropdown(self, options, default, desc, cb):
+    #        widget = widgets.Dropdown(options=options, value=default, description=desc)
+    #        self.__widgets.append(widget)
+    #        widget.observe(cb, names="value")
+    #        display(widget)
+
+    #    def add_button(self, text, cb):
+    #        button = widgets.Button(description=text)
+    #        self.__widgets.append(button)
+    #        button.on_click(cb)
+    #        display(button)
+
+    def to_html(self, imports=True, html_frame=True):
+        # Bake positions (fixes centering bug in offline rendering)
+        if len(self.__objects) == 0:
+            return
+        ma = np.zeros((len(self.__objects), 3))
+        mi = np.zeros((len(self.__objects), 3))
+        for r, obj in enumerate(self.__objects):
+            ma[r] = self.__objects[obj]["max"]
+            mi[r] = self.__objects[obj]["min"]
+        ma = np.max(ma, axis=0)
+        mi = np.min(mi, axis=0)
+        diag = np.linalg.norm(ma - mi)
+        mean = (ma - mi) / 2 + mi
+        for r, obj in enumerate(self.__objects):
+            v = self.__objects[obj]["geometry"].attributes["position"].array
+            v -= mean
+            v += np.array([0.0, .9, 0.0]) #! to move the obj to the center of window
+
+        scale = self.__s["scale"] * (diag)
+        self._orbit.target = [0.0, 0.0, 0.0]
+        self._cam.lookAt([0.0, 0.0, 0.0])
+        # self._cam.position = [0.0, 0.0, scale]
+        self._cam.position = [0.0, 0.5, scale * 1.3] #! show four complete meshes in the window
+        self._light.position = [0.0, 0.0, scale]
+
+        state = embed.dependency_state(self._renderer)
+
+        # Somehow these entries are missing when the state is exported in python.
+        # Exporting from the GUI works, so we are inserting the missing entries.
+        for k in state:
+            if state[k]["model_name"] == "OrbitControlsModel":
+                state[k]["state"]["maxAzimuthAngle"] = "inf"
+                state[k]["state"]["maxDistance"] = "inf"
+                state[k]["state"]["maxZoom"] = "inf"
+                state[k]["state"]["minAzimuthAngle"] = "-inf"
+
+        tpl = embed.load_requirejs_template
+        if not imports:
+            embed.load_requirejs_template = ""
+
+        s = embed.embed_snippet(self._renderer, state=state, embed_url=EMBED_URL)
+        # s = embed.embed_snippet(self.__w, state=state)
+        embed.load_requirejs_template = tpl
+
+        if html_frame:
+            s = "<html>\n<body>\n" + s + "\n</body>\n</html>"
+
+        # Revert changes
+        for r, obj in enumerate(self.__objects):
+            v = self.__objects[obj]["geometry"].attributes["position"].array
+            v += mean
+        self.__update_view()
+
+        return s
+
+    def save(self, filename=""):
+        if filename == "":
+            uid = str(uuid.uuid4()) + ".html"
+        else:
+            filename = filename.replace(".html", "")
+            uid = filename + '.html'
+        with open(uid, "w") as f:
+            f.write(self.to_html())
+        print("Plot saved to file %s." % uid)