Using OpenGL, given a hypothesis of the pose of an object, how to get a list the visible vertices and segments : I work on pose estimation of a 3d objects. I am using CAD model of that object to generate all the possible hypothesis. I am using pyopengl to render the view of the object from a specific POV. Can anyone explain how to get a list of all the visible vertices?

So I use face culling to eliminate the occluded faces, but I don't know how to pass the visible vertices to other python functions

Thanks