55 lines
1.8 KiB
Python
55 lines
1.8 KiB
Python
# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
|
|
|
|
import matplotlib.pyplot as plt
|
|
from mpl_toolkits.mplot3d import Axes3D # noqa: F401 unused import
|
|
from pytorch3d.vis.plotly_vis import get_camera_wireframe
|
|
|
|
|
|
def plot_cameras(ax, cameras, color: str = "blue"):
|
|
"""
|
|
Plots a set of `cameras` objects into the maplotlib axis `ax` with
|
|
color `color`.
|
|
"""
|
|
cam_wires_canonical = get_camera_wireframe().cuda()[None]
|
|
cam_trans = cameras.get_world_to_view_transform().inverse()
|
|
cam_wires_trans = cam_trans.transform_points(cam_wires_canonical)
|
|
plot_handles = []
|
|
for wire in cam_wires_trans:
|
|
# the Z and Y axes are flipped intentionally here!
|
|
x_, z_, y_ = wire.detach().cpu().numpy().T.astype(float)
|
|
(h,) = ax.plot(x_, y_, z_, color=color, linewidth=0.3)
|
|
plot_handles.append(h)
|
|
return plot_handles
|
|
|
|
|
|
def plot_camera_scene(cameras, cameras_gt, status: str):
|
|
"""
|
|
Plots a set of predicted cameras `cameras` and their corresponding
|
|
ground truth locations `cameras_gt`. The plot is named with
|
|
a string passed inside the `status` argument.
|
|
"""
|
|
fig = plt.figure()
|
|
ax = fig.gca(projection="3d")
|
|
ax.clear()
|
|
ax.set_title(status)
|
|
handle_cam = plot_cameras(ax, cameras, color="#FF7D1E")
|
|
handle_cam_gt = plot_cameras(ax, cameras_gt, color="#812CE5")
|
|
plot_radius = 3
|
|
ax.set_xlim3d([-plot_radius, plot_radius])
|
|
ax.set_ylim3d([3 - plot_radius, 3 + plot_radius])
|
|
ax.set_zlim3d([-plot_radius, plot_radius])
|
|
ax.set_xlabel("x")
|
|
ax.set_ylabel("z")
|
|
ax.set_zlabel("y")
|
|
labels_handles = {
|
|
"Estimated cameras": handle_cam[0],
|
|
"GT cameras": handle_cam_gt[0],
|
|
}
|
|
ax.legend(
|
|
labels_handles.values(),
|
|
labels_handles.keys(),
|
|
loc="upper center",
|
|
bbox_to_anchor=(0.5, 0),
|
|
)
|
|
plt.show()
|
|
return fig
|