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plot3d

We provide a draw_3d_components that is helpful to plot camera/points/rays/lines/sphere/meshes/volume with customized color in all.

For all point, it should be in world space, or transformed to world space. Then change to plt space. The visual space is (x-right, y-down, z-forward). But we show the y values as -y inorder to make y goes downward.

Backend

We provide matplotlib and plotly for visualization. By default it use plt.

Plotly is good for interactive visualization and is able to zoom-in/out, move. We can add plotly=True in draw_3d_components.

Camera

  • c2w pose: in (N_cam, 4, 4). Local camera models will be created and transformed into world space
  • cam_colors: in (N_cam, 3) or (3,) can be used to color each or all cams
  • intrinsic: in (3, 3) is used to adjust local cam model for actual ray direction.

Points

  • point: in (N_p, 3) in world space
  • point_size: is single value used to set each point size
  • point_color: in (N_p, 3) or (3,) can be used to color each or all points

Lines

  • lines: a list of lines in (N_pts_in_line, 3) in world space, total N_line, each line prints N_pt_in_line-1 line seg
  • line_width: is single value or list of value used to set each line width.
  • line_colors: in (N_line, 3) or (3,) can be used to color each or all lines

Meshes

  • meshes: a list of mesh of (N_tri, 3, 3) in world space, len is N_m
  • mesh_colors: color in (N_m, 3) or (3,), applied for each or all mesh
  • face_colors: color in (N_tri, 3), len is N_m, for each mesh if set.

Rays

  • rays: a tuple (rays_o, rays_d), each in (N_r, 3), in world coord. rays_d is with actual len, if you want longer arrow, you need to extend rays_d
  • ray_colors: color in (N_r, 3) or (3,), applied for each or all rays
  • ray_linewidth: width of ray line, by default is 1

Sphere

  • sphere_radius: draw a sphere with such radius if not None
  • sphere_origin: the origin of sphere, by default is (0, 0, 0)

Volume

A complete volume implementation is in geometry.volume. You only input points/lines/faces for visual results.

  • 'grid_pts': grid point, ((n+1)^3, 3). If use corner only, (8,3)
    • grid_pts_colors: pts_colors in str. If not exist, use chocolate.
    • 'grid_pts_size': pts_size. If not exist, set 20.
  • 'volume_pts': volume point, (n^3, 3)
    • 'volume_pts_colors: pts_colors in str. If not exist, use green.
    • 'volume_pts_size': pts_size. If not exist, set 20.
  • 'lines': lines of bounding lines or dense lines. list of lines in (2, 3)
  • 'faces': faces of bounding faces or dense faces, np in ((n+1)n^2, 4, 3). regroup each face to 2 triangles for visual
    • face_colors: face_colors in str. If not exist, use silver.

Other:

  • title: title of the fig
  • save_path: if None, will show the fig, otherwise save it
  • axis range: update by the component with max values (xyz), show in a cube with same lengths.
  • return_fig: If set to True and save_path is None, will return the fig(plt) or numpy array(plotly) for further usage.
  • show_axis: If False, do not show axis but only the fig. By default True.

plot2d

In common.visual, we provide a draw_2d_components that is helpful to plot points/lines in defined colors with legends. We use matplotlib as backend.

Notebook:

  • We provide the python notebook in notebooks/draw_3d_examples.ipynb to use the render.

release repo

We also have clean version on this visual helper at ArcVis.