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Add example of rendering pointclouds with a background color.

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Summary:
Add cells to the rendering_colored_points tutorial showing how to initialize a renderer and compositor that will render pointclouds with a background color.

{F333731292}
{F334136799}

Reviewed By: nikhilaravi

Differential Revision: D23632503

fbshipit-source-id: e9ce0178b41e74baf912bd82ca1db41b680fc68f
This commit is contained in:
Amitav Baruah 2020-09-14 10:36:56 -07:00 committed by Facebook GitHub Bot
parent 872ff8c796
commit 61121b9f2c
1 changed files with 53 additions and 1 deletions
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54
docs/tutorials/render_colored_points.ipynb
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@ -62,7 +62,7 @@
"import matplotlib.pyplot as plt\n",
"from skimage.io import imread\n",
"\n",
"# Util function for loading point clouds\n",
"# Util function for loading point clouds|\n",
"import numpy as np\n",
"\n",
"# Data structures and functions for rendering\n",
@ -187,6 +187,32 @@
"plt.axis(\"off\");"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We will now modify the **renderer** to use **alpha compositing** with a set background color. "
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"renderer = PointsRenderer(\n",
" rasterizer=PointsRasterizer(cameras=cameras, raster_settings=raster_settings),\n",
" # Pass in background_color to the alpha compositor, setting the background color \n",
" # to the 3 item tuple, representing rgb on a scale of 0 -> 1, in this case blue\n",
" compositor=AlphaCompositor(background_color=(0, 0, 1))\n",
")\n",
"images = renderer(point_cloud)\n",
"plt.figure(figsize=(10, 10))\n",
"plt.imshow(images[0, ..., :3].cpu().numpy())\n",
"plt.grid(\"off\")\n",
"plt.axis(\"off\");"
]
},
{
"cell_type": "markdown",
"metadata": {},
@ -234,6 +260,32 @@
"plt.grid(\"off\")\n",
"plt.axis(\"off\");"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We will now modify the **renderer** to use **weighted compositing** with a set background color. "
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"renderer = PointsRenderer(\n",
" rasterizer=PointsRasterizer(cameras=cameras, raster_settings=raster_settings),\n",
" # Pass in background_color to the norm weighted compositor, setting the background color \n",
" # to the 3 item tuple, representing rgb on a scale of 0 -> 1, in this case red\n",
" compositor=NormWeightedCompositor(background_color=(1,0,0))\n",
")\n",
"images = renderer(point_cloud)\n",
"plt.figure(figsize=(10, 10))\n",
"plt.imshow(images[0, ..., :3].cpu().numpy())\n",
"plt.grid(\"off\")\n",
"plt.axis(\"off\");"
]
}
],
"metadata": {