Initial commit

fbshipit-source-id: ad58e416e3ceeca85fae0583308968d04e78fe0d

docs/tutorials/data/cow_mesh/README.md

@@ -0,0 +1,6 @@
+
+# Acknowledgements
+
+Thank you to Keenen Crane for allowing the cow mesh model to be used freely in the public domain.
+
+###### Source: http://www.cs.cmu.edu/~kmcrane/Projects/ModelRepository/

docs/tutorials/data/cow_mesh/cow.mtl

@@ -0,0 +1,9 @@
+newmtl material_1
+map_Kd cow_texture.png
+
+# Test colors
+
+Ka 1.000 1.000 1.000  # white
+Kd 1.000 1.000 1.000  # white
+Ks 0.000 0.000 0.000  # black
+Ns 10.0

docs/tutorials/utils/__init__.py

@@ -0,0 +1,8 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+
+from .camera_visualisation import (
+    get_camera_wireframe,
+    plot_camera_scene,
+    plot_cameras,
+)
+from .plot_image_grid import image_grid

docs/tutorials/utils/camera_visualisation.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+
+import matplotlib.pyplot as plt
+import torch
+from mpl_toolkits.mplot3d import Axes3D  # noqa: F401 unused import
+
+
+def get_camera_wireframe(scale: float = 0.3):
+    """
+    Returns a wireframe of a 3D line-plot of a camera symbol.
+    """
+    a = 0.5 * torch.tensor([-2, 1.5, 4])
+    b = 0.5 * torch.tensor([2, 1.5, 4])
+    c = 0.5 * torch.tensor([-2, -1.5, 4])
+    d = 0.5 * torch.tensor([2, -1.5, 4])
+    C = torch.zeros(3)
+    F = torch.tensor([0, 0, 3])
+    camera_points = [a, b, d, c, a, C, b, d, C, c, C, F]
+    lines = torch.stack([x.float() for x in camera_points]) * scale
+    return lines
+
+
+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

docs/tutorials/utils/plot_image_grid.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
+
+import matplotlib.pyplot as plt
+
+
+def image_grid(
+    images,
+    rows=None,
+    cols=None,
+    fill: bool = True,
+    show_axes: bool = False,
+    rgb: bool = True,
+):
+    """
+    A util function for plotting a grid of images.
+
+    Args:
+        images: (N, H, W, 4) array of RGBA images
+        rows: number of rows in the grid
+        cols: number of columns in the grid
+        fill: boolean indicating if the space between images should be filled
+        show_axes: boolean indicating if the axes of the plots should be visible
+        rgb: boolean, If True, only RGB channels are plotted.
+            If False, only the alpha channel is plotted.
+
+    Returns:
+        None
+    """
+    if (rows is None) != (cols is None):
+        raise ValueError("Specify either both rows and cols or neither.")
+
+    if rows is None:
+        rows = len(images)
+        cols = 1
+
+    gridspec_kw = {"wspace": 0.0, "hspace": 0.0} if fill else {}
+    fig, axarr = plt.subplots(
+        rows, cols, gridspec_kw=gridspec_kw, figsize=(15, 9)
+    )
+    bleed = 0
+    fig.subplots_adjust(
+        left=bleed, bottom=bleed, right=(1 - bleed), top=(1 - bleed)
+    )
+
+    for ax, im in zip(axarr.ravel(), images):
+        if rgb:
+            # only render RGB channels
+            ax.imshow(im[..., :3])
+        else:
+            # only render Alpha channel
+            ax.imshow(im[..., 3])
+        if not show_axes:
+            ax.set_axis_off()