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c9742d00b0
Summary: Enable spelling linter for Markdown, reStructuredText and IPython notebooks under `fbcode/vision/fair`. Apply suggested fixes. Reviewed By: ppwwyyxx Differential Revision: D20495298 fbshipit-source-id: 95310c7b51f9fa68ba2aa34ecc39a874da36a75c
71 lines
2.3 KiB
Python
71 lines
2.3 KiB
Python
# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
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import matplotlib.pyplot as plt
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import torch
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from mpl_toolkits.mplot3d import Axes3D # noqa: F401 unused import
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def get_camera_wireframe(scale: float = 0.3):
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"""
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Returns a wireframe of a 3D line-plot of a camera symbol.
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"""
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a = 0.5 * torch.tensor([-2, 1.5, 4])
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b = 0.5 * torch.tensor([2, 1.5, 4])
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c = 0.5 * torch.tensor([-2, -1.5, 4])
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d = 0.5 * torch.tensor([2, -1.5, 4])
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C = torch.zeros(3)
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F = torch.tensor([0, 0, 3])
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camera_points = [a, b, d, c, a, C, b, d, C, c, C, F]
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lines = torch.stack([x.float() for x in camera_points]) * scale
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return lines
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def plot_cameras(ax, cameras, color: str = "blue"):
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"""
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Plots a set of `cameras` objects into the maplotlib axis `ax` with
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color `color`.
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"""
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cam_wires_canonical = get_camera_wireframe().cuda()[None]
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cam_trans = cameras.get_world_to_view_transform().inverse()
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cam_wires_trans = cam_trans.transform_points(cam_wires_canonical)
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plot_handles = []
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for wire in cam_wires_trans:
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# the Z and Y axes are flipped intentionally here!
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x_, z_, y_ = wire.detach().cpu().numpy().T.astype(float)
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(h,) = ax.plot(x_, y_, z_, color=color, linewidth=0.3)
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plot_handles.append(h)
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return plot_handles
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def plot_camera_scene(cameras, cameras_gt, status: str):
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"""
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Plots a set of predicted cameras `cameras` and their corresponding
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ground truth locations `cameras_gt`. The plot is named with
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a string passed inside the `status` argument.
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"""
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fig = plt.figure()
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ax = fig.gca(projection="3d")
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ax.clear()
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ax.set_title(status)
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handle_cam = plot_cameras(ax, cameras, color="#FF7D1E")
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handle_cam_gt = plot_cameras(ax, cameras_gt, color="#812CE5")
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plot_radius = 3
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ax.set_xlim3d([-plot_radius, plot_radius])
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ax.set_ylim3d([3 - plot_radius, 3 + plot_radius])
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ax.set_zlim3d([-plot_radius, plot_radius])
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ax.set_xlabel("x")
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ax.set_ylabel("z")
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ax.set_zlabel("y")
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labels_handles = {
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"Estimated cameras": handle_cam[0],
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"GT cameras": handle_cam_gt[0],
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}
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ax.legend(
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labels_handles.values(),
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labels_handles.keys(),
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loc="upper center",
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bbox_to_anchor=(0.5, 0),
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)
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plt.show()
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return fig
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