def visdom_plotly_cameras()

in c3dm/tools/vis_utils.py [0:0]

• 63 lines of code
• 3 McCabe index (conditional complexity)

def visdom_plotly_cameras(
		viz,
		cameras,
		visdom_env='main', 
		visdom_win=None,
		title=None,
		markersize=2,
		nmax=5000, 
		in_subplots=False,
		camera_scale=0.05, # in multiples of std_dev of the scene pointcloud
		height=1000,
		width=1000,
	):
	
	titles = [title]
	fig = make_subplots(
				rows = 1, cols = 1, 
				specs=[[{"type": "scene"}]],
				subplot_titles=titles,
				column_widths=[1.],
			)
	
	all_pts = []

	# add cameras
	R = cameras[:,:,:3]
	t = cameras[:,:,3:]
	C = -np.matmul(R.transpose(0, 2, 1), t)
	all_pts = C[:,:,0]

	scene_std = all_pts.std(0).mean()

	cam_lines_canonical = _get_camera_wireframe(scale=camera_scale*scene_std)

	cmap = cm.get_cmap('rainbow')
	camera_colors = cmap(np.linspace(0., 1., R.shape[0]))[:, :3]
	# mult by 220 here to make the colors a bit darker
	camera_colors = ['rgb(%s)' % ','.join(
		[str(int(c*220.)) for c in clr]
	) for clr in camera_colors]

	for clr_, R_, t_ in zip(camera_colors, R, t):
		cam_lines_world = R_.T @ (cam_lines_canonical.T - t_)
		x, y, z = cam_lines_world
		fig.add_trace(
			go.Scatter3d(
				x=x, y=y, z=z,
				marker=dict(
					size=2,
					# colorscale='Spectral',
					color=clr_,
				),
				line=dict(
					# colorscale='Spectral',
					color=clr_,
					width=2,
				)
			),
			row=1,
			col=1,
		)

	pcl_c = all_pts.mean(0)
	maxextent = (all_pts.max(axis=0) - all_pts.min(axis=0)).max()
	bounds = np.stack((pcl_c.T-maxextent, pcl_c.T+maxextent))

	fig.update_layout(height = height, width = width,
					 showlegend=False,
					 scene = dict(
							xaxis=dict(range=[bounds[0,0], bounds[1,0]]),
							yaxis=dict(range=[bounds[0,1], bounds[1,1]]),
							zaxis=dict(range=[bounds[0,2], bounds[1,2]]),
							aspectmode='cube',
						)
					)

	viz.plotlyplot(fig, env=visdom_env, win=visdom_win)