Function visualizer

utils/camera_utils.py:208–235

(camera_poses, colors, save_path="/mnt/data/1.png")

def visualizer(camera_poses, colors, save_path="/mnt/data/1.png"):
    fig = plt.figure()
    ax = fig.add_subplot(111, projection="3d")

    for pose, color in zip(camera_poses, colors):
        rotation = pose[:3, :3]
        translation = pose[:3, 3]  # Corrected to use 3D translation component
        camera_positions = np.einsum(
            "...ij,...j->...i", np.linalg.inv(rotation), -translation
        )

        ax.scatter(
            camera_positions[0],
            camera_positions[1],
            camera_positions[2],
            c=color,
            marker="o",
        )

    ax.set_xlabel("X")
    ax.set_ylabel("Y")
    ax.set_zlabel("Z")
    ax.set_title("Camera Poses")

    plt.savefig(save_path)
    plt.close()

    return save_path