Function visualize_pointcloud

utils/visualize.py:148–178

r''' Visualizes point cloud data. Args: points (tensor): point data normals (tensor): normal data (if existing) out_file (string): output file show (bool): whether the plot should be shown

(points, normals=None,
                         out_file=None, show=False, elev=30, azim=225)

    plt.close()

def visualize_pointcloud(points, normals=None,
                         out_file=None, show=False, elev=30, azim=225):
    r''' Visualizes point cloud data.
    Args:
        points (tensor): point data
        normals (tensor): normal data (if existing)
        out_file (string): output file
        show (bool): whether the plot should be shown
    '''
    # Create plot
    fig = plt.figure()
    ax = fig.gca(projection=Axes3D.name)
    ax.scatter(points[:, 2], points[:, 0], points[:, 1])
    if normals is not None:
        ax.quiver(
            points[:, 2], points[:, 0], points[:, 1],
            normals[:, 2], normals[:, 0], normals[:, 1],
            length=0.1, color='k'
        )
    ax.set_xlabel('Z')
    ax.set_ylabel('X')
    ax.set_zlabel('Y')
    # ax.set_xlim(-0.5, 0.5)
    # ax.set_ylim(-0.5, 0.5)
    # ax.set_zlim(-0.5, 0.5)
    ax.view_init(elev=elev, azim=azim)
    if out_file is not None:
        plt.savefig(out_file)
    if show:
        plt.show()
    plt.close(fig)


def visualize_pointcloud_batch(path, pointclouds, pred_labels, labels, categories, vis_label=False, target=None,  elev=30, azim=225):