Method show

dust3r/cloud_opt/base_opt.py:297–323

(self, show_pw_cams=False, show_pw_pts3d=False, cam_size=None, **kw)

        return res

    def show(self, show_pw_cams=False, show_pw_pts3d=False, cam_size=None, **kw):
        viz = SceneViz()
        if self.imgs is None:
            colors = np.random.randint(0, 256, size=(self.n_imgs, 3))
            colors = list(map(tuple, colors.tolist()))
            for n in range(self.n_imgs):
                viz.add_pointcloud(self.get_pts3d()[n], colors[n], self.get_masks()[n])
        else:
            viz.add_pointcloud(self.get_pts3d(), self.imgs, self.get_masks())
            colors = np.random.randint(256, size=(self.n_imgs, 3))

        # camera poses
        im_poses = to_numpy(self.get_im_poses())
        if cam_size is None:
            cam_size = auto_cam_size(im_poses)
        viz.add_cameras(im_poses, self.get_focals(), colors=colors,
                        images=self.imgs, imsizes=self.imsizes, cam_size=cam_size)
        if show_pw_cams:
            pw_poses = self.get_pw_poses()
            viz.add_cameras(pw_poses, color=(192, 0, 192), cam_size=cam_size)

            if show_pw_pts3d:
                pts = [geotrf(pw_poses[e], self.pred_i[edge_str(i, j)]) for e, (i, j) in enumerate(self.edges)]
                viz.add_pointcloud(pts, (128, 0, 128))

        viz.show(**kw)
        return viz


def global_alignment_loop(net, lr=0.01, niter=300, schedule='cosine', lr_min=1e-6):