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3D visualization primitives based on Plotly.
We might want to instead use a more powerful library like Open3D.
Plotly however supports animations, buttons and sliders.
1) Initialize a figure with `fig = init_figure()`
2) Plot points, cameras, lines, or create a slider animation.
3) Call `fig.show()` to render the figure.
"""
import plotly.graph_objects as go
import numpy as np
from ..pixlib.geometry.utils import to_homogeneous
def init_figure(height=800):
"""Initialize a 3D figure."""
fig = go.Figure()
fig.update_layout(
height=height,
scene_camera=dict(
eye=dict(x=0., y=-.1, z=-2), up=dict(x=0, y=-1., z=0)),
scene=dict(
xaxis=dict(showbackground=False),
yaxis=dict(showbackground=False),
aspectmode='data', dragmode='orbit'),
margin=dict(l=0, r=0, b=0, t=0, pad=0)) # noqa E741
return fig
def plot_points(fig, pts, color='rgba(255, 0, 0, 1)', ps=2):
"""Plot a set of 3D points."""
x, y, z = pts.T
tr = go.Scatter3d(
x=x, y=y, z=z, mode='markers', marker_size=ps,
marker_color=color, marker_line_width=.2)
fig.add_trace(tr)
def plot_camera(fig, R, t, K, color='rgb(0, 0, 255)'):
"""Plot a camera as a cone with camera frustum."""
x, y, z = t
u, v, w = R @ -np.array([0, 0, 1])
tr = go.Cone(
x=[x], y=[y], z=[z], u=[u], v=[v], w=[w], anchor='tip',
showscale=False, colorscale=[[0, color], [1, color]],
sizemode='absolute')
fig.add_trace(tr)
W, H = K[0, 2]*2, K[1, 2]*2
corners = np.array([[0, 0], [W, 0], [W, H], [0, H], [0, 0]])
corners = to_homogeneous(corners) @ np.linalg.inv(K).T
corners = (corners/2) @ R.T + t
x, y, z = corners.T
tr = go.Scatter3d(
x=x, y=y, z=z, line=dict(color='rgba(0, 0, 0, .5)'),
marker=dict(size=0.0001), showlegend=False)
fig.add_trace(tr)
def create_slider_animation(fig, traces):
"""Create a slider that animates a list of traces (e.g. 3D points)."""
slider = {'steps': []}
frames = []
fig.add_trace(traces[0])
idx = len(fig.data) - 1
for i, tr in enumerate(traces):
frames.append(go.Frame(name=str(i), traces=[idx], data=[tr]))
step = {"args": [
[str(i)],
{"frame": {"redraw": True},
"mode": "immediate"}],
"label": i,
"method": "animate"}
slider['steps'].append(step)
fig.frames = tuple(frames)
fig.layout.sliders = (slider,)
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