INNER CODE UNIT · Python
CameraPoseVisualizer
yashbhalgat/HashNeRF-pytorch · camera_pose_visualizer.py:10
class CameraPoseVisualizer:
def __init__(self, xlim, ylim, zlim):
self.fig = plt.figure(figsize=(18, 7))
self.ax = self.fig.gca(projection='3d')
self.ax.set_aspect("auto")
self.ax.set_xlim(xlim)
self.ax.set_ylim(ylim)
self.ax.set_zlim(zlim)
self.ax.set_xlabel('x')
self.ax.set_ylabel('y')
self.ax.set_zlabel('z')
print('initialize camera pose visualizer')
def extrinsic2pyramid(self, extrinsic, color='r', focal_len_scaled=5, aspect_ratio=0.3):
focal_len_scaled = -1*focal_len_scaled
vertex_std = np.array([[0, 0, 0, 1],
[focal_len_scaled * aspect_ratio, -focal_len_scaled * aspect_ratio, focal_len_scaled, 1],
[focal_len_scaled * aspect_ratio, focal_len_scaled * aspect_ratio, focal_len_scaled, 1],