Some tips for this file: class method definition must be in a single line for correct doc generation.

`Wis3D`

Wis3D.__init__(out_folder: str, sequence_name: str, xyz_pattern=None, auto_increase=True, auto_remove=True, enable: bool = True)

Initialize Wis3D

Parameters:

out_folder – the folder to store the output files.
sequence_name – a subfolder of out_folder holding files of the sequence.
xyz_pattern – mapping of the three.js coordinate to the target coordinate. Take opencv camera coordinate as an example:

       three.js:                               opencv:

(up: y, right: x, backward:z)         (down: y, right: x, forward:z)
        y                                     z
        |                                    /
        o -- x             -->              o -- x
       /                                    |
      z                                     y

    three.js:      x     y     z
                   |     |     |
   xyz_pattern = ['x', '-y', '-z']
                   |     |     |
      opencv:       x    -y    -z

Parameters:

auto_increase – In one program run, whether to increase the scene id automatically for Wis3D instances with the same sequence names.
auto_remove – On program launch, whether to automatically remove the output folder if it exists.
enable – Whether to enable Wis3D. Since Wis3D can be time-consuming, this flag is useful for you to keep the Wis3D code unchanged and enable/disable it at debug time/running time.

set_scene_id

Wis3D.set_scene_id(self, scene_id: int) → None

Set scene ID.

Use it to create the new scene and add content to different scenes

Parameters:: scene_id – scene ID to be set

add_point_cloud

Wis3D.add_point_cloud(self, path: str, *, name: str = None) → None

Add a point cloud by file path. Support importing point clouds from STL, OBJ, PLY, etc.

Parameters:

path - path to the point cloud file

name - output name of the point cloud

Wis3D.add_point_cloud(self, vertices: np.ndarray | torch.Tensor, colors: np.ndarray | torch.Tensor = None, *, name: str = None) → None

Add a point cloud by point cloud definition.

Parameters:

vertices - points constituting the point cloud, shape: (n, 3)

colors - colors of the points, shape: (n, 3), range [0, 255] dtype: np.uint8 or torch.byte

name - output name of the point cloud

Wis3D.add_point_cloud(self, pcd: trimesh.PointCloud, name: str = None) → None

Add a point cloud loaded by trimesh.

Parameters:

pcd - point cloud loaded by trimesh

name - output name of the point cloud

add_mesh

Wis3D.add_mesh(self, path: str, *, name: str = None) → None

Add a mesh by file path.

Support importing meshes from STL, OBJ, PLY, etc.

Parameters:

path - path to the mesh file

name - output name of the mesh

Wis3D.add_mesh(self, vertices: np.ndarray | torch.Tensor, faces: np.ndarray | torch.Tensor, vertex_colors: np.ndarray | torch.Tensor, *, name: str = None) → None

Add a mesh loaded by mesh definition

Parameters:

vertices - vertices of the mesh, shape: (n, 3)

faces - faces of the mesh, shape: (m, 3)

vertex_colors - vertex colors of the mesh, shape: (n, 3), range [0, 255] dtype: np.uint8 or torch.byte

name - output name of the mesh

Wis3D.add_mesh(self, mesh: trimesh.Trimesh, *, name: str = None) → None

Add a mesh loaded by trimesh

Parameters:

mesh - mesh loaded by trimesh

name - output name of the mesh

add_image

Wis3D.add_image(self, path: str, *, name: str = None) → None

Add an image by file path

Parameters:

path - path to the image file

name - output name of the image

Wis3D.add_image(self, data: np.ndarray | torch.Tensor, *, name: str = None) → None

Add an image by image definition

Parameters:

data - data of the image

name - output name of the image

Wis3D.add_image(self, image: Image.Image, *, name: str = None) → None

Add an image by PIL.Image.Image

Parameters:

image - image loaded by PIL.Image.open

name - output name of the image

add_boxes

Wis3D.add_boxes(self, corners: np.ndarray | torch.Tensor, *, order: Iterable[int] = (0, 1, 2, 3, 4, 5, 6, 7), labels: Iterable[str] = None, name: str = None) → None

Add boxes by corners

Parameters:

corners - eight corners of the boxes, shape: (n, 8, 3) or (8, 3)

order - order of the corners, the default indices are defined as

   4 --- 5        y
  /|   / |        ｜
7 --- 6  |        ｜
|  0--|- 1        o —— —— x
| /   | /        /
3 --- 2         z

labels - label for each box

name - output name for these boxes

Wis3D.add_boxes(self, positions: np.ndarray | torch.Tensor, eulers: np.ndarray | torch.Tensor, extents: np.ndarray | torch.Tensor, *, labels: Iterable[str] = None, name: str = None) → None

Add boxes by definition

Parameters:

positions - position for each box, shape: (n, 3) or (3,)

eulers - euler angles, shape: (n, 3) or (3,)

extents - extents of the boxes, shape: (n, 3) or (3,)

labels - label for each box, shape: (n,) or str

name - output name for these boxes

add_lines

Wis3D.add_lines(self, start_points: np.ndarray | torch.Tensor, end_points: np.ndarray | torch.Tensor, colors: np.ndarray | torch.Tensor = None, *, name: str = None) → None

Add lines by points

Parameters:

start_points – start point of each line, shape: (n, 3) or (3,)
end_points – end point of each line, shape: (n, 3) or (3,)
colors – colors of the lines, shape: (n, 3), range [0, 255] dtype: np.uint8 or torch.byte
name – output name for these lines

add_voxel

Wis3D.add_voxel(self, path: str, *, name: str = None) → None

Add voxels by binvox/vox file

@param path: path to the BINVOX or VOX file

@param name: output name for these lines

Wis3D.add_voxel(self, voxel_centers: np.ndarray | torch.Tensor, voxel_size: float, colors: np.ndarray | torch.Tensor = None, *, name: str = None) → None

Add voxels by boxes

Parameters:

voxel_centers - center for each box, shape: (n, 3) or (3,)

voxel_size - size of all boxes

colors - colors of each box, shape: (n, 3), range [0, 255] dtype: np.uint8 or torch.byte

name - output name for the voxel

add_spheres

Wis3D.add_spheres(self, centers: np.ndarray | torch.Tensor, radius: float | np.ndarray | torch.Tensor, colors=None, scales=None, quaternions=None, *, name=None) → None

Add spheres

Parameters:

centers – center of each sphere, shape: (n, 3) or (3,)
radius – radius of each sphere, either float or shape of (n,) or (1,)
scales – scales of each sphere, shape: (n, 3) or (3,), if None, use [1, 1, 1]. Useful when you want to make the spheres ellipsoids
quaternions – rotations of each sphere, format wxyz, shape: (n, 4) or (4,), if None, use [1, 0, 0, 0]. Useful when you want to rotate the spheres
colors – colors of each box, shape: (n, 3), range [0, 255] dtype: np.uint8 or torch.byte
name – output name for the spheres

add_camera_trajectory

Wis3D.add_camera_trajectory(self, poses: np.ndarray | torch.Tensor, is_opencv=None, *, name: str = None) → None

Add a camera trajectory

Parameters:

poses – transformation matrices of shape (n, 4, 4)
name – output name of the camera trajectory

add_keypoint_correspondences

Wis3D.add_keypoint_correspondences(self, img0, img1, kpts0: np.ndarray | torch.Tensor, kpts1, *, unmatched_kpts0=None, unmatched_kpts1=None, metrics: Dict[str, Iterable[int]] = None, booleans: Dict[str, Iterable[bool]] = None, meta: Dict[str, Any] = None, name: str = None) → None

Add keypoint correspondences

Parameters:

img0 – path to the image or a PIL.Image.Image instance or a numpy.ndarray
img1 – path to the image or a PIL.Image.Image instance or a numpy.ndarray
kpts0 – keypoints of shape (n, 2)
kpts1 – keypoints of shape (n, 2)
unmatched_kpts0 – unmatched keypoints of shape (m, 2)
unmatched_kpts1 – unmatched keypoints of shape (l, 2)
metrics – a dictionary of metrics, each with the shape of (n, )
booleans – a dictionary of booleans, each with the shape of (n, )
meta – a dictionary of meta information of correspondences
name – outputname of the file

increase_scene_id

Wis3D.increase_scene_id(self): Increase scene ID by 1 :return:

add_box_by_6border

Wis3D.add_box_by_6border(self, xmin, ymin, zmin, xmax, ymax, zmax, name=None)

Add a box by 6 borders

Parameters:

xmin – float
ymin – float
zmin – float
xmax – float
ymax – float
zmax – float
name – float

Returns:

add_camera_pose

Wis3D.add_camera_pose(self, pose: np.ndarray | torch.Tensor, *, name: str = None) → None

Add a camera pose (w2c). We use OpenCV convention for camera pose.

Parameters:: pose – transformation matrices of shape (4, 4). Definition:

pt_world=matmul(pose,pt_camera)

Parameters:: name – output name of the camera pose

add_rays

Wis3D.add_rays(self, rays_o, rays_d, max=10.0, min=0.0, sample=1.0, name=None)

add rays to the scene, useful for debugging NeRF

Parameters:

rays_o – (np.ndarray or torch.Tensor): [n, 3]
rays_d – (np.ndarray or torch.Tensor): [n,3]
max – (float, optional): Maximum norm of the ray. Defaults to 10.
min – (float, optional): Minimum norm of the ray. Defaults to 0.
sample – (float, optional): Sample ratio of the rays. Defaults to 1.0. If sample < 1.0, ratio of the rays will be sampled. If sample > 1.0, number of the rays will be sampled.
name – (str, optional): Name of the rays. Defaults to None.

Wis3D

set_scene_id

add_point_cloud

add_mesh

add_image

add_boxes

add_lines

add_voxel

add_spheres

add_camera_trajectory

add_keypoint_correspondences

increase_scene_id

add_box_by_6border

add_camera_pose

add_rays

`Wis3D`