vis4d.vis.functional.pointcloud

Function interface for point cloud visualization functions.

Functions

draw_points(points_xyz[, colors, classes, ...])

Adds pointcloud data to a 3D scene for visualization purposes.

show_3d(scene[, viewer])

Shows a given 3D scene.

show_points(points_xyz[, colors, classes, ...])

Visualizes a pointcloud with color and semantic information.
draw_points(points_xyz, colors=None, classes=None, instances=None, transform=None, scene=None)[source]

Adds pointcloud data to a 3D scene for visualization purposes.

Parameters:

  • points_xyz (ArrayLikeFloat) – xyz coordinates of the points shape [N, 3]

  • classes (ArrayLikeInt | None) – semantic ids of the points shape [N, 1]

  • instances (ArrayLikeInt | None) – instance ids of the points shape [N, 1]

  • colors (ArrayLikeFloat | None) – colors of the points shape [N,3] and ranging from [0,1]

  • transform (ArrayLikeFloat | None) – Optional 4x4 SE3 transform that transforms the point data into a static reference frame.

  • scene (Scene3D | None) – Visualizer that should be used to display the data.

Return type:

Scene3D

show_3d(scene, viewer=<vis4d.vis.pointcloud.viewer.open3d_viewer.Open3DVisualizationBackend object>)[source]

Shows a given 3D scene.

This method shows a 3D visualization of a given 3D scene. Use the viewer attribute to use different visualization backends (e.g. open3d)

Parameters:

  • scene (Scene3D) – The 3D scene that should be visualized.

  • viewer (PointCloudVisualizerBackend, optional) – The Visualization backend that should be used to visualize the scene. Defaults to Open3DVisualizationBackend.

Return type:

None

show_points(points_xyz, colors=None, classes=None, instances=None, transform=None, viewer=<vis4d.vis.pointcloud.viewer.open3d_viewer.Open3DVisualizationBackend object>)[source]

Visualizes a pointcloud with color and semantic information.

Parameters:

  • points_xyz (ArrayLikeFloat) – xyz coordinates of the points shape [N, 3]

  • classes (ArrayLikeInt | None) – semantic ids of the points shape [N, 1]

  • instances (ArrayLikeInt | None) – instance ids of the points shape [N, 1]

  • colors (ArrayLikeFloat | None) – colors of the points shape [N,3] and ranging from [0,1]

  • transform (ArrayLikeFloat | None) – Optional 4x4 SE3 transform that transforms the point data into a static reference frame

  • viewer (PointCloudVisualizerBackend, optional) – The Visualization backend that should be used to visualize the scene. Defaults to Open3DVisualizationBackend.

Return type:

None