Wis3D

set_scene_id

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: Union[np.ndarray, torch.Tensor], colors: Union[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)

name - output name of the poitn 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 poitn 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: Union[np.ndarray, torch.Tensor], faces: Union[np.ndarray, torch.Tensor], vertex_colors: Union[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)

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: Union[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.Image

name - output name of the image

add_boxes

Wis3D.add_boxes(self, corners: Union[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 boxese, 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: Union[np.ndarray, torch.Tensor], eulers: Union[np.ndarray, torch.Tensor], extents: Union[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

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: Union[np.ndarray, torch.Tensor], voxel_size: float, colors: Union[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)

name - output name for the voxel

add_spheres

add_camera_trajectory

add_keypoint_correspondences