visu_util.py

import matplotlib
matplotlib.use('Agg')
from matplotlib import pyplot as plt
import numpy as np
from mpl_toolkits.mplot3d import Axes3D

def plot_pcd_three_views(filename, pcds, titles, suptitle='', sizes=None, cmap='Blues', zdir='y',
                         xlim=(-0.3, 0.3), ylim=(-0.3, 0.3), zlim=(-0.3, 0.3)):
    if sizes is None:
        sizes = [0.5 for i in range(len(pcds))]

    fig = plt.figure(figsize=(len(pcds) * 3, 3))

    elev = 0
    azim = 45 + 180
    for j, (pcd, size) in enumerate(zip(pcds, sizes)):
        color = pcd[:, 0]
        ax = fig.add_subplot(1, len(pcds), j + 1, projection='3d')
        ax.view_init(elev, azim)
        ax.scatter(pcd[:, 0], pcd[:, 1], pcd[:, 2], zdir=zdir, c=color, s=size, cmap=cmap, vmin=-1, vmax=0.5)
        ax.set_title(titles[j])
        ax.set_axis_off()
        ax.set_xlim(xlim)
        ax.set_ylim(ylim)
        ax.set_zlim(zlim)

    plt.subplots_adjust(left=0.05, right=0.95, bottom=0.05, top=0.9, wspace=0.1, hspace=0.1)
    plt.suptitle(suptitle)
    fig.savefig(filename)
    plt.close(fig)