1 utils.plotting.grids

utils.plotting.grids

Build image grids, scalar-field slices, histograms, and frame overlays.

Tensor inputs cross one presentation seam: values are detached and transferred to CPU before NumPy, Matplotlib, or Plotly use. The module also owns display rotation and camera projection for snippet images; it does not define training geometry or mutate source tensors.

1.1 Classes

Name	Description
FrameGridBuilder	Builder for image grids (2D modalities).

1.1.1 FrameGridBuilder

utils.plotting.grids.FrameGridBuilder(
    rows,
    cols,
    *,
    titles,
    height,
    width,
    title,
)

Builder for image grids (2D modalities).

1.1.1.1 Methods

Name	Description
add_image	Place one HWC image array into a one-indexed subplot cell.
finalize	Apply the configured canvas dimensions and return the image grid.

1.1.1.1.1 add_image

utils.plotting.grids.FrameGridBuilder.add_image(img, *, row, col)

Place one HWC image array into a one-indexed subplot cell.

1.1.1.1.2 finalize

utils.plotting.grids.FrameGridBuilder.finalize()

Apply the configured canvas dimensions and return the image grid.

1.2 Functions

Name	Description
collect_frame_modalities	Collect first/last-frame visualisations for available modalities.
plot_first_last_frames	First and final frames for all available modalities (RGB/SLAM + optional depth/semantic).
plot_frames	Plot the first available RGB and SLAM frames side by side.
project_pointcloud_on_frame	Project 3D points into image plane and overlay on the frame.

1.2.1 collect_frame_modalities

utils.plotting.grids.collect_frame_modalities(sample, *, include_depth=True)

Collect first/last-frame visualisations for available modalities.

1.2.2 plot_first_last_frames

utils.plotting.grids.plot_first_last_frames(sample)

First and final frames for all available modalities (RGB/SLAM + optional depth/semantic).

1.2.3 plot_frames

utils.plotting.grids.plot_frames(sample)

Plot the first available RGB and SLAM frames side by side.

1.2.4 project_pointcloud_on_frame

utils.plotting.grids.project_pointcloud_on_frame(
    img,
    cam,
    pose_world_cam,
    points_world,
    max_points=20000,
    title='Point cloud overlay',
    point_size=5,
)

Project 3D points into image plane and overlay on the frame.

# utils.plotting.grids { #aria_nbv.utils.plotting.grids } `utils.plotting.grids` Build image grids, scalar-field slices, histograms, and frame overlays. Tensor inputs cross one presentation seam: values are detached and transferred to CPU before NumPy, Matplotlib, or Plotly use. The module also owns display rotation and camera projection for snippet images; it does not define training geometry or mutate source tensors. ## Classes | Name | Description | | --- | --- | | [FrameGridBuilder](#aria_nbv.utils.plotting.grids.FrameGridBuilder) | Builder for image grids (2D modalities). | ### FrameGridBuilder { #aria_nbv.utils.plotting.grids.FrameGridBuilder } ```python utils.plotting.grids.FrameGridBuilder( rows, cols, *, titles, height, width, title, ) ``` Builder for image grids (2D modalities). #### Methods | Name | Description | | --- | --- | | [add_image](#aria_nbv.utils.plotting.grids.FrameGridBuilder.add_image) | Place one HWC image array into a one-indexed subplot cell. | | [finalize](#aria_nbv.utils.plotting.grids.FrameGridBuilder.finalize) | Apply the configured canvas dimensions and return the image grid. | ##### add_image { #aria_nbv.utils.plotting.grids.FrameGridBuilder.add_image } ```python utils.plotting.grids.FrameGridBuilder.add_image(img, *, row, col) ``` Place one HWC image array into a one-indexed subplot cell. ##### finalize { #aria_nbv.utils.plotting.grids.FrameGridBuilder.finalize } ```python utils.plotting.grids.FrameGridBuilder.finalize() ``` Apply the configured canvas dimensions and return the image grid. ## Functions | Name | Description | | --- | --- | | [collect_frame_modalities](#aria_nbv.utils.plotting.grids.collect_frame_modalities) | Collect first/last-frame visualisations for available modalities. | | [plot_first_last_frames](#aria_nbv.utils.plotting.grids.plot_first_last_frames) | First and final frames for all available modalities (RGB/SLAM + optional depth/semantic). | | [plot_frames](#aria_nbv.utils.plotting.grids.plot_frames) | Plot the first available RGB and SLAM frames side by side. | | [project_pointcloud_on_frame](#aria_nbv.utils.plotting.grids.project_pointcloud_on_frame) | Project 3D points into image plane and overlay on the frame. | ### collect_frame_modalities { #aria_nbv.utils.plotting.grids.collect_frame_modalities } ```python utils.plotting.grids.collect_frame_modalities(sample, *, include_depth=True) ``` Collect first/last-frame visualisations for available modalities. ### plot_first_last_frames { #aria_nbv.utils.plotting.grids.plot_first_last_frames } ```python utils.plotting.grids.plot_first_last_frames(sample) ``` First and final frames for all available modalities (RGB/SLAM + optional depth/semantic). ### plot_frames { #aria_nbv.utils.plotting.grids.plot_frames } ```python utils.plotting.grids.plot_frames(sample) ``` Plot the first available RGB and SLAM frames side by side. ### project_pointcloud_on_frame { #aria_nbv.utils.plotting.grids.project_pointcloud_on_frame } ```python utils.plotting.grids.project_pointcloud_on_frame( img, cam, pose_world_cam, points_world, max_points=20000, title='Point cloud overlay', point_size=5, ) ``` Project 3D points into image plane and overlay on the frame.