1 utils.plotting.snippet

utils.plotting.snippet

Build Plotly views of EFM snippet geometry and trajectories.

This module owns the cohesive 3D snippet presentation transaction: pose lookup, semidense selection, mesh and box traces, snippet-relative bounds, and Plotly frusta. Its frustum kernel intentionally remains here: it uses normalized rays through an inscribed valid-radius square, while Rerun uses image corners at camera-z depth. Merging those policy-specific constructions would change the figures’ geometry.

1.1 Classes

Name	Description
SnippetPlotBuilder	Composable builder for mesh/points/frusta visuals using a stored snippet.

1.1.1 SnippetPlotBuilder

utils.plotting.snippet.SnippetPlotBuilder(snippet, *, title, height=900)

Composable builder for mesh/points/frusta visuals using a stored snippet.

All data comes from the snippet; methods only accept visual/customisation params.

1.1.1.1 Methods

Name	Description
from_snippet	Create a builder whose initial bounds cover the snippet evidence.
add_mesh	Add the snippet’s world-frame GT mesh when one is loaded.
add_semidense	Add sampled world-frame semi-dense points colored by world height.
add_semidense_in_oriented_box	Add semidense points cropped by a world-frame oriented box.
add_points	Scatter arbitrary 3D points onto the figure and update bounds.
add_trajectory	Add the world-frame rig trajectory and optional endpoint markers.
add_frusta	Add camera frusta aligned to nearest rig trajectory timestamps.
add_frame_axes	Add axes for a camera stream or the rig itself.
add_camera_axes	Add axes for a named camera stream through add_frame_axes.
add_frame_axes_to_fig	Add LUF axes for multiple cameras in one go.
add_oriented_box_corners	Add one or more oriented boxes from world-frame corners.
add_oriented_box	Add an oriented box from a world<-object pose and XYZ side lengths.
add_obb	Add one or more ObbTW boxes using their world-frame corners.
add_bounds_box	Draw an axis-aligned world-frame bounds box in metres.
add_gt_obbs	Add oriented boxes defined by world←object poses and dimensions.
finalize	Apply equal world-axis scaling and return the accumulated figure.

1.1.1.1.1 from_snippet

utils.plotting.snippet.SnippetPlotBuilder.from_snippet(
    snippet,
    *,
    title,
    height=900,
)

Create a builder whose initial bounds cover the snippet evidence.

1.1.1.1.2 add_mesh

utils.plotting.snippet.SnippetPlotBuilder.add_mesh(
    color='lightgray',
    opacity=0.35,
)

Add the snippet’s world-frame GT mesh when one is loaded.

1.1.1.1.3 add_semidense

utils.plotting.snippet.SnippetPlotBuilder.add_semidense(
    name='Semidense points',
    max_points=20000,
    last_frame_only=True,
    color='Viridis',
)

Add sampled world-frame semi-dense points colored by world height.

The point tensor has logical shape Tensor["N 3", float32] in metres. Sampling affects display density only and never mutates the :class:EfmSnippetView.

1.1.1.1.4 add_semidense_in_oriented_box

utils.plotting.snippet.SnippetPlotBuilder.add_semidense_in_oriented_box(
    pose_world_object,
    extents,
    name='Target semidense points',
    max_points=20000,
    last_frame_only=False,
    color='gold',
    size=3,
    opacity=0.8,
)

Add semidense points cropped by a world-frame oriented box.

1.1.1.1.5 add_points

utils.plotting.snippet.SnippetPlotBuilder.add_points(
    points,
    *,
    name='Points',
    color='royalblue',
    size=4,
    opacity=0.7,
    symbol='circle',
)

Scatter arbitrary 3D points onto the figure and update bounds.

1.1.1.1.6 add_trajectory

utils.plotting.snippet.SnippetPlotBuilder.add_trajectory(
    mark_first_last=True,
    first_color='green',
    last_color='red',
    show=True,
)

Add the world-frame rig trajectory and optional endpoint markers.

1.1.1.1.7 add_frusta

utils.plotting.snippet.SnippetPlotBuilder.add_frusta(
    camera='rgb',
    frame_indices=None,
    scale=1.0,
    include_axes=True,
    include_center=True,
    is_rotate_yaw_cw90=True,
    name='Frustum',
)

Add camera frusta aligned to nearest rig trajectory timestamps.

Poses follow \(T_{world\leftarrow camera}=T_{world\leftarrow rig} T^{-1}_{camera\leftarrow rig}\). The clockwise display rotation is a visualization convention and does not change stored camera geometry.

1.1.1.1.8 add_frame_axes

utils.plotting.snippet.SnippetPlotBuilder.add_frame_axes(
    frame='rgb',
    frame_indices=None,
    title='Frame axes',
    is_rotate_yaw_cw90=True,
)

Add axes for a camera stream or the rig itself.

1.1.1.1.8.1 Parameters

Name	Type	Description	Default
frame	Literal['rgb', 'slaml', 'slamr', 'rig'] | PoseTW	Camera label, “rig” for the rig frame to retrieve the poses form sample.trajectory, or a custom PoseTW.	'rgb'

1.1.1.1.9 add_camera_axes

utils.plotting.snippet.SnippetPlotBuilder.add_camera_axes(
    camera='rgb',
    frame_indices=None,
    title='Camera axes',
)

Add axes for a named camera stream through add_frame_axes.

1.1.1.1.10 add_frame_axes_to_fig

utils.plotting.snippet.SnippetPlotBuilder.add_frame_axes_to_fig(
    fig,
    cam_centers,
    cam_axes,
    title='Camera axes',
    scale=1.0,
)

Add LUF axes for multiple cameras in one go.

1.1.1.1.11 add_oriented_box_corners

utils.plotting.snippet.SnippetPlotBuilder.add_oriented_box_corners(
    corners_world,
    *,
    name,
    color,
    width=5,
    opacity=0.95,
)

Add one or more oriented boxes from world-frame corners.

1.1.1.1.12 add_oriented_box

utils.plotting.snippet.SnippetPlotBuilder.add_oriented_box(
    pose_world_object,
    extents,
    name,
    color,
    width=5,
    opacity=0.95,
)

Add an oriented box from a world<-object pose and XYZ side lengths.

1.1.1.1.13 add_obb

utils.plotting.snippet.SnippetPlotBuilder.add_obb(
    obb,
    *,
    name,
    color,
    width=5,
    opacity=0.95,
)

Add one or more ObbTW boxes using their world-frame corners.

1.1.1.1.14 add_bounds_box

utils.plotting.snippet.SnippetPlotBuilder.add_bounds_box(
    name,
    color='gray',
    dash='dash',
    width=2,
    aabb=None,
)

Draw an axis-aligned world-frame bounds box in metres.

1.1.1.1.15 add_gt_obbs

utils.plotting.snippet.SnippetPlotBuilder.add_gt_obbs(
    camera='rgb',
    timestamp=None,
    color='purple',
    name='GT OBBs',
    opacity=0.35,
)

Add oriented boxes defined by world←object poses and dimensions.

1.1.1.1.16 finalize

utils.plotting.snippet.SnippetPlotBuilder.finalize()

Apply equal world-axis scaling and return the accumulated figure.

1.2 Functions

Name	Description
add_pose_axes_to_figure	Add RGB coordinate triads for one or more pose centers to a Plotly figure.
bbox_edges	Return AABB wireframe segments as (2, 3) arrays in Plotly order.
configure_3d_scene	Apply equal-scale 3D axes and an optional bounded scene range.
get_frustum_segments	Return frustum wireframe segments in world frame using CameraTW.unproject.
mesh_to_plotly	Convert a Trimesh to Plotly Mesh3d traces.
plot_trajectory	Mesh + semidense + trajectory + optional frusta/bounds.
pose_world_cam	Return the world<-camera pose and camera intrinsics for a given frame.
semidense_points_for_frame	Collect semidense points for one frame or the full snippet.

1.2.1 add_pose_axes_to_figure

utils.plotting.snippet.add_pose_axes_to_figure(
    fig,
    centers,
    axes,
    *,
    title='Pose axes',
    scale=1.0,
    line_width=8,
)

Add RGB coordinate triads for one or more pose centers to a Plotly figure.

This is deliberately independent of :class:EfmSnippetView: callers own their pose decoding and provide finite (N, 3) centers plus ordered local X/Y/Z directions of shape (N, 3, 3). It is the shared 3D presentation seam used by snippet and persisted-rollout diagnostics.

1.2.2 bbox_edges

utils.plotting.snippet.bbox_edges(min_pt, max_pt)

Return AABB wireframe segments as (2, 3) arrays in Plotly order.

1.2.2.1 Parameters

Name	Type	Description	Default
min_pt	np.ndarray	XYZ lower bounds (metres) for the axis-aligned box.	required
max_pt	np.ndarray	XYZ upper bounds (metres) for the axis-aligned box.	required

1.2.2.2 Returns

Name	Type	Description
	np.ndarray	Array of shape (12, 2, 3) ready for Scatter3d. The edge ordering
	np.ndarray	matches the efm3d frustum/box helpers to keep consistent legend/colour
	np.ndarray	usage when overlaying boxes.

1.2.3 configure_3d_scene

utils.plotting.snippet.configure_3d_scene(
    fig,
    *,
    title=None,
    height=None,
    axis_titles=('X', 'Y', 'Z'),
    scene_ranges=None,
)

Apply equal-scale 3D axes and an optional bounded scene range.

The helper does not interpret coordinates or convert units. Callers pass axis labels appropriate to their already-decoded frame, for example metres for snippets or target-distance units for rollout geometry.

1.2.4 get_frustum_segments

utils.plotting.snippet.get_frustum_segments(cam, pose_world_cam, scale=1.0)

Return frustum wireframe segments in world frame using CameraTW.unproject.

The four image-plane corners are first unprojected in the camera’s intrinsic frame, then transformed to world frame using pose_world_cam.

1.2.5 mesh_to_plotly

utils.plotting.snippet.mesh_to_plotly(mesh)

Convert a Trimesh to Plotly Mesh3d traces.

1.2.6 plot_trajectory

utils.plotting.snippet.plot_trajectory(
    sample,
    camera='rgb',
    show_semidense=True,
    max_sem_points=20000,
    pc_from_last_only=True,
    show_scene_bounds=True,
    show_crop_bounds=False,
    crop_aabb=None,
    show_frustum=True,
    frustum_frame_indices=None,
    frustum_scale=1.0,
    mark_first_last=True,
    show_gt_obbs=False,
    gt_timestamp=None,
)

Mesh + semidense + trajectory + optional frusta/bounds.

1.2.7 pose_world_cam

utils.plotting.snippet.pose_world_cam(sample, cam_view, frame_idx)

Return the world<-camera pose and camera intrinsics for a given frame.

1.2.8 semidense_points_for_frame

utils.plotting.snippet.semidense_points_for_frame(
    sample,
    frame_idx,
    *,
    all_frames,
)

Collect semidense points for one frame or the full snippet.