navlie.utils.plot.CameraPoseVisualizer¶

class navlie.utils.plot.CameraPoseVisualizer(line_thickness: float = 1, scale: float = 0.25, color: str = 'tab:blue')¶

A class to plot camera poses in 3D using matplotlib.

plot_pose(C: ndarray, r: ndarray, ax: Axes | None = None)¶

Plots a camera pose in 3D.

Plots lines representing connection between the optical center and the camera corners.

Parameters:

C (np.ndarray) – Rotation matrix representing the camera attitude :math:\mathbf{C}_{ab}.
r (np.ndarray) – Position of the camera in the inertial frame.

Returns:

navlie.utils.plot.set_axes_equal

navlie.batch