navlie.utils.plot.plot_camera_poses¶
- navlie.utils.plot.plot_camera_poses(poses, ax: Axes | None = None, color: str = 'tab:blue', line_thickness: float = 1, step: int = 1, scale: float = 0.25)¶
Plots camera poses along a 3D plot.
The camera poses should be elements of SE(3), with the z-axis pointing forward through the optical axis.
- Parameters:
poses (List[SE3State]) – A list objects containing a
positionproperty and an attitude property, representing the rotation matrix :math:\mathbf{C}_{ab}.ax (plt.Axes, optional) – Axes to plot on, if none, 3D axes are created.
color (str, optional) – Color of the plotted camera, by default “tab:blue”
line_thickness (float, optional) – Thickness of the camera line, by default 1
step (int, optional) – Step size in number of poses to plot, by default 1 which plots all poses
scale (float, optional) – Scale of the camera, by default 0.25
- Returns:
plt.Figure – Handle to figure.
List[plt.Axes] – Handle to axes that were drawn on.