trplot
Plot a 3D coordinate frame
TRPLOT(T, OPTIONS) draws a 3D coordinate frame represented by the SE(3) homogeneous transform T (4×4).
H = TRPLOT(T, OPTIONS) as above but returns a handle.
TRPLOT(R, OPTIONS) as above but the coordinate frame is rotated about the origin according to the orthonormal rotation matrix R (3×3).
H = TRPLOT(R, OPTIONS) as above but returns a handle.
H = TRPLOT() creates a default frame EYE(3,3) at the origin and returns a handle.
Animation
Firstly, create a plot and keep the the handle as per above.
TRPLOT(H, T) moves the coordinate frame described by the handle H to the pose T (4×4).
Options
'handle',h | Update the specified handle |
'axhandle',A | Draw in the MATLAB axes specified by the axis handle A |
| `` | |
'color',C | The color to draw the axes, MATLAB ColorSpec |
'axes' | Show the MATLAB axes, box and ticks (default true) |
'axis',A | Set dimensions of the MATLAB axes to A=[xmin xmax ymin ymax zmin zmax] |
'frame',F | The coordinate frame is named {F} and the subscript on the axis labels is F. |
'framelabel',F | The coordinate frame is named {F}, axes have no subscripts. |
'framelabeloffset',O | Offset O=[DX DY] frame labels in units of text box height |
'text_opts', opt | A cell array of MATLAB text properties |
'length',s | Length of the coordinate frame arms (default 1) |
'thick',t | Thickness of lines (default 0.5) |
'text' | Enable display of X,Y,Z labels on the frame (default true) |
'labels',L | Label the X,Y,Z axes with the 1st, 2nd, 3rd character of the string L |
'rgb' | Display X,Y,Z axes in colors red, green, blue respectively |
'rviz' | Display chunky rviz style axes% |
'arrow' | Use arrows rather than line segments for the axes |
'width', w | Width of arrow tips (default 1) |
| `` | |
'perspective' | Display the axes with perspective projection (default off) |
'3d' | Plot in 3D using anaglyph graphics |
'anaglyph',A left and right (default colors 'rc'): chosen from | Specify anaglyph colors for ‘3d’ as 2 characters for |
| `` | r)ed, g)reen, b)lue, c)yan, m)agenta. |
'dispar',D | Disparity for 3d display (default 0.1) |
'view',V for view toward origin of coordinate frame | Set plot view parameters V=[az el] angles, or ‘auto’ |
'lefty' | Draw left-handed frame (dangerous) |
Examples
trplot(T, 'frame', 'A') trplot(T, ‘frame’, ‘A’, ‘color’, ‘b’) trplot(T1, ‘frame’, ‘A’, ‘text_opts’, {‘FontSize’, 10, ‘FontWeight’, ‘bold’}) trplot(T1, ‘labels’, ‘NOA’);
h = trplot(T, 'frame', 'A', 'color', 'b'); trplot(h, T2);
3D anaglyph plot
trplot(T, '3d');
Notes
- Multiple frames can be added using the HOLD command
- When animating a coordinate frame it is best to set the axis bounds initially.
- The ‘rviz’ option is equivalent to ‘rgb’, ‘notext’, ‘noarrow’, ‘thick’, 5.
- The ‘arrow’ option requires https://www.mathworks.com/matlabcentral/fileexchange/14056-arrow3