CentralCamera.plot_point

CentralCamera.plot_point(P: ndarray | float | int | list[float | int] | tuple[float | int, ...], *fmt, return_artist: bool = False, objpose: SE3 | None = None, pose: SE3 | None = None, ax: Axes | None = None, **kwargs) → ndarray

Plot points on virtual image plane (base method)

Parameters:

• P (ndarray(3,), ndarray(3,N), or ndarray(2,), ndarray(2,N)) – 3D world point or points, or 2D image plane point or points

• objpose (SE3, optional) – transformation for the 3D points, defaults to None

• pose (SE3, optional) – pose of the camera, defaults to None

• ax (matplotlib.axes) – axes to plot into

• kwargs – additional arguments passed to plot

Returns:

Matplotlib line objects

Return type:

list of Line2d

3D world points are first projected to the image plane and then plotted on the camera’s virtual image plane. Points are organized as columns of the arrays.

Example:

>>> from machinevisiontoolbox import CentralCamera
>>> from spatialmath import SE3
>>> camera = CentralCamera.Default()
>>> camera.plot_point([0.2, 0.3, 2])
>>> camera.plot_point([0.2, 0.3, 2], 'r*')
>>> camera.plot_point([0.2, 0.3, 2], pose=SE3(0.1, 0, 0))

(Source code, png, hires.png, pdf)

Note

• Successive calls add items to the virtual image plane.

• This method is common to all CameraBase subclasses, but it invokes a camera-specific projection method.

Seealso:

plot_line2 plot_line3 plot_wireframe clf