A lightweight Python library for visualizing camera poses, fields of view, coordinate axes, and geometric primitives in 3D using Matplotlib.
pip install git+https://github.com/cheind/plotgeom.git
This script renders the teaser image above.
import numpy as np import matplotlib.pyplot as plt # Main import import plotgeom as pg np.random.seed(112) # Create figure fig = plt.figure(figsize=(10, 10)) # Helper to create 3d axis ax = pg.make_ax(fig=fig, proj="persp") # Plot world axes pg.plot_axes( ax=ax, rt=np.eye(4), scale=0.05, name="world", ) # Plot a plane with limits pg.plot_plane( ax=ax, rt=pg.random_pose(), extent_xy=(0.2, 0.1), name="pi", draw_normal=True, normal_scale=0.05, ) # Plot a ray pg.plot_ray( ax=ax, origin=[0, 0, 0], dir=[0.1, 0.1, 0], linestyle="--", linewidth=1.0, name="ray", ) # Helper function to produce camera params def random_camera_params(): pose = pg.random_pose() K = np.array([[800, 0, 320], [0, 800, 240], [0, 0, 1]]) shape = (480, 640) hfov, vfov = pg.fov_from_K(K, shape) image = pg.generate_chessboard_image((8, 6), square_size=80) image[:80, :80] = (0, 1, 1) return pose, (hfov, vfov), image # Plot camera field of view pose, (hfov, vfov), image = random_camera_params() pg.plot_camera_fov( ax=ax, rt=pose, hfov=hfov, vfov=vfov, scale=0.1, ) # Add an image to far plane pg.plot_camera_image( ax=ax, rt=pose, hfov=hfov, vfov=vfov, image=image, scale=0.1, tex_res=(32, 32), ) # Mark camera origin pg.plot_axes(ax, pose, scale=0.05, name="a camera") # Final preps pg.set_axes_equal(ax) pg.style_ax(ax) # Show plt.show()