Plot Transformation Frame
SUMMARY
plot_transformation_frame logs a 4x4 transformation matrix as a labeled 3D frame to Rerun, without needing a TransformTree.
UNITS
transformation_matrix's translation is in meters. axis_len is also in meters, since it sets the length of the drawn axes in the same scene units.
The Skill
python
tfutils.plot_transformation_frame(T, frame_name="camera", axis_len=0.2)Parameter Configuration
| Parameter | Type | Default | Description |
|---|---|---|---|
transformation_matrix | np.ndarray | required | The (4, 4) transformation matrix defining the frame. |
frame_name | str | "frame" | Entity path name for the frame in Rerun. |
axis_len | float | 0.2 | Length of the displayed axes. |
Raises
| Exception | Condition |
|---|---|
ValueError | transformation_matrix is not a (4, 4) np.ndarray. |
TypeError | frame_name is not a string. |
TypeError | axis_len is not a number. |