imgviz.plot_trajectory

imgviz.plot_trajectory(transforms, is_relative=False, mode='xz', style='b.', axis=True)

Plot the trajectory using transform matrices

Parameters:

• transforms (numpy.ndarray) – transform matrices with the shape of [N, 4, 4] where N is the # of poses.

• is_relative (bool) – True for relative poses. default: False.

• mode (str) – x and y axis of trajectory. default: ‘xz’ following kitti format.

• style (str) – style of ploting, default: ‘b.’

• axis (bool) – False to disable axis.

Returns:

dst – trajectory

Return type:

numpy.ndarray