3D graphics

3d graphical primitives which build on Matplotlib plot_wireframe and plot_surface.

plot_cone(radius, height, resolution=50, flip=False, centre=(0, 0, 0), ends=False, pose=None, ax=None, filled=False, **kwargs)

Plot a cone using matplotlib

Parameters:

• radius (float) – radius of cone at open end

• height (float) – height of cone in the z-direction

• resolution (Optional[int]) – number of points on circumferece, defaults to 50

• flip (Optional[bool]) – cone faces upward, defaults to False

• ends (Optional[bool]) – add a surface for the base of the cone

• pose (Optional[ndarray[Tuple[ResizeEventType[4], ResizeEventType[4]], dtype[floating]]]) – pose of cone, defaults to None

• ax (Optional[Axes]) – axes to draw into, defaults to None

• filled (Optional[bool]) – draw filled polygon, else wireframe, defaults to False

• kwargs – arguments passed to plot_wireframe or plot_surface

Returns:

matplotlib objects

Return type:

List[Artist]

The axis of the cone is parallel to the z-axis and it is drawn pointing down. The point is at z=0 and the open end at z= height. If flip is True then the cone faces upwards, the point is at z= height and the open end at z=0.

The cylinder can be positioned by setting centre, or positioned and orientated by setting pose.

Example:

>>> plot_cone(radius=1, height=2)

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

Seealso:

plot_surface(), plot_wireframe()

plot_cuboid(sides=(1, 1, 1), centre=(0, 0, 0), pose=None, ax=None, filled=False, **kwargs)

Plot a cuboid (3D box) using matplotlib

Parameters:

• sides (Union[List[float], Tuple[float, float, float], ndarray[Tuple[ResizeEventType[3]], dtype[floating]]]) – side lengths, defaults to 1

• centre (Union[List[float], Tuple[float, float, float], ndarray[Tuple[ResizeEventType[3]], dtype[floating]], None]) – centre of box, defaults to (0, 0, 0)

• pose (Optional[ndarray[Tuple[ResizeEventType[4], ResizeEventType[4]], dtype[floating]]]) – pose of sphere, defaults to None

• ax (Optional[Axes]) – axes to draw into, defaults to None

• filled (Optional[bool]) – draw filled polygon, else wireframe, defaults to False

• kwargs – arguments passed to plot_wireframe or plot_surface

Returns:

matplotlib collection

Return type:

List[Artist]

Example:

>>> plot_cone(radius=1, height=2)

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

Seealso:

plot_surface(), plot_wireframe()

plot_cylinder(radius, height, resolution=50, centre=(0, 0, 0), ends=False, pose=None, ax=None, filled=False, **kwargs)

Plot a cylinder using matplotlib

Parameters:

• radius (float) – radius of cylinder

• height (Union[float, List[float], Tuple[float, float], ndarray[Tuple[ResizeEventType[2]], dtype[floating]]]) – height of cylinder in the z-direction

• resolution (Optional[int]) – number of points on circumference, defaults to 50

• centre (Union[List[float], Tuple[float, float, float], ndarray[Tuple[ResizeEventType[3]], dtype[floating]], None]) – position of centre

• pose (Optional[ndarray[Tuple[ResizeEventType[4], ResizeEventType[4]], dtype[floating]]]) – pose of cylinder, defaults to None

• ax (Axes3D, optional) – axes to draw into, defaults to None

• filled (bool, optional) – draw filled polygon, else wireframe, defaults to False

• kwargs – arguments passed to plot_wireframe or plot_surface

Returns:

matplotlib objects

Return type:

List[Artist]

The axis of the cylinder is parallel to the z-axis and extends from z=0 to z=height, or z=height[0] to z=height[1].

The cylinder can be positioned by setting centre, or positioned and orientated by setting pose.

Example:

>>> plot_cylinder(radius=1, height=(1,3))

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

Seealso:

plot_surface(), plot_wireframe()

plot_ellipsoid(E, centre=(0, 0, 0), scale=1, confidence=None, resolution=40, inverted=False, ax=None, **kwargs)

Draw an ellipsoid using matplotlib

Parameters:

• E (ndarray[Tuple[ResizeEventType[3], ResizeEventType[3]], dtype[floating]]) – ellipsoid

• centre (Union[List[float], Tuple[float, float, float], ndarray[Tuple[ResizeEventType[3]], dtype[floating]], None]) – [description], defaults to (0,0,0)

• scale (Optional[float])

• confidence (Optional[float]) – confidence interval, range 0 to 1

• resolution (Optional[int]) – number of points on circumferece, defaults to 40

• inverted (Optional[bool]) – \(E^{-1}\) rather than \(E\) provided, defaults to False

• ax (Optional[Axes]) – [description], defaults to None

• wireframe (bool, optional) – [description], defaults to False

• stride (int, optional) – [description], defaults to 1

Return type:

List[Artist]

plot_ellipsoid(E) draws the ellipsoid defined by \(x^T \mat{E} x = 0\) on the current plot.

Example:

>>> plot_ellipsoid(np.diag([1, 2, 3]), [1, 1, 0], color="r", resolution=10); # draw red ellipsoid

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

Note

• If a confidence interval is given then E is interpretted as a covariance matrix and the ellipse size is computed using an inverse chi-squared function.

Seealso:

plot_surface(), plot_wireframe()

plot_sphere(radius, centre=(0, 0, 0), pose=None, resolution=50, ax=None, **kwargs)

Plot a sphere using matplotlib

Parameters:

• centre (Union[List[float], Tuple[float, float, float], ndarray[Tuple[ResizeEventType[3]], dtype[floating]], None]) – centre of sphere, defaults to (0, 0, 0)

• radius (float) – radius of sphere, defaults to 1

• resolution (Optional[int]) – number of points on circumferece, defaults to 50

• pose (Optional[ndarray[Tuple[ResizeEventType[4], ResizeEventType[4]], dtype[floating]]]) – pose of sphere, defaults to None

• ax (Optional[Axes]) – axes to draw into, defaults to None

• filled (bool, optional) – draw filled polygon, else wireframe, defaults to False

• kwargs – arguments passed to plot_wireframe or plot_surface

Returns:

matplotlib collection

Return type:

List[Artist]

Plot one or more spheres. If centre is a 3xN array, then each column is taken as the centre of a sphere. All spheres have the same radius, color etc.

Example:

>>> from spatialmath.base import plot_sphere
>>> plot_sphere(radius=1, color="r", resolution=10)   # red sphere wireframe
>>> plot_sphere(radius=1, centre=(1,1,1), filled=True, facecolor='b')

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

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

Seealso:

plot_surface(), plot_wireframe()

plotvol3(dim=None, ax=None, equal=True, grid=False, labels=True, projection='ortho', new=False)

Create 3D plot volume

Parameters:

• ax (Optional[Axes]) – axes of initializer, defaults to new subplot

• equal (Optional[bool]) – set aspect ratio to 1:1:1, default False

Returns:

initialized axes

Return type:

Axes3D

Initialize axes with dimensions given by dim which can be:

input	xrange	yrange	zrange
A (scalar)	-A:A	-A:A	-A:A
[A, B]	A:B	A:B	A:B
[A, B, C, D, E, F]	A:B	C:D	E:F

Seealso:

plotvol2(), expand_dims()