Python 如何在OpenCv aruco跟踪程序中添加绘图

我制作了一个简单的程序，可以检测和跟踪阿鲁科标记。它可以显示标记的坐标（tvec）。我的目标是使用.subplot函数生成一个具有x、y、z坐标的实时图形。我想在新窗口中显示此绘图。我可以在我的程序中制作它，还是我必须制作另一个

我很乐意听取任何意见或建议

import numpy as np
import cv2
import cv2.aruco as aruco


camera_matrix = np.loadtxt('/home/maciej/PycharmProjects/Aruco_Project/cameraMatrix.txt', delimiter=',')
camera_distortion = np.loadtxt('/home/maciej/PycharmProjects/Aruco_Project/cameraDistortion.txt', delimiter=',')
font = cv2.FONT_HERSHEY_PLAIN

aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_ARUCO_ORIGINAL)
parameters = aruco.DetectorParameters_create()

cap = cv2.VideoCapture(0)

cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)

while True:
    ret, frame = cap.read()

    # operations on the frame
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

    # set dictionary size depending on the aruco marker selected
    aruco_dict = aruco.Dictionary_get(aruco.DICT_ARUCO_ORIGINAL)

    # detector parameters can be set here (List of detection parameters[3])
    parameters = aruco.DetectorParameters_create()

    # lists of ids and the corners belonging to each id
    corners, ids, rejectedImgPoints = aruco.detectMarkers(image=gray, dictionary=aruco_dict, parameters=parameters, cameraMatrix=camera_matrix, distCoeff=camera_distortion)

    # font for displaying text (below)
    font = cv2.FONT_HERSHEY_SIMPLEX

    # check if the ids list is not empty
    # if no check is added the code will crash
    if np.all(ids is not None):

        # estimate pose of each marker and return the values
        # rvet and tvec-different from camera coefficients
        rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners, 0.1, camera_matrix, camera_distortion)
        # (rvec-tvec).any() # get rid of that nasty numpy value array error

        for i in range(0, ids.size):
            # draw axis for the aruco markers
            aruco.drawAxis(frame, camera_matrix, camera_distortion, rvec[i], tvec[i], 0.1)

        # draw a square around the markers
        aruco.drawDetectedMarkers(frame, corners)

        id_marker = str(ids[0][0])

        cv2.putText(frame, "Id: " + id_marker, (0, 70), font, 1, (0, 255, 0), 2, cv2.LINE_AA)

        cv2.putText(frame, "x=%.1f   y=%.1f  z=%.1f" % ((tvec[0][0][0] * 100), (tvec[0][0][1] * 100), (tvec[0][0][2] * 100)), (0, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2, cv2.LINE_AA)

    else:
        # code to show 'No Ids' when no markers are found
        cv2.putText(frame, "No Ids", (0, 64), font, 1, (0, 255, 0), 2, cv2.LINE_AA)

    # display the resulting frame
    cv2.imshow('frame', frame)

    if cv2.waitKey(1) == 27:
        break

# When everything done, release the capture

cap.release()
cv2.destroyAllWindows()