code: def draw_absolute_grid(
      frame: np.ndarray,
      coord_transformations: CoordinatesTransformation,
      grid_size: int = 20,
      radius: int = 2,
      thickness: int = 1,
      color: ColorType = Color.black,
      polar: bool = False,
  ):
      """
      Draw a grid of points in absolute coordinates.
  
      Useful for debugging camera motion.
  
      The points are drawn as if the camera were in the center of a sphere and points are drawn in the intersection
      of latitude and longitude lines over the surface of the sphere.
  
      Parameters
      ----------
      frame : np.ndarray
          The OpenCV frame to draw on.
      coord_transformations : CoordinatesTransformation
          The coordinate transformation as returned by the [`MotionEstimator`][norfair.camera_motion.MotionEstimator]
      grid_size : int, optional
          How many points to draw.
      radius : int, optional
          Size of each point.
      thickness : int, optional
          Thickness of each point
      color : ColorType, optional
          Color of the points.
      polar : Bool, optional
          If True, the points on the first frame are drawn as if the camera were pointing to a pole (viewed from the center of the earth).
          By default, False is used which means the points are drawn as if the camera were pointing to the Equator.
      """
      h, w, _ = frame.shape
  
      # get absolute points grid
      points = _get_grid(grid_size, w, h, polar=polar)
  
      # transform the points to relative coordinates
      if coord_transformations is None:
          points_transformed = points
      else:
          points_transformed = coord_transformations.abs_to_rel(points)
  
      # filter points that are not visible
      visible_points = points_transformed[
          (points_transformed <= np.array([w, h])).all(axis=1)
          & (points_transformed >= 0).all(axis=1)
      ]
      for point in visible_points:
          Drawer.cross(
              frame,
              point.astype(int),
              radius=radius,
              thickness=thickness,
              color=color,
          )
  
imports: from functools import lru_cache
  import numpy
  from norfair.camera_motion import CoordinatesTransformation
  from .color import Color, ColorType
  from .drawer import Drawer
label_desc: Use image node_id 2 for calling a global function with example usage: draw_absolute_grid(frame, coord_transformations, grid_size, radius, thickness, color, polar) without return types