code: def draw_coordinate_frame(camera_intrinsic, pose_world2camera, dot):
      """Draw coordinate system frame."""
      print(dot)
  
      width = camera_intrinsic[0, 2] * 2.0
      height = camera_intrinsic[1, 2] * 2.0
  
      plt.plot(
          [0, width], [height / 4.0 * 3.0, height / 4.0 * 3.0], "g--"
      )
      plt.plot([width / 2.0, width / 2.0], [0.0, height], "g--")
  
      camera_intrinsic = np.reshape(camera_intrinsic, [3, 3])
      pose_world2camera = np.reshape(pose_world2camera, [3, 4])
      frame = np.array(
          [
              [0, 0, 0, 1],
              [0.1, 0, 0, 1],
              [0, 0.1, 0, 1],
              [0, 0, 0.1, 1],
          ],
          dtype=np.float32,
      ).T  # Shape: (4, 4)
      projected_frame = camera_intrinsic @ pose_world2camera @ frame
      projected_frame = projected_frame[0:2, :] / projected_frame[2, :]
      plt.plot(
          projected_frame[0, [0, 1]], projected_frame[1, [0, 1]], "r-"
      )
      plt.plot(
          projected_frame[0, [0, 2]], projected_frame[1, [0, 2]], "g-"
      )
      plt.plot(
          projected_frame[0, [0, 3]], projected_frame[1, [0, 3]], "b-"
      )
  
      dot_proj = (
          camera_intrinsic
          @ pose_world2camera
          @ [dot[0, 0], dot[0, 1], dot[0, 2], 1.0]
      )
      dot_proj /= dot_proj[2]
      print(dot_proj)
      plt.plot(dot_proj[0], dot_proj[1], "y*")
  
imports: import os
  import pickle
  import re
  import matplotlib.pyplot
  import numpy
  import tensorflow
  from tensorflow_graphics.projects.points_to_3Dobjects.utils import tf_utils
  from google3.pyglib import gfile
label_desc: Use image node_id 4 for calling a global function with example usage: draw_coordinate_frame(camera_intrinsic, pose_world2camera, dot) without return types