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Fix Pose2 plot

release/4.3a0
Fan Jiang 2020-07-27 11:17:06 -04:00
parent 48b0c845dc
commit 128db80fec
1 changed files with 2 additions and 3 deletions
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5
python/gtsam_py/python/utils/plot.py
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@ -109,7 +109,7 @@ def plot_pose2_on_axes(axes, pose, axis_length=0.1, covariance=None):
# get rotation and translation (center)
gRp = pose.rotation().matrix() # rotation from pose to global
t = pose.translation()
origin = np.array([t.x(), t.y()])
origin = np.array(t)
# draw the camera axes
x_axis = origin + gRp[:, 0] * axis_length
@ -155,7 +155,6 @@ def plot_pose2(fignum, pose, axis_length=0.1, covariance=None,
axes.set_xlabel(axis_labels[0])
axes.set_ylabel(axis_labels[1])
axes.set_zlabel(axis_labels[2])
return fig
@ -170,7 +169,7 @@ def plot_point3_on_axes(axes, point, linespec, P=None):
linespec (string): String representing formatting options for Matplotlib.
P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
"""
axes.plot([point.x()], [point.y()], [point.z()], linespec)
axes.plot([point[0]], [point[1]], [point[2]], linespec)
if P is not None:
plot_covariance_ellipse_3d(axes, point, P)