fix call to Ellipse, plus some formatting
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6f89bd8ddf
commit
6f365b330b
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@ -12,8 +12,8 @@ from mpl_toolkits.mplot3d import Axes3D # pylint: disable=unused-import
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import gtsam
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from gtsam import Marginals, Point2, Point3, Pose2, Pose3, Values
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# For translation between a scaling of the uncertainty ellipse and the
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# percentage of inliers see discussion in
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# For translation between a scaling of the uncertainty ellipse and the
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# percentage of inliers see discussion in
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# [PR 1067](https://github.com/borglab/gtsam/pull/1067)
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# and the notebook python/gtsam/notebooks/ellipses.ipynb (needs scipy).
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#
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@ -32,6 +32,7 @@ from gtsam import Marginals, Point2, Point3, Pose2, Pose3, Values
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# 2D 39.34693 86.46647 98.88910 99.96645 99.99963
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# 3D 19.87480 73.85359 97.07091 99.88660 99.99846
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def set_axes_equal(fignum: int) -> None:
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"""
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Make axes of 3D plot have equal scale so that spheres appear as spheres,
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@ -127,8 +128,7 @@ def plot_covariance_ellipse_3d(axes,
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axes.plot_surface(x, y, z, alpha=alpha, cmap='hot')
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def plot_covariance_ellipse_2d(axes,
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origin: Point2,
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def plot_covariance_ellipse_2d(axes, origin: Point2,
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covariance: np.ndarray) -> None:
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"""
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Plots a Gaussian as an uncertainty ellipse
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@ -154,7 +154,7 @@ def plot_covariance_ellipse_2d(axes,
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e1 = patches.Ellipse(origin,
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np.sqrt(w[0]) * 2 * k,
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np.sqrt(w[1]) * 2 * k,
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np.rad2deg(angle),
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angle=np.rad2deg(angle),
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fill=False)
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axes.add_patch(e1)
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@ -180,12 +180,13 @@ def plot_point2_on_axes(axes,
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if P is not None:
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plot_covariance_ellipse_2d(axes, point, P)
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def plot_point2(
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fignum: int,
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point: Point2,
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linespec: str,
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P: np.ndarray = None,
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axis_labels: Iterable[str] = ("X axis", "Y axis"),
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fignum: int,
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point: Point2,
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linespec: str,
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P: np.ndarray = None,
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axis_labels: Iterable[str] = ("X axis", "Y axis"),
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) -> plt.Figure:
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"""
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Plot a 2D point on given figure with given `linespec`.
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