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