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fix call to Ellipse, plus some formatting

release/4.3a0
Varun Agrawal 2023-12-04 05:04:06 -05:00
parent 6f89bd8ddf
commit 6f365b330b
1 changed files with 11 additions and 10 deletions
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21
python/gtsam/utils/plot.py
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@ -12,8 +12,8 @@ from mpl_toolkits.mplot3d import Axes3D # pylint: disable=unused-import
import gtsam import gtsam
from gtsam import Marginals, Point2, Point3, Pose2, Pose3, Values from gtsam import Marginals, Point2, Point3, Pose2, Pose3, Values
# For translation between a scaling of the uncertainty ellipse and the # For translation between a scaling of the uncertainty ellipse and the
# percentage of inliers see discussion in # percentage of inliers see discussion in
# [PR 1067](https://github.com/borglab/gtsam/pull/1067) # [PR 1067](https://github.com/borglab/gtsam/pull/1067)
# and the notebook python/gtsam/notebooks/ellipses.ipynb (needs scipy). # 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 # 2D 39.34693 86.46647 98.88910 99.96645 99.99963
# 3D 19.87480 73.85359 97.07091 99.88660 99.99846 # 3D 19.87480 73.85359 97.07091 99.88660 99.99846
def set_axes_equal(fignum: int) -> None: def set_axes_equal(fignum: int) -> None:
""" """
Make axes of 3D plot have equal scale so that spheres appear as spheres, 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') axes.plot_surface(x, y, z, alpha=alpha, cmap='hot')
def plot_covariance_ellipse_2d(axes, def plot_covariance_ellipse_2d(axes, origin: Point2,
origin: Point2,
covariance: np.ndarray) -> None: covariance: np.ndarray) -> None:
""" """
Plots a Gaussian as an uncertainty ellipse Plots a Gaussian as an uncertainty ellipse
@ -154,7 +154,7 @@ def plot_covariance_ellipse_2d(axes,
e1 = patches.Ellipse(origin, e1 = patches.Ellipse(origin,
np.sqrt(w[0]) * 2 * k, np.sqrt(w[0]) * 2 * k,
np.sqrt(w[1]) * 2 * k, np.sqrt(w[1]) * 2 * k,
np.rad2deg(angle), angle=np.rad2deg(angle),
fill=False) fill=False)
axes.add_patch(e1) axes.add_patch(e1)
@ -180,12 +180,13 @@ def plot_point2_on_axes(axes,
if P is not None: if P is not None:
plot_covariance_ellipse_2d(axes, point, P) plot_covariance_ellipse_2d(axes, point, P)
def plot_point2( def plot_point2(
fignum: int, fignum: int,
point: Point2, point: Point2,
linespec: str, linespec: str,
P: np.ndarray = None, P: np.ndarray = None,
axis_labels: Iterable[str] = ("X axis", "Y axis"), axis_labels: Iterable[str] = ("X axis", "Y axis"),
) -> plt.Figure: ) -> plt.Figure:
""" """
Plot a 2D point on given figure with given `linespec`. Plot a 2D point on given figure with given `linespec`.