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Undo API changes

release/4.3a0
Varun Agrawal 2020-06-08 13:46:12 -05:00
parent 1c82ac345f
commit 7a089ba79f
1 changed files with 19 additions and 19 deletions
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38
cython/gtsam/utils/plot.py
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@ -59,7 +59,7 @@ def ellipsoid(xc, yc, zc, rx, ry, rz, n):
return x, y, z
def plot_covariance_ellipse_3d(axes, origin, covariance, scale=1, n=8, alpha=0.5):
def plot_covariance_ellipse_3d(axes, origin, P, scale=1, n=8, alpha=0.5):
"""
Plots a Gaussian as an uncertainty ellipse
@ -70,13 +70,13 @@ def plot_covariance_ellipse_3d(axes, origin, covariance, scale=1, n=8, alpha=0.5
Args:
axes (matplotlib.axes.Axes): Matplotlib axes.
origin (gtsam.Point3): The origin in the world frame.
covariance (numpy.ndarray): The marginal covariance matrix of the 3D point which will be represented as an ellipse.
P (numpy.ndarray): The marginal covariance matrix of the 3D point which will be represented as an ellipse.
scale (float): Scaling factor of the radii of the covariance ellipse.
n (int): Defines the granularity of the ellipse. Higher values indicate finer ellipses.
alpha (float): Transparency value for the plotted surface in the range [0, 1].
"""
k = 11.82
U, S, _ = np.linalg.svd(covariance)
U, S, _ = np.linalg.svd(P)
radii = k * np.sqrt(S)
radii = radii * scale
@ -152,7 +152,7 @@ def plot_pose2(fignum, pose, axis_length=0.1, covariance=None):
covariance=covariance)
def plot_point3_on_axes(axes, point, linespec, covariance=None):
def plot_point3_on_axes(axes, point, linespec, P=None):
"""
Plot a 3D point on given axis `axes` with given `linespec`.
@ -160,14 +160,14 @@ def plot_point3_on_axes(axes, point, linespec, covariance=None):
axes (matplotlib.axes.Axes): Matplotlib axes.
point (gtsam.Point3): The point to be plotted.
linespec (string): String representing formatting options for Matplotlib.
covariance (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
"""
axes.plot([point.x()], [point.y()], [point.z()], linespec)
if covariance is not None:
plot_covariance_ellipse_3d(axes, point.vector(), covariance)
if P is not None:
plot_covariance_ellipse_3d(axes, point.vector(), P)
def plot_point3(fignum, point, linespec, covariance=None):
def plot_point3(fignum, point, linespec, P=None):
"""
Plot a 3D point on given figure with given `linespec`.
@ -175,11 +175,11 @@ def plot_point3(fignum, point, linespec, covariance=None):
fignum (int): Integer representing the figure number to use for plotting.
point (gtsam.Point3): The point to be plotted.
linespec (string): String representing formatting options for Matplotlib.
covariance (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
"""
fig = plt.figure(fignum)
axes = fig.gca(projection='3d')
plot_point3_on_axes(axes, point, linespec, covariance)
plot_point3_on_axes(axes, point, linespec, P)
def plot_3d_points(fignum, values, linespec="g*", marginals=None):
@ -215,7 +215,7 @@ def plot_3d_points(fignum, values, linespec="g*", marginals=None):
# I guess it's not a Point3
def plot_pose3_on_axes(axes, pose, axis_length=0.1, covariance=None, scale=1):
def plot_pose3_on_axes(axes, pose, axis_length=0.1, P=None, scale=1):
"""
Plot a 3D pose on given axis `axes` with given `axis_length`.
@ -223,7 +223,7 @@ def plot_pose3_on_axes(axes, pose, axis_length=0.1, covariance=None, scale=1):
axes (matplotlib.axes.Axes): Matplotlib axes.
point (gtsam.Point3): The point to be plotted.
linespec (string): String representing formatting options for Matplotlib.
covariance (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
"""
# get rotation and translation (center)
gRp = pose.rotation().matrix() # rotation from pose to global
@ -243,15 +243,15 @@ def plot_pose3_on_axes(axes, pose, axis_length=0.1, covariance=None, scale=1):
axes.plot(line[:, 0], line[:, 1], line[:, 2], 'b-')
# plot the covariance
if covariance is not None:
if P is not None:
# covariance matrix in pose coordinate frame
pPp = covariance[3:6, 3:6]
pPp = P[3:6, 3:6]
# convert the covariance matrix to global coordinate frame
gPp = gRp @ pPp @ gRp.T
plot_covariance_ellipse_3d(axes, origin, gPp)
def plot_pose3(fignum, pose, axis_length=0.1, covariance=None):
def plot_pose3(fignum, pose, axis_length=0.1, P=None):
"""
Plot a 3D pose on given figure with given `axis_length`.
@ -259,12 +259,12 @@ def plot_pose3(fignum, pose, axis_length=0.1, covariance=None):
fignum (int): Integer representing the figure number to use for plotting.
pose (gtsam.Pose3): 3D pose to be plotted.
linespec (string): String representing formatting options for Matplotlib.
covariance (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation.
"""
# get figure object
fig = plt.figure(fignum)
axes = fig.gca(projection='3d')
plot_pose3_on_axes(axes, pose, covariance=covariance,
plot_pose3_on_axes(axes, pose, P=P,
axis_length=axis_length)
@ -303,7 +303,7 @@ def plot_trajectory(fignum, values, scale=1, marginals=None):
else:
covariance = None
plot_pose3(fignum, lastPose, covariance=covariance,
plot_pose3(fignum, lastPose, P=covariance,
axis_length=scale)
lastIndex = i
@ -318,7 +318,7 @@ def plot_trajectory(fignum, values, scale=1, marginals=None):
else:
covariance = None
plot_pose3(fignum, lastPose, covariance=covariance,
plot_pose3(fignum, lastPose, P=covariance,
axis_length=scale)
except: