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Merge pull request #1681 from borglab/fix-1675

release/4.3a0
Varun Agrawal 2023-12-07 17:01:20 -05:00 committed by GitHub
parent 36f773670a 6f365b330b
commit 9d70605d48
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 11 additions and 10 deletions
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7
python/gtsam/utils/plot.py
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@ -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)
@ -180,6 +180,7 @@ 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,