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add more missing type hints

release/4.3a0
John Lambert 2021-08-12 08:11:34 -04:00 committed by GitHub
parent 68794468f2
commit c0ae0ccd68
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 20 additions and 10 deletions
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30
python/gtsam/utils/plot.py
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@ -64,7 +64,7 @@ def ellipsoid(
def plot_covariance_ellipse_3d( def plot_covariance_ellipse_3d(
axes, origin: Point3, P, scale: float = 1, n: int = 8, alpha: float = 0.5 axes, origin: Point3, P: np.ndarray, scale: float = 1, n: int = 8, alpha: float = 0.5
) -> None: ) -> None:
""" """
Plots a Gaussian as an uncertainty ellipse Plots a Gaussian as an uncertainty ellipse
@ -76,7 +76,7 @@ def plot_covariance_ellipse_3d(
Args: Args:
axes (matplotlib.axes.Axes): Matplotlib axes. axes (matplotlib.axes.Axes): Matplotlib axes.
origin: The origin in the world frame. origin: The origin in the world frame.
P (numpy.ndarray): The marginal covariance matrix of the 3D point P: The marginal covariance matrix of the 3D point
which will be represented as an ellipse. which will be represented as an ellipse.
scale: Scaling factor of the radii of the covariance ellipse. scale: Scaling factor of the radii of the covariance ellipse.
n: Defines the granularity of the ellipse. Higher values indicate finer ellipses. n: Defines the granularity of the ellipse. Higher values indicate finer ellipses.
@ -190,8 +190,13 @@ def plot_point3_on_axes(axes, point, linespec, P=None):
plot_covariance_ellipse_3d(axes, point, P) plot_covariance_ellipse_3d(axes, point, P)
def plot_point3(fignum: int, point: Point3, linespec: str, P: np.ndarray = None, def plot_point3(
axis_labels: Iterable[str] = ('X axis', 'Y axis', 'Z axis')) -> plt.Figure: fignum: int,
point: Point3,
linespec: str,
P: np.ndarray = None,
axis_labels: Iterable[str] = ("X axis", "Y axis", "Z axis"),
) -> plt.Figure:
""" """
Plot a 3D point on given figure with given `linespec`. Plot a 3D point on given figure with given `linespec`.
@ -294,17 +299,22 @@ def plot_pose3_on_axes(axes, pose, axis_length=0.1, P=None, scale=1):
plot_covariance_ellipse_3d(axes, origin, gPp) plot_covariance_ellipse_3d(axes, origin, gPp)
def plot_pose3(fignum, pose, axis_length=0.1, P=None, def plot_pose3(
axis_labels=('X axis', 'Y axis', 'Z axis')): fignum: int,
pose: Pose3,
axis_length: float = 0.1,
P: np.ndarray = None,
axis_labels: Iterable[str] = ("X axis", "Y axis", "Z axis"),
) -> plt.Figure:
""" """
Plot a 3D pose on given figure with given `axis_length`. Plot a 3D pose on given figure with given `axis_length`.
Args: Args:
fignum (int): Integer representing the figure number to use for plotting. fignum: Integer representing the figure number to use for plotting.
pose (gtsam.Pose3): 3D pose to be plotted. pose (gtsam.Pose3): 3D pose to be plotted.
linespec (string): String representing formatting options for Matplotlib. axis_length:
P (numpy.ndarray): Marginal covariance matrix to plot the uncertainty of the estimation. P: Marginal covariance matrix to plot the uncertainty of the estimation.
axis_labels (iterable[string]): List of axis labels to set. axis_labels: List of axis labels to set.
Returns: Returns:
fig: The matplotlib figure. fig: The matplotlib figure.