From e524e2806b6a341053a7ab4a425a5fe0a4afe72e Mon Sep 17 00:00:00 2001 From: Calvin Date: Fri, 28 Jan 2022 14:16:30 -0600 Subject: [PATCH] Updated comments to reflect standard deviations instead of variances in the discussions regarding the values for k. --- python/gtsam/utils/plot.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/python/gtsam/utils/plot.py b/python/gtsam/utils/plot.py index 820cefb7c..f409968a8 100644 --- a/python/gtsam/utils/plot.py +++ b/python/gtsam/utils/plot.py @@ -76,8 +76,8 @@ def plot_covariance_ellipse_3d(axes, Based on Maybeck Vol 1, page 366 For the 3D case: - k = 3.527 corresponds to 1 std, 68.26% of all probability - k = 14.157 corresponds to 3 std, 99.74% of all probability + k = 1.878 corresponds to 1 std, 68.26% of all probability + k = 3.763 corresponds to 3 std, 99.74% of all probability We choose k = 5 which corresponds to 99.99846% of all probability in 3D @@ -123,8 +123,8 @@ def plot_point2_on_axes(axes, Based on Stochastic Models, Estimation, and Control Vol 1 by Maybeck, page 366 For the 2D case: - k = 2.296 corresponds to 1 std, 68.26% of all probability - k = 11.820 corresponds to 3 std, 99.74% of all probability + k = 1.515 corresponds to 1 std, 68.26% of all probability + k = 3.438 corresponds to 3 std, 99.74% of all probability We choose k = 5 which corresponds to 99.99963% of all probability for 2D. @@ -193,8 +193,8 @@ def plot_pose2_on_axes(axes, Based on Stochastic Models, Estimation, and Control Vol 1 by Maybeck, page 366 For the 2D case: - k = 2.296 corresponds to 1 std, 68.26% of all probability - k = 11.820 corresponds to 3 std, 99.74% of all probability + k = 1.515 corresponds to 1 std, 68.26% of all probability + k = 3.438 corresponds to 3 std, 99.74% of all probability We choose k = 5 which corresponds to 99.99963% of all probability for 2D.