Added a convenience function for plotting 2D points. #1042
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python/gtsam/utils/plot.py
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| if P is not None: | ||
| w, v = np.linalg.eig(P) | ||
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| # k = 2.296 |
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Kill this line? And maybe add a comment on what k is?
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I removed the commented out line and included a comment as to what k is (the "sigma" value for the uncertainty ellipse). I specifically chose 5 sigma as that is the same value used in the other functions, such as plot_pose2_on_axes.
Thanks!
…he K value signifies.
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@varunagrawal I'll let you merge |
| if P is not None: | ||
| w, v = np.linalg.eig(P) | ||
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| # "Sigma" value for drawing the uncertainty ellipse. 5 sigma corresponds |
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@magicbycalvin This is not correct in 2D, your values seem to be for the 1D case. See Geometric interpretation here and read this. Can you fix that in another PR?
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I will go ahead and look into that and update it. Depending on what I learn from the links and any additional reading I come across, the new PR may also have changes to the k values in some of the other functions as well.
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Just now seeing this discussion. I have since added an additional PR addressing the comments above.
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Actually, I added a note in #1063, and I think k=5 indeed corresponds to 99.9996% in 2D case. Check the note and let me know... That PR could be amended to accommodate a change if needed, if @gchenfc does not merge it first.
While I agree with 99.9996% (see #1067), that is not what was written in the comment:
to a 99.9999% confidence, i.e. assuming the estimation has been computed properly, there is a 99.999% chance that the true position
Included a convenience function for plotting 2D points in Python. The new code closely resembles the existing plotting functions available in
gtsam.utils.plot. Plotting a 2D point is useful for visualizing the location of landmarks.