From 2430917e03b42500446611b5c64a641d124c6991 Mon Sep 17 00:00:00 2001 From: Calvin Date: Tue, 18 Jan 2022 12:57:48 -0600 Subject: [PATCH] Removed a spurious commented line and included a comment about what the K value signifies. --- python/gtsam/utils/plot.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/python/gtsam/utils/plot.py b/python/gtsam/utils/plot.py index 32f07179b..a632b852a 100644 --- a/python/gtsam/utils/plot.py +++ b/python/gtsam/utils/plot.py @@ -125,7 +125,10 @@ def plot_point2_on_axes(axes, if P is not None: w, v = np.linalg.eig(P) - # k = 2.296 + # "Sigma" value for drawing the uncertainty ellipse. 5 sigma corresponds + # to a 99.9999% confidence, i.e. assuming the estimation has been + # computed properly, there is a 99.999% chance that the true position + # of the point will lie within the uncertainty ellipse. k = 5.0 angle = np.arctan2(v[1, 0], v[0, 0])