pytransform3d.uncertainty.plot_projected_ellipsoid

pytransform3d.uncertainty.plot_projected_ellipsoid(ax, mean, cov, factor=1.96, wireframe=True, n_steps=20, color=None, alpha=1.0)

Plots projected equiprobable ellipsoid in 3D.

An error ellipsoid shows equiprobable points. This is a projection of a Gaussian distribution in exponential coordinate space to 3D.

Parameters:

axaxis

Matplotlib axis.

meanarray-like, shape (4, 4)

Mean pose.

covarray-like, shape (6, 6)

Covariance in exponential coordinate space.

factorfloat, optional (default: 1.96)

Multiple of the standard deviations that should be plotted.

wireframebool, optional (default: True)

Plot wireframe of ellipsoid and surface otherwise.

n_stepsint, optional (default: 20)

Number of discrete steps plotted in each dimension.

colorstr, optional (default: None)

Color in which the equiprobably lines should be plotted.

alphafloat, optional (default: 1.0)

Alpha value for lines.

Returns:

axaxis

Matplotlib axis.