pytransform3d.uncertainty.to_projected_ellipsoid¶
- pytransform3d.uncertainty.to_projected_ellipsoid(mean, cov, factor=1.96, n_steps=20)[source]¶
Compute projected error ellipsoid.
An error ellipsoid shows equiprobable points. This is a projection of a Gaussian distribution in exponential coordinate space to 3D.
- Parameters:
- meanarray-like, shape (4, 4)
Mean of pose distribution.
- covarray-like, shape (6, 6)
Covariance of pose distribution in exponential coordinate space.
- factorfloat, optional (default: 1.96)
Multiple of the standard deviations that should be plotted.
- n_stepsint, optional (default: 20)
Number of discrete steps plotted in each dimension.
- Returns:
- xarray, shape (n_steps, n_steps)
Coordinates on x-axis of grid on projected ellipsoid.
- yarray, shape (n_steps, n_steps)
Coordinates on y-axis of grid on projected ellipsoid.
- zarray, shape (n_steps, n_steps)
Coordinates on z-axis of grid on projected ellipsoid.
