pyTarget.py 文件源码

def _plotCovarianceEllipse(self, eta2):
        from matplotlib.patches import Ellipse
        lambda_, _ = np.linalg.eig(self.kalmanFilter.S)
        ell = Ellipse(xy=(self.kalmanFilter.x_bar[0], self.kalmanFilter.x_bar[1]),
                      width=np.sqrt(lambda_[0]) * np.sqrt(eta2) * 2,
                      height=np.sqrt(lambda_[1]) * np.sqrt(eta2) * 2,
                      angle=np.rad2deg(np.arctan2(lambda_[1], lambda_[0])),
                      linewidth=2,
                      )
        ell.set_facecolor('none')
        ell.set_linestyle("dotted")
        ell.set_alpha(0.5)
        ax = plt.subplot(111)
        ax.add_artist(ell)