Plotting

Requires the plot extra: pip install kalman-py[plot].

Plotting helpers (requires the plot extra: pip install kalman-py[plot]).

plot_estimates

plot_estimates(
    result: Any,
    truth: ArrayLike | None = None,
    states: Sequence[int] | None = None,
    labels: Sequence[str] | None = None,
    times: ArrayLike | None = None,
    sigmas: float = 2.0,
    axes: Sequence[Axes] | None = None,
) -> list[Axes]

Plot each state's estimate with a ±sigmas standard-deviation band, and the truth if given, one subplot per state.

result is anything with means (T, n) and covs (T, n, n): a filter or smoother result from either backend.

plot_consistency

plot_consistency(
    check: ConsistencyCheck,
    name: str = "NEES",
    times: ArrayLike | None = None,
    ax: Axes | None = None,
) -> Axes

Plot the per-step average NIS or NEES against its chi-squared bounds.