def calculate_ellipse_description(covariance, scale = <NUM_LIT>):
eigh_values, eigh_vectors = numpy.linalg.eigh(covariance)<EOL>order = eigh_values.argsort()[::-<NUM_LIT:1>]<EOL>values, vectors = eigh_values[order], eigh_vectors[order]<EOL>angle = numpy.degrees(numpy.arctan2(*vectors[:,<NUM_LIT:0>][::-<NUM_LIT:1>]))<EOL>if <NUM_LIT:0.0> in values:<EOL><INDENT>return <NUM_LIT:0>, <NUM_LIT:0>, <NUM_LIT:0><EOL><DEDENT>width, height = <NUM_LIT> * scale * numpy.sqrt(values)<EOL>return angle, width, height<EOL>
!
    @brief Calculates description of ellipse using covariance matrix.

    @param[in] covariance (numpy.array): Covariance matrix for which ellipse area should be calculated.
    @param[in] scale (float): Scale of the ellipse.

    @return (float, float, float) Return ellipse description: angle, width, height.