NuMRI/kalman/plot_roukf_parameters.py

122 lines
3.2 KiB
Python
Raw Normal View History

2020-11-23 13:41:11 +01:00
import matplotlib.pyplot as plt
import numpy as np
from itertools import cycle
import argparse
import pickle
def is_ipython():
''' Check if script is run in IPython.
Returns:
bool: True if IPython, else False '''
try:
get_ipython()
ipy = True
except NameError:
ipy = False
return ipy
def load_data(file):
''' Load numpy data from file.
Returns
dict: data dictionary
'''
dat = np.load(file)
return dat
def plot_parameters(dat, deparameterize=False, ref=None):
''' Plot the parameters in separate subplots with uncertainties.
Args:
dat (dict): data dictionary
deparameterize (bool): flag indicating if parameters should be
deparameterized via 2**theta
ref: reference value to be plotted with parameters
'''
if is_ipython():
plt.ion()
dim = dat['theta'].shape[-1]
fig1, axes = plt.subplots(1, dim)
if dim == 1:
axes = [axes]
axes[0].set_ylabel(r'$\theta$')
t = dat['times']
theta = dat['theta']
P = dat['P_theta']
col = cycle(['C0', 'C1', 'C0', 'C1'])
ls = cycle(['-', '-', '--', '--', ':', ':', '-.', '-.'])
col_ = next(col)
ls_ = next(ls)
for i, ax in enumerate(axes):
if dim == 1:
theta = theta.reshape((-1, 1))
P = P.reshape((-1, 1, 1))
if deparameterize:
ax.plot(t, 2**theta[:, i], '-', c=col_, ls=ls_)
else:
ax.plot(t, theta[:, i], '-', c=col_, ls=ls_)
ax.fill_between(t, theta[:, i] - np.sqrt(P[:, i, i]),
theta[:, i] + np.sqrt(P[:, i, i]), alpha=0.3,
color=col_)
ax.set_xlabel(r'time')
if ref:
if isinstance(ref, (int, float)):
ref = np.array(ref)
for ax, ri in zip(axes, ref):
if ri:
# if deparameterize:
ax.plot((t[0], t[-1]), (ri, )*2, '-.k', lw=2,
label=r'ground truth')
# else:
# ax.plot((t[0], t[-1]), (np.log2(ri), )*2, '-.k', lw=2,
# label=r'ground truth')
# print('theta_peak: \t {}'.format(theta[round(len(theta)/2), :]))
print('Final value theta: \t {}'.format(theta[-1, :]))
print('Deparameterized: 2^theta_end: \t {}'.format(2**theta[-1, :]))
if not is_ipython():
plt.show()
def get_parser():
parser = argparse.ArgumentParser(
description='''
Plot the time evolution of the ROUKF estimated parameters.
To execute in IPython::
%run plot_roukf_parameters.py [-d] [-r N [N \
...]] file
''',
formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument('file', type=str, help='path to ROUKF stats file')
parser.add_argument('-d', '--deparameterize', action='store_true',
help='deparameterize the parameters by 2**theta')
parser.add_argument('-r', '--ref', metavar='N', nargs='+', default=None,
type=float, help='Reference values for parameters')
return parser
if __name__ == '__main__':
args = get_parser().parse_args()
dat = load_data(args.file)
plot_parameters(dat, deparameterize=args.deparameterize, ref=args.ref)