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)