Changed savefig parameters

.gitignore

@@ -1,6 +1,2 @@
-filter/__pycache__
-filter/*.pyc
-examples/__pycache__
-examples/*.pyc
-display/__pycache__
-display/*.pyc
+__pycache__
+*.pyc

README.md

@@ -15,5 +15,7 @@ $ pip install numpy matplotlib geopy
 From the root directory of this repository run
 
 ```bash
-$ python main.py
-```
+$ python -m kalman_filter
+```
+
+Which example runs can be configured in `kalman_filter/__main__.py`

kalman_filter/__main__.py

@@ -0,0 +1,16 @@
+from kalman_filter.examples import gps_measurement as gps
+from kalman_filter.examples import second_order_system as sos
+from kalman_filter.examples import second_order_system_animated as sos_anim
+from kalman_filter.examples import gps_two_sources_animated as gps_ts_anim
+from kalman_filter.filter.kalman_filter import LinearKalmanFilter
+
+
+def main():
+    #gps.run(LinearKalmanFilter)
+    #sos.run(LinearKalmanFilter)
+    sos_anim.run(LinearKalmanFilter)
+    #gps_ts_anim.run(LinearKalmanFilter)
+
+
+if __name__ == '__main__':
+    main()

kalman_filter/display/display_2d.py

@@ -1,6 +1,5 @@
 import matplotlib.pyplot as plt
 from matplotlib.animation import FuncAnimation
-import numpy as np
 
 
 class Displayer:
@@ -44,7 +43,7 @@ class Displayer:
         self._objects.append(self._circle_map[obj_name])
 
 
-    # Functions to be used in the animation callback
+    # Functions to be used in the callback
 
 
     def move_object(self, obj_name, position):
@@ -63,7 +62,7 @@ class Displayer:
         self._circle_map[obj_name].set_alpha(1)
 
 
-    # Start the animation
+    # Display functions
 
 
     def animate(self, n_steps, anim_callback):
@@ -78,4 +77,17 @@ class Displayer:
                             interval=self._frame_interval,
                             init_func=self.__init_animation,
                             blit=False)
-        plt.show()
+        plt.show()
+    
+
+    def save_frames(self, frames, callback, prefix="fig-", ext="png"):
+        n_steps = max(frames) + 1
+
+        self.__init_animation()
+
+        for t in range(1, n_steps):
+            callback(self, t)
+            self._ax.legend()
+
+            if t in frames:
+                self._fig.savefig(prefix + str(t) + "." + ext, transparent=True, bbox_inches='tight')

kalman_filter/examples/gps_measurement.py

@@ -56,7 +56,7 @@ def run(kalman_filter_t):
     # Read data
     
     x0_ground_truth = [48.993552704, 8.371038159]
-    x_measurement   = read_csv_lat_long('examples/res/29_03_2022_Unterreut_8_Karlsruhe.csv')
+    x_measurement   = read_csv_lat_long('kalman_filter/examples/res/29_03_2022_Unterreut_8_Karlsruhe.csv')
 
     
     # Simulation parameter definitions

kalman_filter/examples/gps_two_sources_animated.py

@@ -1,9 +1,6 @@
-import matplotlib.pyplot as plt
 import numpy as np
-from time import sleep
-from matplotlib.animation import FuncAnimation
 
-from display.dislpay_2d import Displayer
+from kalman_filter.display.display_2d import Displayer
 
 
 def run(kalman_filter_t):
@@ -78,4 +75,5 @@ def run(kalman_filter_t):
     disp.register_object("filtered", "blue")
     disp.register_object("ground_truth", "green")
 
-    disp.animate(n_steps=n_iterations, anim_callback=update)
+    #disp.animate(n_steps=n_iterations, anim_callback=update)
+    disp.save_frames([1, 20, 70], update)

kalman_filter/examples/second_order_system_animated.py

@@ -1,9 +1,6 @@
-import matplotlib.pyplot as plt
 import numpy as np
-from time import sleep
-from matplotlib.animation import FuncAnimation
 
-from display.dislpay_2d import Displayer
+from kalman_filter.display.display_2d import Displayer
 
 
 def run(kalman_filter_t):
@@ -55,7 +52,7 @@ def run(kalman_filter_t):
         disp.move_object("measurement", [x_measurement[:, 0][t], 0])
         disp.set_circle_radius("measurement", std_dev[0])
         disp.move_object("filtered", [x_kalman[:, 0][t], 0])
-        disp.set_circle_radius("filtered", P_kalman[:,0][t])
+        disp.set_circle_radius("filtered", np.sqrt(P_kalman[:,0][t]))
         disp.move_object("ground_truth", [x_ground_truth[:, 0][t], 0])
         disp.set_circle_radius("ground_truth", 0)
 

main.py

@@ -1,16 +0,0 @@
-from examples import gps_measurement as gps
-from examples import second_order_system as sos
-from examples import second_order_system_animated as sos_anim
-from examples import gps_two_sources_animated as gps_ts_anim
-from filter.kalman_filter import LinearKalmanFilter
-
-
-def main():
-    #gps.run(LinearKalmanFilter)
-    #sos.run(LinearKalmanFilter)
-    #sos_anim.run(LinearKalmanFilter)
-    gps_ts_anim.run(LinearKalmanFilter)
-
-
-if __name__ == '__main__':
-    main()