Disable interactive plots for PDF.

nbconvert cannot output interactive plots to PDF. I wrote code
to remove all of the %matplotlib notebook magic, rerun the notebooks,
and then create the PDF.

.gitignore

@@ -12,4 +12,5 @@ book.pdf
 book6x9.pdf
 Kalman_and_Bayesian_Filters_in_Python6x9.pdf
 Kalman_and_Bayesian_Filters_in_Python.pdf
-book_files
+book_files
+tmp

code/mkf_internal.py

@@ -17,7 +17,6 @@ from __future__ import (absolute_import, division, print_function,
                         unicode_literals)
 
 import code.book_plots as bp
-from code.book_plots import interactive_plot
 import filterpy.stats as stats
 from filterpy.stats import plot_covariance_ellipse
 from matplotlib.patches import Ellipse
@@ -420,37 +419,36 @@ def plot_track(ps, actual, zs, cov, std_scale=1,
                xlabel='time', ylabel='position',
                title='Kalman Filter'):
 
-    with interactive_plot():
-        count = len(zs)
-        zs = np.asarray(zs)
+    count = len(zs)
+    zs = np.asarray(zs)
 
-        cov = np.asarray(cov)
-        std = std_scale*np.sqrt(cov[:,0,0])
-        std_top = np.minimum(actual+std, [count + 10])
-        std_btm = np.maximum(actual-std, [-50])
+    cov = np.asarray(cov)
+    std = std_scale*np.sqrt(cov[:,0,0])
+    std_top = np.minimum(actual+std, [count + 10])
+    std_btm = np.maximum(actual-std, [-50])
 
-        std_top = actual + std
-        std_btm = actual - std
+    std_top = actual + std
+    std_btm = actual - std
 
-        bp.plot_track(actual,c='k')
-        bp.plot_measurements(range(1, count + 1), zs)
-        bp.plot_filter(range(1, count + 1), ps)
+    bp.plot_track(actual,c='k')
+    bp.plot_measurements(range(1, count + 1), zs)
+    bp.plot_filter(range(1, count + 1), ps)
 
-        plt.plot(std_top, linestyle=':', color='k', lw=1, alpha=0.4)
-        plt.plot(std_btm, linestyle=':', color='k', lw=1, alpha=0.4)
-        plt.fill_between(range(len(std_top)), std_top, std_btm,
-                         facecolor='yellow', alpha=0.2, interpolate=True)
-        plt.legend(loc=4)
-        plt.xlabel(xlabel)
-        plt.ylabel(ylabel)
-        if y_lim is not None:
-            plt.ylim(y_lim)
-        else:
-            plt.ylim((-50, count + 10))
+    plt.plot(std_top, linestyle=':', color='k', lw=1, alpha=0.4)
+    plt.plot(std_btm, linestyle=':', color='k', lw=1, alpha=0.4)
+    plt.fill_between(range(len(std_top)), std_top, std_btm,
+                     facecolor='yellow', alpha=0.2, interpolate=True)
+    plt.legend(loc=4)
+    plt.xlabel(xlabel)
+    plt.ylabel(ylabel)
+    if y_lim is not None:
+        plt.ylim(y_lim)
+    else:
+        plt.ylim((-50, count + 10))
 
-        plt.xlim((0,count))
-        plt.title(title)
-        plt.show()
+    plt.xlim((0,count))
+    plt.title(title)
+    plt.show()
 
     if plot_P:
         ax = plt.subplot(121)

pdf/build_book.bat

@@ -1,3 +1,5 @@
+rem call run_notebooks
+rem cd ..
 ipython merge_book.py
 
 jupyter nbconvert --to latex --template book book.ipynb

pdf/merge_book.py

@@ -45,25 +45,25 @@ if __name__ == '__main__':
             ['../04-One-Dimensional-Kalman-Filters.ipynb'])'''
 
         merge_notebooks(f,
-            ['../00-Preface.ipynb',
-             '../01-g-h-filter.ipynb',
-             '../02-Discrete-Bayes.ipynb',
-             '../03-Gaussians.ipynb',
-             '../04-One-Dimensional-Kalman-Filters.ipynb',
-             '../05-Multivariate-Gaussians.ipynb',
-             '../06-Multivariate-Kalman-Filters.ipynb',
-             '../07-Kalman-Filter-Math.ipynb',
-             '../08-Designing-Kalman-Filters.ipynb',
-             '../09-Nonlinear-Filtering.ipynb',
-             '../10-Unscented-Kalman-Filter.ipynb',
-             '../11-Extended-Kalman-Filters.ipynb',
-             '../12-Particle-Filters.ipynb',
-             '../13-Smoothing.ipynb',
-             '../14-Adaptive-Filtering.ipynb',
-             '../Appendix-A-Installation.ipynb',
-             '../Appendix-B-Symbols-and-Notations.ipynb',
-             '../Appendix-D-HInfinity-Filters.ipynb',
-             '../Appendix-E-Ensemble-Kalman-Filters.ipynb'])
+            ['./tmp/00-Preface.ipynb',
+             './tmp/01-g-h-filter.ipynb',
+             './tmp/02-Discrete-Bayes.ipynb',
+             './tmp/03-Gaussians.ipynb',
+             './tmp/04-One-Dimensional-Kalman-Filters.ipynb',
+             './tmp/05-Multivariate-Gaussians.ipynb',
+             './tmp/06-Multivariate-Kalman-Filters.ipynb',
+             './tmp/07-Kalman-Filter-Math.ipynb',
+             './tmp/08-Designing-Kalman-Filters.ipynb',
+             './tmp/09-Nonlinear-Filtering.ipynb',
+             './tmp/10-Unscented-Kalman-Filter.ipynb',
+             './tmp/11-Extended-Kalman-Filters.ipynb',
+             './tmp/12-Particle-Filters.ipynb',
+             './tmp/13-Smoothing.ipynb',
+             './tmp/14-Adaptive-Filtering.ipynb',
+             './tmp/Appendix-A-Installation.ipynb',
+             './tmp/Appendix-B-Symbols-and-Notations.ipynb',
+             './tmp/Appendix-D-HInfinity-Filters.ipynb',
+             './tmp/Appendix-E-Ensemble-Kalman-Filters.ipynb'])
 
 
     #remove text printed for matplotlib charts

pdf/rm_notebook.py

@@ -0,0 +1,15 @@
+import os, sys
+print(sys.argv[1])
+infile = open(sys.argv[1], encoding="utf8")
+data = infile.read()
+infile.close()
+outfile = open(sys.argv[1], "w", encoding="utf8")
+
+data = data.replace("%matplotlib notebook", "#%matplotlib notebook")
+data = data.replace("%matplotlib inline #reset", "#%matplotlib inline #reset")
+data = data.replace("time.sleep", "#time.sleep")
+data = data.replace("fig.canvas.draw", "#fig.canvas.draw")
+data = data.replace("plt.gcf().canvas.draw", "#plt.gcf().canvas.draw")
+
+outfile.write(data)
+outfile.close()

pdf/run_notebooks.bat

@@ -0,0 +1,10 @@
+mkdir tmp
+REM copy ..\*.ipynb .\tmp
+REM copy ..\*.py .\tmp
+REM cp -r ..\code\ .\tmp\code\
+
+cd tmp
+
+REM forfiles /m *.ipynb /c "cmd /c ipython ..\rm_notebook.py @file"
+REM forfiles /m *.ipynb /c "cmd /c jupyter nbconvert --to notebook --execute @file --output @file"
+