3d288d60d6
problems when trying to import files from the code subdirectory. I also tried to rearange some code so that book_format does not need to be imported if you are not running in a Jupyter Notebook.
128 lines
4.0 KiB
Python
128 lines
4.0 KiB
Python
# -*- coding: utf-8 -*-
|
|
|
|
"""Copyright 2015 Roger R Labbe Jr.
|
|
|
|
|
|
Code supporting the book
|
|
|
|
Kalman and Bayesian Filters in Python
|
|
https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python
|
|
|
|
|
|
This is licensed under an MIT license. See the LICENSE.txt file
|
|
for more information.
|
|
"""
|
|
|
|
from __future__ import (absolute_import, division, print_function,
|
|
unicode_literals)
|
|
|
|
from contextlib import contextmanager
|
|
from IPython.core.display import HTML
|
|
import json
|
|
import matplotlib
|
|
import matplotlib.pylab as pylab
|
|
import matplotlib.pyplot as plt
|
|
import numpy as np
|
|
import os.path
|
|
import sys
|
|
import warnings
|
|
from kf_book.book_plots import set_figsize, reset_axis
|
|
|
|
# version 1.4.3 of matplotlib has a bug that makes
|
|
# it issue a spurious warning on every plot that
|
|
# clutters the notebook output
|
|
if matplotlib.__version__ == '1.4.3':
|
|
warnings.simplefilter(action="ignore", category=FutureWarning)
|
|
|
|
np.set_printoptions(precision=3)
|
|
|
|
def test_filterpy_version():
|
|
|
|
import filterpy
|
|
from distutils.version import LooseVersion
|
|
|
|
v = filterpy.__version__
|
|
min_version = "0.1.2"
|
|
if LooseVersion(v) < LooseVersion(min_version):
|
|
raise Exception("Minimum FilterPy version supported is {}.\n"
|
|
"Please install a more recent version.\n"
|
|
" ex: pip install filterpy --upgrade".format(
|
|
min_version))
|
|
|
|
|
|
# ensure that we have the correct filterpy loaded. This is
|
|
# called when this module is imported at the top of each book
|
|
# chapter so the reader can see that they need to update FilterPy.
|
|
test_filterpy_version()
|
|
|
|
pylab.rcParams['figure.max_open_warning'] = 50
|
|
|
|
|
|
|
|
|
|
@contextmanager
|
|
def numpy_precision(precision):
|
|
old = np.get_printoptions()['precision']
|
|
np.set_printoptions(precision=precision)
|
|
yield
|
|
np.set_printoptions(old)
|
|
|
|
@contextmanager
|
|
def printoptions(*args, **kwargs):
|
|
original = np.get_printoptions()
|
|
np.set_printoptions(*args, **kwargs)
|
|
yield
|
|
np.set_printoptions(**original)
|
|
|
|
def _decode_list(data):
|
|
rv = []
|
|
for item in data:
|
|
if isinstance(item, unicode):
|
|
item = item.encode('utf-8')
|
|
elif isinstance(item, list):
|
|
item = _decode_list(item)
|
|
elif isinstance(item, dict):
|
|
item = _decode_dict(item)
|
|
rv.append(item)
|
|
return rv
|
|
|
|
def _decode_dict(data):
|
|
rv = {}
|
|
for key, value in data.iteritems():
|
|
if isinstance(key, unicode):
|
|
key = key.encode('utf-8')
|
|
if isinstance(value, unicode):
|
|
value = value.encode('utf-8')
|
|
elif isinstance(value, list):
|
|
value = _decode_list(value)
|
|
elif isinstance(value, dict):
|
|
value = _decode_dict(value)
|
|
rv[key] = value
|
|
return rv
|
|
|
|
|
|
def load_style(directory = '.', name='kf_book/custom.css'):
|
|
version = [int(version_no) for version_no in matplotlib.__version__.split('.')]
|
|
|
|
try:
|
|
if sys.version_info[0] >= 3:
|
|
style = json.load(open(os.path.join(directory, "kf_book/538.json")))
|
|
else:
|
|
style = json.load(open(directory + "/kf_book/538.json"), object_hook=_decode_dict)
|
|
|
|
# matplotlib has deprecated the use of axes.color_cycle as of version
|
|
if version[0] > 1 or (version[0] == 1 and version[1] >= 5):
|
|
style["axes.prop_cycle"] = "cycler('color', ['#6d904f','#013afe', '#202020','#fc4f30','#e5ae38','#A60628','#30a2da','#008080','#7A68A6','#CF4457','#188487','#E24A33'])"
|
|
style.pop("axes.color_cycle", None)
|
|
plt.rcParams.update(style)
|
|
except:
|
|
pass
|
|
set_figsize()
|
|
reset_axis ()
|
|
np.set_printoptions(suppress=True,precision=3, linewidth=70,
|
|
formatter={'float':lambda x:' {:.3}'.format(x)})
|
|
|
|
styles = open(os.path.join(directory, name), 'r').read()
|
|
set_figsize()
|
|
return HTML(styles)
|