Source code for param_study.plot

import os
from pathlib import Path

import json
import logging
from typing import Type
import numpy as np
import pandas as pd

import plotly.express as px


[docs]class Plotter():
    def __init__(self, parameter_study_name: str = 'default') -> None:
        self.config_key_strings = [
            'ukf/sigma_alpha',
            'ukf/P/0',
            'ukf/P/1',
            'ukf/P/2',
            'ukf/P/3',
            'ukf/template_Q/0',
            'ukf/template_Q/1',
            'ukf/template_Q/2',
            'ukf/template_Q/3',
            'ukf/minimal_cone_covariance_area',
            'local_mapping/data_association/chi2_quantile',
            'local_mapping/fov_gate/min_distance',
            'local_mapping/fov_gate/max_distance',
            'local_mapping/fov_gate/angle',
            'local_mapping/R_azimuth',
            'local_mapping/R_distance_factor',
            'local_mapping/R_distance_offset',
            'novatel_position/R_scaling',
            'novatel_heading/R_scaling',
            'wheelspeed/R',
        ]
        self.informations_strings = [
            'timesteps_n',
            'timesteps_taking_too_long_n',
            'last_time_step',
            'landmarks_n',
            'landmarks_lap1_n',
            'landmarks_lap2_n'
        ]
        self.parameter_study_name = parameter_study_name
        self.import_analysis()


[docs]    def import_analysis(self):
        logging.info(f'Import analysis for parameter study "{self.parameter_study_name}"')
        with open(f'{os.path.abspath(os.path.dirname(__file__))}/../../param_study/{self.parameter_study_name}/analysis.json', 'r') as input:
            self.analysis = json.load(input)
            self.x = np.array([int(test_case_index) for test_case_index in self.analysis.keys()])
        self.successful = [informations['successful'] for informations in self.analysis.values()]



[docs]    def run(self):
        self.plot_config()
        self.plot_informations()



[docs]    def get_config_values(self, key_string):
        return np.array([self.get_config_value(config=informations['config'], key_string=key_string) for informations in self.analysis.values()])



[docs]    @staticmethod
    def get_config_value(config: dict, key_string: str):
        dct = config.copy()
        for key in key_string.split('/'):
            try:
                dct = dct[key]
            except TypeError:
                dct = dct[int(key)]
            except KeyError:
                return None
        return dct



[docs]    def plot(self, df: pd.DataFrame, y_column: str) -> str:
        if y_column == 'ukf/sigma_alpha':
            fig = px.scatter(df, x='test_case_index', y=y_column, color='successful', marginal_y='violin', template='simple_white', title=y_column, log_y=True)
        else:
            fig = px.scatter(df, x='test_case_index', y=y_column, color='successful', marginal_y='violin', template='simple_white', title=y_column)
        return fig.to_html(full_html=False, include_plotlyjs='cdn')




[docs]    def plot_config(self):
        dataframe_dict = {'test_case_index': self.x, 'successful': self.successful}
        for key_string in self.config_key_strings:
            dataframe_dict[key_string] = self.get_config_values(key_string=key_string)
        df = pd.DataFrame(dataframe_dict)
        
        base_path =  f'{os.path.abspath(os.path.dirname(__file__))}/../../param_study/{self.parameter_study_name}/analysis'
        Path(base_path).mkdir(parents=True, exist_ok=True)
        with open(f'{base_path}/config_plots.html', 'w') as config_plots:
            for key_string in self.config_key_strings:
                config_plots.write(self.plot(df=df, y_column=key_string))




[docs]    def plot_informations(self):
        dataframe_dict = {'test_case_index': self.x, 'successful': self.successful}
        for informations_string in self.informations_strings:
            dataframe_dict[informations_string] = np.array([informations.get(informations_string, 0) for informations in self.analysis.values()])
        df = pd.DataFrame(dataframe_dict)
        
        base_path =  f'{os.path.abspath(os.path.dirname(__file__))}/../../param_study/{self.parameter_study_name}/analysis'
        Path(base_path).mkdir(parents=True, exist_ok=True)
        with open(f'{base_path}/analysis_plots.html', 'w') as config_plots:
            for informations_string in self.informations_strings:
                config_plots.write(self.plot(df=df, y_column=informations_string))



if __name__ == '__main__':
    plotter = Plotter(parameter_study_name='test')
    plotter.run()