def plot_glab_position(dfCrd: pd.DataFrame,
scale: float,
logger: logging.Logger,
showplot: bool = False):
"""
plot_glab_position plots the position difference wrt to Nominal a priori position
"""
cFuncName = colored(os.path.basename(__file__),
'yellow') + ' - ' + colored(
sys._getframe().f_code.co_name, 'green')
logger.info('{func:s}: plotting position offset'.format(func=cFuncName))
# set up the plot
plt.style.use('ggplot')
# get info for the plot titles
plot_title, proc_options, rx_geod = amc.get_title_info(logger=logger)
# subplots
fig, ax = plt.subplots(nrows=4, ncols=1, sharex=True, figsize=(16.0, 12.0))
fig.suptitle('{title:s}'.format(title=plot_title), **glc.title_font)
# plot annotations
ax[0].annotate('{conf:s}'.format(conf=amc.dRTK['glab_out']),
xy=(0, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='left',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
ax[0].annotate(proc_options,
xy=(1, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='small')
# copyright this
ax[-1].annotate(r'$\copyright$ Alain Muls ([email protected])',
xy=(1, 0),
xycoords='axes fraction',
xytext=(0, -50),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='ultrabold',
fontsize='x-small')
# plot the ENU difference xwrt nominal initial position and display the standard deviation, xDOP
for i, (crd, sdCrd) in enumerate(
zip(glc.dgLab['OUTPUT']['dENU'], glc.dgLab['OUTPUT']['sdENU'])):
# select the axis to use for this coordinate
axis = ax[i]
# get the statistics for this coordinate
crd_stats = amc.dRTK['dgLABng']['stats']['crd'][crd]
# color for markers and alpha colors for error bars
rgb = mpcolors.colorConverter.to_rgb(glc.enu_colors[i])
rgb_error = amutils.make_rgb_transparent(rgb, (1, 1, 1), 0.4)
# plot coordinate differences and error bars
axis.errorbar(x=dfCrd['DT'].values,
y=dfCrd[crd],
yerr=dfCrd[sdCrd],
linestyle='none',
fmt='.',
ecolor=rgb_error,
capthick=1,
markersize=1,
color=glc.enu_colors[i])
# set dimensions of y-axis (double for UP scale)
if crd == 'dU0':
axis.set_ylim(
[crd_stats['wavg'] - scale * 2, crd_stats['wavg'] + scale * 2])
else:
axis.set_ylim(
[crd_stats['wavg'] - scale, crd_stats['wavg'] + scale])
axis.set_ylabel('{crd:s} [m]'.format(crd=crd, fontsize='large'),
color=glc.enu_colors[i],
weight='ultrabold')
# annotate each subplot with its reference position
stat_str = '\n'.join(
(r'gLab={:.3f} ($\pm${:.3f})'.format(crd_stats['kf'],
crd_stats['sdkf']), r'',
r'WAvg={:.3f} ($\pm${:.3f})'.format(crd_stats['wavg'],
crd_stats['sdwavg']), r'',
r'Range=[{:.2f}..{:.2f}]'.format(crd_stats['max'],
crd_stats['min'])))
# place a text box in upper left in axes coords
axis.text(1.01,
0.95,
stat_str,
transform=axis.transAxes,
fontsize='small',
verticalalignment='top',
color=glc.enu_colors[i],
weight='strong')
# annotatetxt = markerAnnotation(crd, sdCrd)
# axis.annotate(annotatetxt, xy=(1, 1), xycoords='axes fraction', xytext=(0, 0), textcoords='offset pixels', horizontalalignment='right', verticalalignment='bottom', weight='ultrabold', fontsize='large')
# title of sub-plot
# axis.set_title('{crd:s} offset'.format(crd=str.capitalize(crd), fontsize='large'))
axis.set_xlabel('')
# last subplot: number of satellites & PDOP
# plot #SVs on left axis
axis = ax[-1]
axis.set_ylim([0, 24])
axis.set_ylabel('#SVs [-]',
fontsize='large',
color='grey',
weight='ultrabold')
# axis.set_xlabel('Time [sec]', fontsize='large')
# plot the number of SVs and color as function of the GNSSs used
for (i_gnss, gnss, gnss_color) in zip([1, 1, 2], ['GAL', 'GPS', ''],
['blue', 'red', 'grey']):
if i_gnss == 2:
axis.fill_between(dfCrd['DT'].values,
0,
dfCrd['#SVs'],
where=(dfCrd['#GNSSs'] == i_gnss),
alpha=0.25,
linestyle='-',
linewidth=2,
color=gnss_color,
interpolate=False)
else:
axis.fill_between(dfCrd['DT'].values,
0,
dfCrd['#SVs'],
where=((dfCrd['#GNSSs'] == i_gnss) &
(gnss == dfCrd['GNSSs'])),
alpha=0.25,
linestyle='-',
linewidth=2,
color=gnss_color,
interpolate=False)
# plot PDOP on second y-axis
axis_right = axis.twinx()
axis_right.set_ylim([0, 10])
axis_right.set_ylabel('PDOP [-]',
fontsize='large',
color='darkorchid',
weight='ultrabold')
# plot PDOP value
axis_right.plot(dfCrd['DT'],
dfCrd['PDOP'],
linestyle='',
marker='.',
markersize=1,
color='darkorchid',
label='PDOP')
# set limits for the x-axis
axis.set_xlim([dfCrd['DT'].iloc[0], dfCrd['DT'].iloc[-1]])
# create the ticks for the time axis
dtFormat = plot_utils.determine_datetime_ticks(startDT=dfCrd['DT'].iloc[0],
endDT=dfCrd['DT'].iloc[-1])
if dtFormat['minutes']:
axis.xaxis.set_major_locator(
dates.MinuteLocator(byminute=range(10, 60, 10), interval=1))
else:
axis.xaxis.set_major_locator(
dates.HourLocator(interval=dtFormat['hourInterval'])) # every
axis.xaxis.set_minor_locator(dates.DayLocator(interval=1)) # every day
axis.xaxis.set_minor_formatter(dates.DateFormatter('\n%d-%m-%Y'))
axis.xaxis.set_major_formatter(
dates.DateFormatter('%H:%M')) # hours and minutes
axis.xaxis.set_tick_params(rotation=0)
for tick in axis.xaxis.get_major_ticks():
tick.label1.set_horizontalalignment('center')
# save the plot in subdir png of GNSSSystem
dir_png = os.path.join(amc.dRTK['dir_root'],
amc.dRTK['dgLABng']['dir_glab'], 'png')
png_filename = os.path.join(
dir_png,
'{out:s}-ENU.png'.format(out=amc.dRTK['glab_out'].replace('.', '-')))
amutils.mkdir_p(dir_png)
fig.savefig(png_filename, dpi=fig.dpi)
logger.info('{func:s}: created plot {plot:s}'.format(func=cFuncName,
plot=colored(
png_filename,
'green')))
if showplot:
plt.show(block=True)
else:
plt.close(fig)
return
def plotUTMOffset(dRtk: dict, dfPos: pd.DataFrame, dfCrd: pd.DataFrame, dCrdLim: dict, logger: logging.Logger, showplot: bool = False):
"""
plotUTMOffset plots the offset NEU wrt to reference point
"""
cFuncName = colored(os.path.basename(__file__), 'yellow') + ' - ' + colored(sys._getframe().f_code.co_name, 'green')
# select colors for E, N, U coordinate difference
colors = []
colors.append([51 / 256., 204 / 256., 51 / 256.])
colors.append([51 / 256., 51 / 256., 255 / 256.])
colors.append([255 / 256., 51 / 256., 51 / 256.])
# what to plot
crds2Plot = ['UTM.E', 'UTM.N', 'ellH', 'ns']
stdDev2Plot = ['sde', 'sdn', 'sdu']
annotateList = ['east', 'north', 'ellh', '#SV']
# find gaps in the data by comparing to mean value of difference in time
dfPos['tDiff'] = dfPos['DT'].diff(1)
dtMean = dfPos['tDiff'].mean()
# look for it using location indexing
dfPos.loc[dfPos['tDiff'] > dtMean, 'ns'] = np.nan
amc.logDataframeInfo(df=dfPos, dfName='dfPos', callerName=cFuncName, logger=logger)
# set up the plot
plt.style.use('ggplot')
# subplots
fig, ax = plt.subplots(nrows=len(crds2Plot), ncols=1, sharex=True, figsize=(20.0, 16.0))
fig.suptitle('{syst:s} - {posf:s} - {date:s}'.format(posf=dRtk['info']['rtkPosFile'], syst=dRtk['syst'], date=dRtk['Time']['date']))
# make title for plot
ax[0].annotate('{syst:s} - {date:s}'.format(syst=dRtk['syst'], date=dfPos['DT'].iloc[0].strftime('%d %b %Y')), xy=(0, 1), xycoords='axes fraction', xytext=(0, 0), textcoords='offset pixels', horizontalalignment='left', verticalalignment='bottom', weight='strong', fontsize='large')
# copyright this
ax[-1].annotate(r'$\copyright$ Alain Muls ([email protected])', xy=(1, 1), xycoords='axes fraction', xytext=(0, 0), textcoords='offset pixels', horizontalalignment='right', verticalalignment='bottom', weight='strong', fontsize='large')
# subplots for coordinates display delta NEU
for i, crd in enumerate(crds2Plot[:3]):
axis = ax[i]
# color for markers and alpha colors for error bars
rgb = mpcolors.colorConverter.to_rgb(colors[i])
rgb_new = amutils.make_rgb_transparent(rgb, (1, 1, 1), 0.3)
# plot coordinate differences and error bars
axis.errorbar(x=dfPos['DT'], y=dfCrd[crd], yerr=dfPos[stdDev2Plot[i]], linestyle='None', fmt='o', ecolor=rgb_new, capthick=1, markersize=1, color=colors[i])
# set dimensions of y-axis
axis.set_ylim([dCrdLim['min'], dCrdLim['max']])
axis.set_ylabel('{crd:s} [m]'.format(crd=crd, fontsize='large'), color=colors[i])
# # annotate each subplot with its reference position
# if [dRtk['marker']['UTM.E'], dRtk['marker']['UTM.N'], dRtk['marker']['ellH']] == [np.NaN, np.NaN, np.NaN]:
# # use the mean UTM/ellH position for the reference point
# crdRef = dRtk['WAvg'][crd]
# crdSD = dRtk['WAvg'][stdDev2Plot[i]]
# annotatetxt = r'Mean: {refcrd:.3f}m ($\pm${stddev:.2f}m)'.format(refcrd=crdRef, stddev=crdSD)
# else:
# # we have a reference point
# crdRef = dRtk['marker'][crd]
# crdOffset = dRtk['marker'][crd] - dRtk['WAvg'][crd]
# crdSD = dRtk['WAvg'][stdDev2Plot[i]]
# annotatetxt = r'Ref: {crd:s} = {refcrd:.3f}m ({offset:.3f}m $\pm${stddev:.2f}m)'.format(crd=crd, refcrd=crdRef, stddev=crdSD, offset=crdOffset)
annotatetxt = markerAnnotation(crd, stdDev2Plot[i])
# put annotation text
axis.annotate(annotatetxt, xy=(1, 1), xycoords='axes fraction', xytext=(0, 0), textcoords='offset pixels', horizontalalignment='right', verticalalignment='bottom', weight='strong', fontsize='large')
# title of sub-plot
axis.set_title('{crd:s} offset'.format(crd=str.capitalize(annotateList[i]), fontsize='large'))
# last subplot: number of satellites & PDOP
for _, crd in enumerate(crds2Plot[3:4]):
# plot #SVs on left axis
axis = ax[-1]
axis.set_ylim([0, 24])
axis.set_ylabel('#SVs [-]', fontsize='large', color='grey')
# axis.set_xlabel('Time [sec]', fontsize='large')
axis.fill_between(dfPos['DT'], 0, dfPos['ns'], alpha=0.5, linestyle='-', linewidth=3, color='grey', label='#SVs', interpolate=False)
# plot PDOP on second y-axis
axRight = axis.twinx()
axRight.set_ylim([0, 15])
axRight.set_ylabel('PDOP [-]', fontsize='large', color='darkorchid')
# plot PDOP value
axRight.plot(dfPos['DT'], dfPos['PDOP'], linestyle='-', marker='.', markersize=1, color='darkorchid', label='PDOP')
# set title
axis.set_title('Visible satellites & PDOP', fontsize='large')
# create the ticks for the time axis
dtFormat = plot_utils.determine_datetime_ticks(startDT=dfPos['DT'].iloc[0], endDT=dfPos['DT'].iloc[-1])
if dtFormat['minutes']:
axis.xaxis.set_major_locator(dates.MinuteLocator(byminute=range[1, 60, 5], interval=1))
else:
axis.xaxis.set_major_locator(dates.HourLocator(interval=dtFormat['hourInterval'])) # every 4 hours
axis.xaxis.set_major_formatter(dates.DateFormatter('%H:%M')) # hours and minutes
axis.xaxis.set_minor_locator(dates.DayLocator(interval=1)) # every day
axis.xaxis.set_minor_formatter(dates.DateFormatter('\n%d-%m-%Y'))
axis.xaxis.set_tick_params(rotation=0)
for tick in axis.xaxis.get_major_ticks():
# tick.tick1line.set_markersize(0)
# tick.tick2line.set_markersize(0)
tick.label1.set_horizontalalignment('center')
# save the plot in subdir png of GNSSSystem
amutils.mkdir_p(os.path.join(dRtk['info']['dir'], 'png'))
pngName = os.path.join(dRtk['info']['dir'], 'png', os.path.splitext(dRtk['info']['rtkPosFile'])[0] + '-ENU.png')
fig.savefig(pngName, dpi=fig.dpi)
logger.info('{func:s}: created plot {plot:s}'.format(func=cFuncName, plot=colored(pngName, 'green')))
if showplot:
plt.show(block=True)
else:
plt.close(fig)
return
def plot_utm_ellh(dRtk: dict,
dfUTM: pd.DataFrame,
logger: logging.Logger,
showplot: bool = False):
"""
plots the UTM coordinates
"""
cFuncName = colored(os.path.basename(__file__),
'yellow') + ' - ' + colored(
sys._getframe().f_code.co_name, 'green')
# select colors for position mode
# colors = []
# colors.append([51 / 256., 204 / 256., 51 / 256.])
# colors.append([51 / 256., 51 / 256., 255 / 256.])
# colors.append([255 / 256., 51 / 256., 51 / 256.])
colors = [
'tab:white', 'tab:green', 'tab:olive', 'tab:orange', 'tab:cyan',
'tab:blue', 'tab:red', 'tab:pink', 'tab:purple', 'tab:brown'
]
# what to plot
crds2Plot = ['UTM.E', 'UTM.N', 'ellH', 'age']
stdDev2Plot = ['sde', 'sdn', 'sdu']
stdDevWAvg = ['sdUTM.E', 'sdUTM.N', 'sdellH']
# set up the plot
plt.style.use('ggplot')
# subplots
fig, ax = plt.subplots(nrows=len(crds2Plot),
ncols=1,
sharex=True,
figsize=(20.0, 16.0))
# make title for plot
ax[0].annotate(
'{camp:s} - {date:s} - {marker:s} ({pos:s}, quality {mode:s})'.format(
camp=dRtk['campaign'],
date=dRtk['obsStart'].strftime('%d %b %Y'),
marker=dRtk['marker'],
pos=dRtk['posFile'],
mode=dRtk['rtkqual'].upper()),
xy=(0.5, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='center',
verticalalignment='bottom',
weight='strong',
fontsize='large')
# copyright this
ax[-1].annotate(r'$\copyright$ Alain Muls ([email protected])',
xy=(1, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
weight='strong',
fontsize='large')
# determine the difference to weighted average or marker position of UTM (N,E), ellH to plot
dfCrd = pd.DataFrame(columns=crds2Plot[:3])
originCrds = [float(amc.dRTK['WAVG'][crd]) for crd in crds2Plot[:3]]
dfCrd = dfUTM[crds2Plot[:3]].sub(originCrds, axis='columns')
amutils.logHeadTailDataFrame(logger=logger,
callerName=cFuncName,
df=dfCrd,
dfName='dfCrd')
crdMax = max(dfCrd.max())
crdMin = min(dfCrd.min())
crdMax = int(crdMax + (1 if crdMax > 0 else -1))
crdMin = int(crdMin + (1 if crdMin > 0 else -1))
# plot the coordinates dN, dE, dU and ns
for i, crd in enumerate(crds2Plot):
if i < 3: # subplots for coordinates display dN, dE, dU
# plot over the different coordinate offsets using different colors
# we plot offset to the weighted averga value
# ax[i].plot(dfUTM['DT'], dCrd[crd], linestyle='', marker='.', markersize=2, color=colors[i], label=crd)
# ax[i].fill_between(dfUTM['DT'], dCrd[crd]-dfUTM[stdDev2Plot[i]], dCrd[crd]+dfUTM[stdDev2Plot[i]], color=colors[i], alpha=0.15, interpolate=False)
for key, value in rtkc.dRTKQual.items():
# get the indices according to the position mode
idx = dfUTM.index[dfUTM['Q'] == key]
rgb = mpcolors.colorConverter.to_rgb(colors[key])
rgb_new = amutils.make_rgb_transparent(rgb, (1, 1, 1), 0.3)
# plot according to the color list if the length of the index is not 0
if len(idx) > 0:
ax[i].errorbar(x=dfUTM.loc[idx]['DT'],
y=dfCrd.loc[idx][crd],
yerr=dfUTM.loc[idx][stdDev2Plot[i]],
linestyle='None',
fmt='o',
ecolor=rgb_new,
capthick=2,
markersize=2,
color=colors[key],
label=value)
# set dimensions of y-axis
ax[i].set_ylim([crdMin, crdMax])
ax[i].set_ylabel('{crd:s} [m]'.format(crd=crd, fontsize='large'))
# lcoation of legend
ax[i].legend(loc='best', markerscale=4)
# annotate plot
annotatetxt = r'WAvg: {crd:.3f}m $\pm$ {sdcrd:.3f}m'.format(
crd=amc.dRTK['WAVG'][crds2Plot[i]],
sdcrd=amc.dRTK['WAVG'][stdDevWAvg[i]])
ax[i].annotate(annotatetxt,
xy=(1, 1),
xycoords='axes fraction',
xytext=(0, 0),
textcoords='offset pixels',
horizontalalignment='right',
verticalalignment='bottom',
fontweight='bold',
fontsize='large')
else: # last subplot: age of corrections & #SVs
# plot #SVs on left axis
# ax[i].set_ylim([0, 24])
# plot AGE value
ax[i].set_ylabel('Age [s]', fontsize='large', color='darkorchid')
ax[i].set_xlabel('Time [sec]', fontsize='large')
ax[i].plot(dfUTM['DT'],
dfUTM['age'],
linestyle='',
marker='x',
markersize=2,
color='darkorchid',
label='age')
ax[i].set_title('#SVs & Age of correction',
fontsize='large',
fontweight='bold')
# plot number of SV on second y-axis
axRight = ax[i].twinx()
axRight.set_ylim([0, 25])
axRight.set_ylabel('#SVs [-]', fontsize='large', color='grey')
ax[i].fill_between(dfUTM['DT'],
0,
dfUTM['ns'],
alpha=0.5,
linestyle='-',
linewidth=3,
color='grey',
label='#SVs',
interpolate=False)
# create the ticks for the time axis
dtFormat = plot_utils.determine_datetime_ticks(
startDT=dfUTM['DT'].iloc[0], endDT=dfUTM['DT'].iloc[-1])
if dtFormat['minutes']:
if dfUTM.shape[0] > 300:
ax[i].xaxis.set_major_locator(
dates.MinuteLocator(byminute=range(1, 60, 10),
interval=1))
else:
ax[i].xaxis.set_major_locator(
dates.MinuteLocator(byminute=range(1, 60), interval=1))
else:
ax[i].xaxis.set_major_locator(
dates.HourLocator(
interval=dtFormat['hourInterval'])) # every 4 hours
ax[i].xaxis.set_major_formatter(
dates.DateFormatter('%H:%M')) # hours and minutes
ax[i].xaxis.set_minor_locator(
dates.DayLocator(interval=1)) # every day
ax[i].xaxis.set_minor_formatter(dates.DateFormatter('\n%d-%m-%Y'))
ax[i].xaxis.set_tick_params(rotation=0)
for tick in ax[i].xaxis.get_major_ticks():
# tick.tick1line.set_markersize(0)
# tick.tick2line.set_markersize(0)
tick.label1.set_horizontalalignment('center')
# save the plot in subdir png of GNSSSystem
pngName = os.path.join(
dRtk['posDir'],
'{name:s}-ENU.png'.format(name=os.path.splitext(dRtk['posFile'])[0]))
fig.savefig(pngName, dpi=fig.dpi)
logger.info('{func:s}: created plot {plot:s}'.format(func=cFuncName,
plot=colored(
pngName,
'green')))
if showplot:
plt.show(block=True)
else:
plt.close(fig)
return