def camera_figures(report):
output_pattern_conf = 'out/camera_figures/conf_{variant}.tex'
output_pattern_rep = 'out/camera_figures/report_{variant}.tex'
graphics_path = 'out/camera_figures/'
summary = 'out/camera_figures/conf_summary.tex'
with Latex.document(summary, document_class='ieeeconf',
graphics_path=graphics_path) as doc:
for variant_report in report.children:
doc.input('conf_' + variant_report.id)
summary = 'out/camera_figures/report_summary.tex'
with Latex.document(summary, document_class='article',
graphics_path=graphics_path) as doc:
for variant_report in report.children:
doc.input('report_' + variant_report.id)
for variant_report in report.children:
variant = variant_report.id
frag_file = output_pattern_conf.format(variant=variant)
write_variant(frag_file, variant_report, variant, graphics_path, conference=True)
frag_file = output_pattern_rep.format(variant=variant)
write_variant(frag_file, variant_report, variant, graphics_path, conference=False)
def write_figures_for_paper(report):
output_conf = 'out/laser_bgds_boot/figures/conf.tex'
output_rep = 'out/laser_bgds_boot/figures/report.tex'
graphics_path = 'out/laser_bgds_boot/figures/'
summary = 'out/laser_bgds_boot/figures/summary.tex'
if not os.path.exists(graphics_path):
os.makedirs(graphics_path)
with Latex.document(summary, document_class='ieeeconf',
graphics_path=graphics_path) as doc:
doc.input('conf')
write_figures_for_paper_(output_conf, report, graphics_path, True)
write_figures_for_paper_(output_rep, report, graphics_path, False)
def create_techreport_figures_sub(reports, directory, prefix, use_vehicles):
if not os.path.exists(directory):
os.makedirs(directory)
# create dict vname -> report
all_vehicles = dict([(report.id, report) for report in reports])
not_used = set(all_vehicles.keys()).difference(set(use_vehicles))
print "Vehicles not used: %s" % list(not_used)
success_file = '%ssuccess.tex' % prefix
tensors_file = '%stensors.tex' % prefix
covariance_file = '%scovariance.tex' % prefix
all_figures = os.path.join(directory, '%sall_figures.tex' % prefix)
W = "1.7cm"
interspace="2mm"
padding="2.5mm"
with Latex.document(all_figures, document_class='svmult') as doc:
#doc.use_package('fullpage')
#doc.input('vehicles_covariance')
#doc.tex('\\clearpage')
doc.input(tensors_file)
doc.tex('\\clearpage')
doc.input(success_file)
vehicles_covariance = os.path.join(directory, covariance_file)
with Latex.fragment(vehicles_covariance, graphics_path=directory) as frag:
for vname in use_vehicles:
report = all_vehicles[vname]
icon = report.resolve_url('vehicle-icon/icon')
covfig = report.resolve_url('covariance/posneg')
corrfig = report.resolve_url('correlation/posneg')
inffig = report.resolve_url('information/posneg')
# TODO: add information
label = "%s:covariance" % vname
frag.pagebreak()
with frag.figure(label=label, caption=latexify(vname)) as fig:
fig.hfill()
with fig.subfigure(caption="Robot") as sub:
graphics(sub, icon, W,border=False)
fig.hfill()
with fig.subfigure(caption="Covariance matrix") as sub:
graphics(sub, covfig, W)
fig.hfill()
with fig.subfigure(caption="Correlation matrix") as sub:
graphics(sub, corrfig, W)
with fig.subfigure(caption="Information matrix") as sub:
graphics(sub, inffig, W)
fig.hfill()
learned_tensors = os.path.join(directory, tensors_file)
with Latex.fragment(learned_tensors, graphics_path=directory) as frag:
frag.tex( makeupcmd("Mcov") )
frag.tex( makeupcmd("Minf") )
frag.tex( makeupcmd("Txnat") )
frag.tex( makeupcmd("Tynat") )
frag.tex( makeupcmd("Tthetanat") )
frag.tex( makeupcmd("Txnorm") )
frag.tex( makeupcmd("Tynorm") )
frag.tex( makeupcmd("Tthetanorm") )
for vname in use_vehicles:
report = all_vehicles[vname]
icon = report.resolve_url('vehicle-icon/icon')
covfig = report.resolve_url('covariance/posneg')
inffig = report.resolve_url('information/posneg')
Tx_nat = report.resolve_url('tensors-natural/tensors/Tx/posneg')
Ty_nat = report.resolve_url('tensors-natural/tensors/Ty/posneg')
Ttheta_nat = report.resolve_url('tensors-natural/tensors/Ttheta/posneg')
Tx_norm = report.resolve_url('tensors-normalized/tensors/Tx/posneg')
Ty_norm = report.resolve_url('tensors-normalized/tensors/Ty/posneg')
Ttheta_norm = report.resolve_url('tensors-normalized/tensors/Ttheta/posneg')
# TODO: add information
captioncmd = "%sCAPTIONTENS" % safecmd(vname)
frag.tex( makeupcmd(captioncmd) )
label = "%s:tensors" % vname
with frag.figure(label=label, caption="\\%s"%captioncmd, placement="p") as fig:
fig.hfill()
with fig.subfigure(caption="Robot") as sub:
graphics(sub, icon, W, border=False)
fig.hfill()
with fig.subfigure(caption="\\Txnat") as sub:
sub.hspace(padding)
graphics(sub, Tx_nat, W)
sub.hspace(padding)
fig.hspace(interspace)
with fig.subfigure(caption="\\Tynat") as sub:
sub.hspace(padding)
graphics(sub, Ty_nat, W)
sub.hspace(padding)
fig.hspace(interspace)
with fig.subfigure(caption="\\Tthetanat") as sub:
sub.hspace(padding)
graphics(sub, Ttheta_nat, W)
sub.hspace(padding)
# I don't know why it makes things uneven
#fig.hspace(interspace)
fig.parbreak()
fig.hfill()
fig.hspace("-4mm")
with fig.subfigure(caption="\\Mcov") as sub:
graphics(sub, covfig, W)
fig.hspace(interspace)
with fig.subfigure(caption="\\Minf") as sub:
graphics(sub, inffig, W)
fig.hfill()
with fig.subfigure(caption="\\Txnorm") as sub:
sub.hspace(padding)
graphics(sub, Tx_norm, W)
sub.hspace(padding)
fig.hspace(interspace)
with fig.subfigure(caption="\\Tynorm") as sub:
sub.hspace(padding)
graphics(sub, Ty_norm, W)
sub.hspace(padding)
fig.hspace(interspace)
with fig.subfigure(caption="\\Tthetanorm") as sub:
sub.hspace(padding)
graphics(sub, Ttheta_norm, W)
sub.hspace(padding)
fig.hspace(interspace)
success = os.path.join(directory, success_file)
with Latex.fragment(success, graphics_path=directory) as frag:
frag.tex( makeupcmd("sxynat") )
frag.tex( makeupcmd("sytnat") )
frag.tex( makeupcmd("sxtnat") )
frag.tex( makeupcmd("sxynorm") )
frag.tex( makeupcmd("sytnorm") )
frag.tex( makeupcmd("sxtnorm") )
frag.tex( makeupcmd("sucfigA") )
frag.tex( makeupcmd("sucfigB") )
frag.tex( makeupcmd("sucfigC") )
for i, vname in enumerate(use_vehicles):
report = all_vehicles[vname]
icon = report.resolve_url('vehicle-icon/icon')
succ_xy_nat = report.resolve_url('fields-natural/success-x_y/success')
succ_yt_nat = report.resolve_url('fields-natural/success-theta_y/success')
succ_xt_nat = report.resolve_url('fields-natural/success-x_theta/success')
succ_xy_norm = report.resolve_url('fields-normalized/success-x_y/success')
succ_yt_norm = report.resolve_url('fields-normalized/success-theta_y/success')
succ_xt_norm = report.resolve_url('fields-normalized/success-x_theta/success')
# TODO: add information
label = "%s:success" % vname
captioncmd = "%sCAPTIONSUCC" % safecmd(vname)
frag.tex( makeupcmd(captioncmd) )
label = "%s:success" % vname
with frag.figure(label=label, caption="\\%s"%captioncmd, placement="p") as fig:
fig.hfill()
#with fig.subfigure(caption="Robot") as sub:
graphics(fig, icon, W, border=False)
fig.hfill()
with fig.subfigure(caption="\\sxynat") as sub:
sub.hspace(padding)
graphics(sub, succ_xy_nat, W)
sub.hspace(padding)
fig.hspace(interspace)
with fig.subfigure(caption="\\sytnat") as sub:
sub.hspace(padding)
graphics(sub, succ_yt_nat, W)
sub.hspace(padding)
fig.hspace(interspace)
with fig.subfigure(caption="\\sxtnat") as sub:
sub.hspace(padding)
graphics(sub, succ_xt_nat, W)
sub.hspace(padding)
#fig.hspace(interspace)
fig.parbreak()
fig.hfill()
letter = ['A','B','C']
fig.tex('\\sucfig%s' % letter[i % 3])
with fig.subfigure(caption="\\sxynorm") as sub:
sub.hspace(padding)
graphics(sub, succ_xy_norm, W)
sub.hspace(padding)
fig.hspace(interspace)
with fig.subfigure(caption="\\sytnorm") as sub:
sub.hspace(padding)
graphics(sub, succ_yt_norm, W)
sub.hspace(padding)
fig.hspace(interspace)
with fig.subfigure(caption="\\sxtnorm") as sub:
sub.hspace(padding)
graphics(sub, succ_xt_norm, W)
sub.hspace(padding)
fig.hspace(interspace)
