def __init__(self, scene, **kwargs): self.evPlotChanged = Subject() self._scene = scene self._data = None self.fig = None self.ax = None self._show_plt = False self._colormap_symmetric = True self.title = 'unnamed' self._log = logging.getLogger(self.__class__.__name__)
class Covariance(object): """Construct the variance-covariance matrix of quadtree subsampled data. Variance and covariance estimates are used to construct the weighting matrix to be used later in an optimization. Two different methods exist to propagate full-resolution data variances and covariances of :class:`kite.Scene.displacement` to the covariance matrix of the subsampled dataset: 1. The distance between :py:class:`kite.quadtree.QuadNode` leaf focal points, :py:class:`kite.covariance.Covariance.matrix_focal` defines the approximate covariance of the quadtree leaf pair. 2. The _accurate_ propagation of covariances by taking the mean of every node pair pixel covariances. This process is computational very expensive and can take a few minutes. :py:class:`kite.covariance.Covariance.matrix_focal` :param quadtree: Quadtree to work on :type quadtree: :class:`~kite.Quadtree` :param config: Config object :type config: :class:`~kite.covariance.CovarianceConfig` """ evChanged = Subject() evConfigChanged = Subject() def __init__(self, scene, config=CovarianceConfig()): self.frame = scene.frame self.quadtree = scene.quadtree self.scene = scene self._noise_data = None self._powerspec1d_cached = None self._powerspec2d_cached = None self._powerspec3d_cached = None self._initialized = False self._nthreads = 0 self._log = scene._log.getChild('Covariance') self.setConfig(config) self.quadtree.evChanged.subscribe(self._clear) self.scene.evConfigChanged.subscribe(self.setConfig) def __call__(self, *args, **kwargs): return self.getLeafCovariance(*args, **kwargs) def setConfig(self, config=None): """ Sets and updated the config of the instance :param config: New config instance, defaults to configuration provided by parent :class:`~kite.Scene` :type config: :class:`~kite.covariance.CovarianceConfig`, optional """ if config is None: config = self.scene.config.covariance self.config = config if config.noise_coord is None\ and (config.a is not None or config.b is not None or config.variance is not None): self.noise_data # init data array self.config.a = config.a self.config.b = config.b self.config.variance = config.variance self._clear(config=False) self.evConfigChanged.notify() def _clear(self, config=True, spectrum=True): if config: self.config.a = None self.config.b = None self.config.variance = None self.config.covariance_matrix = None if spectrum: self.structure_func = None self._powerspec1d_cached = None self._powerspec2d_cached = None self.covariance_matrix = None self.covariance_matrix_focal = None self.covariance_func = None self.weight_matrix = None self.weight_matrix_focal = None self._initialized = False self.evChanged.notify() @property def nthreads(self): ''' Number of threads (CPU cores) to use for full covariance calculation Setting ``nthreads`` to ``0`` uses all available cores (default). :setter: Sets the number of threads :type: int ''' return self._nthreads @nthreads.setter def nthreads(self, value): self._nthreads = int(value) @property def noise_coord(self): """ Coordinates of the noise patch in local coordinates. :setter: Set the noise coordinates :getter: Get the noise coordinates :type: :class:`numpy.ndarray`, ``[llE, llN, sizeE, sizeN]`` """ if self.config.noise_coord is None: self.noise_data return self.config.noise_coord @noise_coord.setter def noise_coord(self, values): self.config.noise_coord = num.array(values) @property def noise_patch_size_km2(self): ''' :getter: Noise patch size in :math:`km^2`. :type: float ''' if self.noise_coord is None: return 0. size = (self.noise_coord[2] * self.noise_coord[3]) * 1e-6 if size < 75: self._log.warning('Defined noise patch is instably small') return size @property def noise_data(self, data): ''' Noise data we process to estimate the covariance :setter: Set the noise patch to analyze the covariance. :getter: If the noise data has not been set manually, we grab data through :func:`~kite.Covariance.selectNoiseNode`. :type: :class:`numpy.ndarray` ''' return self._noise_data @noise_data.getter def noise_data(self): if self._noise_data is not None: return self._noise_data elif self.config.noise_coord is not None: self._log.info('Selecting noise_data from config...') llE, llN = self.scene.frame.mapENMatrix( *self.config.noise_coord[:2]) sE, sN = self.scene.frame.mapENMatrix(*self.config.noise_coord[2:]) slice_E = slice(llE, llE + sE) slice_N = slice(llN, llN + sN) self.noise_data = self.scene.displacement[slice_N, slice_E] else: self._log.info('Selecting noise_data from Quadtree...') node = self.selectNoiseNode() self.noise_data = node.displacement self.noise_coord = [node.llE, node.llN, node.sizeE, node.sizeN] return self.noise_data @noise_data.setter def noise_data(self, data): data = data.copy() data = derampMatrix(trimMatrix(data)) data = trimMatrix(data) data[num.isnan(data)] = 0. self._noise_data = data self._clear() def selectNoiseNode(self): """ Choose noise node from quadtree the biggest :class:`~kite.quadtree.QuadNode` from :class:`~kite.Quadtree`. :returns: A quadnode with the least signal. :rtype: :class:`~kite.quadtree.QuadNode` """ t0 = time.time() stdmax = max([n.std for n in self.quadtree.nodes]) # noqa lmax = max([n.std for n in self.quadtree.nodes]) # noqa def costFunction(n): nl = num.log2(n.length) / num.log2(lmax) ns = n.std / stdmax return nl * (1. - ns) * (1. - n.nan_fraction) nodes = sorted(self.quadtree.nodes, key=costFunction) self._log.debug('Fetched noise from Quadtree.nodes [%0.8f s]' % (time.time() - t0)) return nodes[0] def _mapLeafs(self, nx, ny): """ Helper function returning appropriate :class:`~kite.quadtree.QuadNode` and for maintaining the internal mapping with the matrices. :param nx: matrix x position :type nx: int :param ny: matrix y position :type ny: int :returns: tuple of :class:`~kite.quadtree.QuadNode` s for ``nx`` and ``ny`` :rtype: tuple """ leaf1 = self.quadtree.leafs[nx] leaf2 = self.quadtree.leafs[ny] self._leaf_mapping[leaf1.id] = nx self._leaf_mapping[leaf2.id] = ny return leaf1, leaf2 @property_cached def covariance_matrix(self): """ Covariance matrix calculated from mean of all pixel pairs inside the node pairs (full and accurate propagation). :type: :class:`numpy.ndarray`, size (:class:`~kite.Quadtree.nleafs` x :class:`~kite.Quadtree.nleafs`) """ if not isinstance(self.config.covariance_matrix, num.ndarray): self.config.covariance_matrix =\ self._calcCovarianceMatrix(method='full') elif self.config.covariance_matrix.ndim == 1: try: nl = self.quadtree.nleafs self.config.covariance_matrix =\ self.config.covariance_matrix.reshape(nl, nl) except ValueError: self.config.covariance = None return self.covariance_matrix return self.config.covariance_matrix @property_cached def covariance_matrix_focal(self): """ Approximate Covariance matrix from quadtree leaf pair distance only. Fast, use for intermediate steps only and finallly use approach :attr:`~kite.Covariance.covariance_matrix`. :type: :class:`numpy.ndarray`, size (:class:`~kite.Quadtree.nleafs` x :class:`~kite.Quadtree.nleafs`) """ return self._calcCovarianceMatrix(method='focal') @property_cached def weight_matrix(self): """ Weight matrix from full covariance :math:`\\sqrt{cov^{-1}}`. :type: :class:`numpy.ndarray`, size (:class:`~kite.Quadtree.nleafs` x :class:`~kite.Quadtree.nleafs`) """ return num.linalg.inv(self.covariance_matrix) @property_cached def weight_matrix_focal(self): """ Approximated weight matrix from fast focal method :math:`\\sqrt{cov_{focal}^{-1}}`. :type: :class:`numpy.ndarray`, size (:class:`~kite.Quadtree.nleafs` x :class:`~kite.Quadtree.nleafs`) """ return num.linalg.inv(self.covariance_matrix_focal) @property_cached def weight_vector(self): """ Weight vector from full covariance :math:`\\sqrt{cov^{-1}}`. :type: :class:`numpy.ndarray`, size (:class:`~kite.Quadtree.nleafs`) """ return num.sum(self.weight_matrix, axis=1) @property_cached def weight_vector_focal(self): """ Weight vector from fast focal method :math:`\\sqrt{cov_{focal}^{-1}}`. :type: :class:`numpy.ndarray`, size (:class:`~kite.Quadtree.nleafs`) """ return num.sum(self.weight_matrix_focal, axis=1) def _calcCovarianceMatrix(self, method='focal'): """Constructs the covariance matrix. :param method: Either ``focal`` point distances are used - this is quick but only an approximation. Or ``full``, where the full quadtree pixel distances matrices are calculated , defaults to ``focal`` :type method: str, optional :returns: Covariance matrix :rtype: thon:numpy.ndarray """ self._initialized = True nl = len(self.quadtree.leafs) self._leaf_mapping = {} t0 = time.time() ma, mb = self.covariance_model if method == 'focal': dist_matrix = num.zeros((nl, nl)) dist_iter = num.nditer(num.triu_indices_from(dist_matrix)) for nx, ny in dist_iter: leaf1, leaf2 = self._mapLeafs(nx, ny) dist = self._leafFocalDistance(leaf1, leaf2) dist_matrix[(nx, ny), (ny, nx)] = dist cov_matrix = modelCovariance(dist_matrix, ma, mb) elif method == 'full': leaf_map = num.empty((len(self.quadtree.leafs), 4), dtype=num.uint32) for nl, leaf in enumerate(self.quadtree.leafs): leaf, _ = self._mapLeafs(nl, nl) leaf_map[nl, 0], leaf_map[nl, 1] = (leaf._slice_rows.start, leaf._slice_rows.stop) leaf_map[nl, 2], leaf_map[nl, 3] = (leaf._slice_cols.start, leaf._slice_cols.stop) nleafs = self.quadtree.nleafs cov_matrix = covariance_ext.covariance_matrix( self.scene.frame.gridE.filled(), self.scene.frame.gridN.filled(), leaf_map, ma, mb, self.nthreads, self.config.adaptive_subsampling)\ .reshape(nleafs, nleafs) else: raise TypeError('Covariance calculation %s method not defined!' % method) num.fill_diagonal(cov_matrix, self.variance) self._log.debug('Created covariance matrix - %s mode [%0.8f s]' % (method, time.time() - t0)) return cov_matrix @staticmethod def _leafFocalDistance(leaf1, leaf2): return num.sqrt((leaf1.focal_point[0] - leaf2.focal_point[0])**2 + (leaf1.focal_point[1] - leaf2.focal_point[1])**2) def _leafMapping(self, leaf1, leaf2): if not isinstance(leaf1, str): leaf1 = leaf1.id if not isinstance(leaf2, str): leaf2 = leaf2.id if not self._initialized: self.covariance_matrix_focal try: return self._leaf_mapping[leaf1], self._leaf_mapping[leaf2] except KeyError as e: raise KeyError('Unknown quadtree leaf with id %s' % e) def getLeafCovariance(self, leaf1, leaf2): """Get the covariance between ``leaf1`` and ``leaf2`` from distances. :param leaf1: Leaf one :type leaf1: str of `leaf.id` or :class:`~kite.quadtree.QuadNode` :param leaf2: Leaf two :type leaf2: str of `leaf.id` or :class:`~kite.quadtree.QuadNode` :returns: Covariance between ``leaf1`` and ``leaf2`` :rtype: float """ return self.covariance_matrix[self._leafMapping(leaf1, leaf2)] def getLeafWeight(self, leaf, model='focal'): ''' Get the total weight of ``leaf``, which is the summation of all single pair weights of :attr:`kite.Covariance.weight_matrix`. .. math :: w_{x} = \\sum_i W_{x,i} :param model: ``Focal`` or ``full``, default ``focal`` :type model: str :param leaf: A leaf from :class:`~kite.Quadtree` :type leaf: :class:`~kite.quadtree.QuadNode` :returns: Weight of the leaf :rtype: float ''' (nl, _) = self._leafMapping(leaf, leaf) weight_mat = self.weight_matrix_focal return num.mean(weight_mat, axis=0)[nl] def syntheticNoise(self, shape=(1024, 1024), dEdN=None, anisotropic=False): """Create random synthetic noise from data noise power spectrum. This function uses the power spectrum of the data noise (:attr:`noise_data`) (:func:`powerspecNoise`) to create synthetic noise, e.g. to use it for data pertubation in optinmizations. The default sampling distances are taken from :attr:`kite.scene.Frame.dE` and :attr:`kite.scene.Frame.dN`. They can be overwritten. :param shape: shape of the desired noise patch. Pixels in northing and easting (`nE`, `nN`), defaults to `(1024, 1024)`. :type shape: tuple, optional :param dEdN: The sampling distance in easting, defaults to (:attr:`kite.scene.Frame.dE`, :attr:`kite.scene.Frame.dN`). :type dE: tuple, floats :returns: synthetic noise patch :rtype: :class:`numpy.ndarray` """ if (shape[0] + shape[1]) % 2 != 0: # self._log.warning('Patch dimensions must be even, ' # 'ceiling dimensions!') pass nE = shape[1] + (shape[1] % 2) nN = shape[0] + (shape[0] % 2) rfield = num.random.rand(nN, nE) spec = num.fft.fft2(rfield) if not dEdN: dE, dN = (self.scene.frame.dE, self.scene.frame.dN) kE = num.fft.fftfreq(nE, dE) kN = num.fft.fftfreq(nN, dN) k_rad = num.sqrt(kN[:, num.newaxis]**2 + kE[num.newaxis, :]**2) amp = num.zeros_like(k_rad) if not anisotropic: noise_pspec, k, _, _, _, _ = self.powerspecNoise2D() k_bin = num.insert(k + k[0] / 2, 0, 0) for i in xrange(k.size): k_min = k_bin[i] k_max = k_bin[i + 1] r = num.logical_and(k_rad > k_min, k_rad <= k_max) if i == (k.size - 1): r = k_rad > k_min if r.sum() == 0: continue amp[r] = noise_pspec[i] amp[k_rad == 0.] = self.variance amp[k_rad > k.max()] = noise_pspec[num.argmax(k)] amp = num.sqrt(amp * self.noise_data.size * num.pi * 4) elif anisotropic: interp_pspec, _, _, _, skE, skN = self.powerspecNoise3D() kE = num.fft.fftshift(kE) kN = num.fft.fftshift(kN) mkE = num.logical_and(kE >= skE.min(), kE <= skE.max()) mkN = num.logical_and(kN >= skN.min(), kN <= skN.max()) mkRad = num.where( # noqa k_rad < num.sqrt(kN[mkN].max()**2 + kE[mkE].max()**2)) res = interp_pspec(kN[mkN, num.newaxis], kE[num.newaxis, mkE], grid=True) print amp.shape, res.shape print kN.size, kE.size amp = res amp = num.fft.fftshift(amp) print amp.min(), amp.max() spec *= amp noise = num.abs(num.fft.ifft2(spec)) noise -= num.mean(noise) return noise def powerspecNoise1D(self, data=None, ndeg=512, nk=512): if self._powerspec1d_cached is None: self._powerspec1d_cached = self._powerspecNoise(data, norm='1d', ndeg=ndeg, nk=nk) return self._powerspec1d_cached def powerspecNoise2D(self, data=None, ndeg=512, nk=512): if self._powerspec2d_cached is None: self._powerspec2d_cached = self._powerspecNoise(data, norm='2d', ndeg=ndeg, nk=nk) return self._powerspec2d_cached def powerspecNoise3D(self, data=None): if self._powerspec3d_cached is None: self._powerspec3d_cached = self._powerspecNoise(data, norm='3d') return self._powerspec3d_cached def _powerspecNoise(self, data=None, norm='1d', ndeg=512, nk=512): """Get the noise power spectrum from :attr:`kite.Covariance.noise_data`. :param data: Overwrite Covariance.noise_data, defaults to `None` :type data: :class:`numpy.ndarray`, optional :returns: `(power_spec, k, f_spectrum, kN, kE)` :rtype: tuple """ if data is None: noise = self.noise_data else: noise = data.copy() if norm not in ['1d', '2d', '3d']: raise AttributeError('norm must be either 1d, 2d or 3d') # noise = squareMatrix(noise) shift = num.fft.fftshift spectrum = shift(num.fft.fft2(noise, axes=(0, 1), norm=None)) power_spec = (num.abs(spectrum) / spectrum.size)**2 kE = shift( num.fft.fftfreq(power_spec.shape[1], d=self.quadtree.frame.dE)) kN = shift( num.fft.fftfreq(power_spec.shape[0], d=self.quadtree.frame.dN)) k_rad = num.sqrt(kN[:, num.newaxis]**2 + kE[num.newaxis, :]**2) power_spec[k_rad == 0.] = 0. power_interp = sp.interpolate.RectBivariateSpline(kN, kE, power_spec) # def power1d(k): # theta = num.linspace(-num.pi, num.pi, ndeg, False) # power = num.empty_like(k) # for i in xrange(k.size): # kE = num.cos(theta) * k[i] # kN = num.sin(theta) * k[i] # power[i] = num.median(power_interp.ev(kN, kE)) * k[i]\ # * num.pi * 4 # return power def power1d(k): theta = num.linspace(-num.pi, num.pi, ndeg, False) power = num.empty_like(k) for i in xrange(k.size): kE = num.cos(theta) * k[i] kN = num.sin(theta) * k[i] power[i] = num.median(power_interp.ev(kN, kE)) return power def power2d(k): """ Mean 2D Power works! """ theta = num.linspace(-num.pi, num.pi, ndeg, False) power = num.empty_like(k) for i in xrange(k.size): kE = num.sin(theta) * k[i] kN = num.cos(theta) * k[i] power[i] = num.median(power_interp.ev(kN, kE)) # Median is more stable than the mean here return power def power3d(k): return power_interp power = power1d if norm == '2d': power = power2d elif norm == '3d': power = power3d k_rad = num.sqrt(kN[:, num.newaxis]**2 + kE[num.newaxis, :]**2) k = num.linspace(k_rad[k_rad > 0].min(), k_rad.max(), nk) dk = 1. / k.min() / (2. * nk) return power(k), k, dk, spectrum, kE, kN # def power1Ddisc(): # self._log.info('Using discrete summation') # ps = power_spec # d = num.abs(num.arange(-ps.shape[0]/2, # ps.shape[0]/2)) # rm = num.sqrt(d[:, num.newaxis]**2 + d[num.newaxis, :]**2) # axis = num.argmax(ps.shape) # k_ref = kN if axis == 0 else kE # p = num.empty(ps.shape[axis]/2) # k = num.empty(ps.shape[axis]/2) # for r in xrange(ps.shape[axis]/2): # mask = num.logical_and(rm >= r-.5, rm < r+.5) # k[r] = k_ref[(k_ref.size/2)+r] # p[r] = num.median(ps[mask]) * 4 * num.pi # return p, k # power, k = power1Ddisc() # dk = k[1] - k[0] # return power, k, dk, spectrum, kE, kN def _powerspecFit(self, regime=3): """Fitting a function to data noise power spectrum. """ power_spec, k, _, _, _, _ = self.powerspecNoise1D() def selectRegime(k, k1, k2): return num.logical_and(k > k1, k < k2) regime = selectRegime(k, *noise_regimes[regime]) try: return sp.optimize.curve_fit(modelPowerspec, k[regime], power_spec[regime], p0=(self.variance, 2000)) except RuntimeError: self._log.warning('Could not fit the powerspectrum model.') return (0., 0.), 0. @property def powerspec_model(self): """Fit function to power spectrum based on the spectral model parameters :func:`~kite.covariance.modelPowerspec` :returns: Model parameters ``a`` and ``b`` :rtype: tuple, floats """ p, _ = self._powerspecFit() return p @property def powerspec_model_rms(self): ''' :getter: RMS missfit between :class:`~kite.Covariance.powerspecNoise1D` and :class:`~kite.Covariance.powerspec_model`` :type: float ''' power_spec, k, _, _, _, _ = self.powerspecNoise1D() power_spec_mod = self.powerspecModel(k) return num.sqrt(num.mean((power_spec - power_spec_mod)**2)) def powerspecModel(self, k): ''' Calculates the model power spectrum based on the fit of :func:`~kite.covariance.powerspec_model`. :param k: Wavenumber(s) :type k: float or :class:`numpy.ndarray` :returns: Power at wavenumber ``k`` :rtype: float or :class:`numpy.ndarray` ''' p = self.powerspec_model return modelPowerspec(k, *p) def _powerCosineTransform(self, p_spec): """Calculating the cosine transform of the power spectrum. The cosine transform of the power spectrum is an estimate of the data covariance (see Hanssen, 2001).""" cos = sp.fftpack.idct(p_spec, type=3) return cos @property_cached def covariance_func(self): ''' Covariance function estimated directly from the power spectrum of displacement noise patch using the cosine transform. :type: tuple, :class:`numpy.ndarray` (covariance, distance) ''' power_spec, k, dk, _, _, _ = self.powerspecNoise1D() # power_spec -= self.variance d = num.arange(1, power_spec.size + 1) * dk cov = self._powerCosineTransform(power_spec) return cov, d def covarianceAnalytical(self, regime=0): ''' Empirical Covariance function based on the power spectral model fit and not directly on the power spectrum as in :func:`~kite.covariance.covariance_func`. from :func:`~kite.covariance.modelPowerspec` .. note:: covarianceAnalytical is not a good name for this function, better rename to 'covarianceFromModel', 'covarianceModelBased' or :return: Covariance and corresponding distances. :rtype: tuple, :class:`numpy.ndarray` (covariance_analytical, distance) ''' _, k, dk, _, kN, kE = self.powerspecNoise1D() (a, b) = self.powerspec_model spec = modelPowerspec(k, a, b) d = num.arange(1, spec.size + 1) * dk cos = self._powerCosineTransform(spec) return cos, d @property def covariance_model(self, regime=0): ''' Covariance model parameters for :func:`~kite.covariance.modelCovariance` retrieved from :attr:`~kite.Covariance.covarianceAnalytical`. .. note:: using this function implies several several model fits: fit of the spectrum and fit of the cosine transform. Not sure about the consequences, if this is useful and/or meaningful :getter: Get the parameters. :type: tuple, ``a`` and ``b`` ''' if self.config.a is None or self.config.b is None: cov, d = self.covarianceAnalytical(regime) cov, d = self.covariance_func try: (a, b), _ =\ sp.optimize.curve_fit(modelCovariance, d, cov, p0=(.001, 500.)) self.config.a, self.config.b = (float(a), float(b)) except RuntimeError: self._log.warning('Could not fit the covariance model') self.config.a, self.config.b = (1., 1000.) return self.config.a, self.config.b @property def covariance_model_rms(self): ''' :getter: RMS missfit between :class:`~kite.Covariance.covariance_model` and :class:`~kite.Covariance.covariance_func` :type: float ''' cov, d = self.covariance_func cov_mod = modelCovariance(d, *self.covariance_model) return num.sqrt(num.mean((cov - cov_mod)**2)) @property_cached def structure_func(self): ''' Structure function derived from ``noise_patch`` :type: tuple, :class:`numpy.ndarray` (structure_func, distance) Adapted from http://clouds.eos.ubc.ca/~phil/courses/atsc500/docs/strfun.pdf ''' power_spec, k, dk, _, _, _ = self.powerspecNoise1D() d = num.arange(1, power_spec.size + 1) * dk def structure_func(power_spec, d, k): struc_func = num.zeros_like(k) for i, d in enumerate(d): for ik, tk in enumerate(k): # struc_func[i] += (1. - num.cos(tk*d))*power_spec[ik] struc_func[i] += (1. - sp.special.j0(tk * d)) * power_spec[ik] struc_func *= 2. / 1 return struc_func struc_func = structure_func(power_spec, d, k) return struc_func, d @property def variance(self): ''' Variance of data noise estimated from the high-frequency end of power spectrum. :setter: Set the variance manually :getter: Retrieve the variance :type: float ''' return self.config.variance @variance.setter def variance(self, value): self.config.variance = float(value) self._clear(config=False, spectrum=False) self.evChanged.notify() @variance.getter def variance(self): if self.config.variance is None: power_spec, k, dk, spectrum, _, _ = self.powerspecNoise1D() cov, _ = self.covariance_func # print cov[1] ps = power_spec * spectrum.size # print spectrum.size # print num.mean(ps[-int(ps.size/9.):-1]) var = num.median(ps[-int(ps.size / 9.):]) + cov[1] self.config.variance = float(var) return self.config.variance def export_weight_matrix(self, filename): """ Export the full :attr:`~kite.Covariance.weight_matrix` to an ASCII file. The data can be loaded through :func:`numpy.loadtxt`. :param filename: path to export to :type filename: str """ self._log.debug('Exporting Covariance.weight_matrix to %s' % filename) header = 'Exported kite.Covariance.weight_matrix, '\ 'for more information visit http://pyrocko.com\n'\ '\nThe matrix is symmetric and ordered by QuadNode.id:\n' header += ', '.join([l.id for l in self.quadtree.leafs]) num.savetxt(filename, self.weight_matrix, header=header) @property_cached def plot(self): ''' Simple overview plot to summarize the covariance estimations. ''' from kite.plot2d import CovariancePlot return CovariancePlot(self)
def __init__(self, scene, *args, **kwargs): Object.__init__(self, *args, **kwargs) self.scene = scene self.evProcessChanged = Subject()