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Code Issues Releases Wiki Activity

Parameterize Python plotting utilities in utils/python

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This commit is contained in:
Carles Fernandez
2026-06-23 15:49:25 +02:00
parent e3847b4312
commit e438d08c6e
17 changed files with 1827 additions and 716 deletions
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utils/python/lib/plotNavigation.py
+30 -21
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@@ -39,8 +39,8 @@ import os
def plotNavigation(navSolutions, settings, plot_skyplot=0):
# ---------- CHANGE HERE:
fig_path = '/home/labnav/Desktop/TEST_IRENE/PLOTS/PlotNavigation'
fig_path = settings.get('fig_path', 'plots/pvt')
output_format = settings.get('output_format', 'png')
if not os.path.exists(fig_path):
os.makedirs(fig_path)
@@ -67,9 +67,9 @@ def plotNavigation(navSolutions, settings, plot_skyplot=0):
else:
# Compute the mean error for static receiver
ref_coord = {
'E_UTM': settings.truePosition['E_UTM'],
'N_UTM': settings.truePosition['N_UTM'],
'U_UTM': settings.truePosition['U_UTM']
'E_UTM': settings['true_position']['E_UTM'],
'N_UTM': settings['true_position']['N_UTM'],
'U_UTM': settings['true_position']['U_UTM']
}
mean_position = {
@@ -96,9 +96,15 @@ def plotNavigation(navSolutions, settings, plot_skyplot=0):
ax3 = plt.subplot(4, 2, (6, 8), projection='3d')
# (ax1) Coordinate differences in UTM system from reference point
ax1.plot(np.vstack([navSolutions['E_UTM'] - ref_coord['E_UTM'],
navSolutions['N_UTM'] - ref_coord['N_UTM'],
navSolutions['U_UTM'] - ref_coord['U_UTM']]).T)
# Coerce to arrays so the offset works whether the reference is a
# float (from --true-position) or a NumPy mean of the solutions.
e_utm = np.asarray(navSolutions['E_UTM'], dtype=float)
n_utm = np.asarray(navSolutions['N_UTM'], dtype=float)
u_utm = np.asarray(navSolutions['U_UTM'], dtype=float)
d_east = e_utm - ref_coord['E_UTM']
d_north = n_utm - ref_coord['N_UTM']
d_up = u_utm - ref_coord['U_UTM']
ax1.plot(np.vstack([d_east, d_north, d_up]).T)
ax1.set_title('Coordinates variations in UTM system', fontweight='bold')
ax1.legend(['E_UTM', 'N_UTM', 'U_UTM'])
ax1.set_xlabel(f"Measurement period: {settings['navSolPeriod']} ms")
@@ -106,19 +112,18 @@ def plotNavigation(navSolutions, settings, plot_skyplot=0):
ax1.grid(True)
ax1.axis('tight')
# (ax2) Satellite sky plot
if plot_skyplot: #todo posicion de los satelites
skyPlot(ax2, navSolutions['channel']['az'],
navSolutions['channel']['el'],
navSolutions['channel']['PRN'][:, 0])
ax2.set_title(f'Sky plot (mean PDOP: '
f'{np.nanmean(navSolutions["DOP"][1, :]):.1f})',
fontweight='bold')
# (ax2) Reserved for a satellite sky plot, which cannot be drawn from a
# PVT dump (it has no per-satellite azimuth/elevation). Hide the empty
# panel; use utils/skyplot/skyplot.py to plot a skyplot from a RINEX
# navigation file.
ax2.axis('off')
if plot_skyplot:
print("Warning: the sky plot panel is not available from a PVT "
"dump (no azimuth/elevation data). Use "
"utils/skyplot/skyplot.py instead.")
# (ax3) Position plot in UTM system
ax3.scatter(navSolutions['E_UTM'] - ref_coord['E_UTM'],
navSolutions['N_UTM'] - ref_coord['N_UTM'],
navSolutions['U_UTM'] - ref_coord['U_UTM'], marker='+')
ax3.scatter(d_east, d_north, d_up, marker='+')
ax3.scatter([0], [0], [0], color='r', marker='+', linewidth=1.5)
ax3.view_init(0, 90)
ax3.set_box_aspect([1, 1, 1])
@@ -130,5 +135,9 @@ def plotNavigation(navSolutions, settings, plot_skyplot=0):
ax3.set_zlabel('Upping (m)')
plt.tight_layout()
plt.savefig(os.path.join(fig_path, 'measures_UTM.png'))
plt.show()
plt.savefig(os.path.join(fig_path, f'measures_UTM.{output_format}'))
# Close unless it will be shown; the caller triggers a single
# plt.show() at the end. Avoids repeated show()/close() cycles, which
# can crash interactive matplotlib backends (e.g. macOS) on close.
if not settings.get('show', True):
plt.close()