From d3591dac0b4fa96d98db4859863c9410a97b3e5a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 16 Jun 2020 15:07:54 -0500 Subject: [PATCH] fix deprecation warnings from Matplotlib --- .../gtsam/examples/PreintegrationExample.py | 31 ++++++++++--------- 1 file changed, 17 insertions(+), 14 deletions(-) diff --git a/cython/gtsam/examples/PreintegrationExample.py b/cython/gtsam/examples/PreintegrationExample.py index 76520b355..68b1c8cc0 100644 --- a/cython/gtsam/examples/PreintegrationExample.py +++ b/cython/gtsam/examples/PreintegrationExample.py @@ -73,38 +73,41 @@ class PreintegrationExample(object): self.runner = gtsam.ScenarioRunner( self.scenario, self.params, self.dt, self.actualBias) + fig, self.axes = plt.subplots(4, 3) + fig.set_tight_layout(True) + def plotImu(self, t, measuredOmega, measuredAcc): plt.figure(IMU_FIG) # plot angular velocity omega_b = self.scenario.omega_b(t) for i, (label, color) in enumerate(zip(self.labels, self.colors)): - plt.subplot(4, 3, i + 1) - plt.scatter(t, omega_b[i], color='k', marker='.') - plt.scatter(t, measuredOmega[i], color=color, marker='.') - plt.xlabel('angular velocity ' + label) + ax = self.axes[0][i] + ax.scatter(t, omega_b[i], color='k', marker='.') + ax.scatter(t, measuredOmega[i], color=color, marker='.') + ax.set_xlabel('angular velocity ' + label) # plot acceleration in nav acceleration_n = self.scenario.acceleration_n(t) for i, (label, color) in enumerate(zip(self.labels, self.colors)): - plt.subplot(4, 3, i + 4) - plt.scatter(t, acceleration_n[i], color=color, marker='.') - plt.xlabel('acceleration in nav ' + label) + ax = self.axes[1][i] + ax.scatter(t, acceleration_n[i], color=color, marker='.') + ax.set_xlabel('acceleration in nav ' + label) # plot acceleration in body acceleration_b = self.scenario.acceleration_b(t) for i, (label, color) in enumerate(zip(self.labels, self.colors)): - plt.subplot(4, 3, i + 7) - plt.scatter(t, acceleration_b[i], color=color, marker='.') - plt.xlabel('acceleration in body ' + label) + ax = self.axes[2][i] + ax.scatter(t, acceleration_b[i], color=color, marker='.') + ax.set_xlabel('acceleration in body ' + label) # plot actual specific force, as well as corrupted actual = self.runner.actualSpecificForce(t) for i, (label, color) in enumerate(zip(self.labels, self.colors)): - plt.subplot(4, 3, i + 10) - plt.scatter(t, actual[i], color='k', marker='.') - plt.scatter(t, measuredAcc[i], color=color, marker='.') - plt.xlabel('specific force ' + label) + ax = self.axes[3][i] + ax.scatter(t, actual[i], color='k', marker='.') + ax.scatter(t, measuredAcc[i], color=color, marker='.') + ax.set_xlabel('specific force ' + label) def plotGroundTruthPose(self, t): # plot ground truth pose, as well as prediction from integrated IMU measurements