Method plot_eigenvalues

python/basalt/latex/plot.py:231–276

(self, exps, spec)

            fig.suptitle(spec.suptitle)

    def plot_eigenvalues(self, exps, spec):

        logs = [exps[e].runs[spec.sequence].log for e in spec.experiments]
        names = [exps[e].display_name for e in spec.experiments]

        num_plots = 1

        if spec.figsize is None:
            spec.figsize = [5.2, 2 * num_plots]

        fig, axs = plt.subplots(num_plots, 1, figsize=spec.figsize)

        ax = axs

        for i, (log, name) in enumerate(zip(logs, names)):
            if log is not None:
                min_ev = [np.min(e) for e in log.sums.marg_ev[1:]]
                #ax.plot(min_ev, ":", label=name, color=default_colors[i])
                ax.plot(min_ev, default_lines[i], label=name, color=default_colors[i])

        ax.set_yscale("symlog", linthresh=1e-8)
        ax.legend(loc=spec.legend_loc)

        #ax.set_title("smallest eigenvalue {} {}".format(name, spec.sequence))

        if spec.sequence == "eurocMH01":
            ax.set_xticks([i * 1000 for i in range(4)])
            ax.xaxis.set_minor_locator(matplotlib.ticker.FixedLocator([i * 1000 + 500 for i in range(4)]))

        if spec.sequence == "kitti10":
            ax.set_xticks([i * 100 for i in range(4)])
            ax.xaxis.set_minor_locator(matplotlib.ticker.FixedLocator([i * 100 + 50 for i in range(4)]))

        ax.set_yticks([-1e4, -1e-4, 0.0, 1e-4, 1e4])
        ax.set_ylim(bottom=-1e8, top=1e8)
        # ax.yaxis.tick_right()
        ax.set_ylabel("$\\sigma_{min}$", rotation=0)
        ax.yaxis.set_label_coords(0, 1.05)

        if spec.ylim.top is not None:
            ax.set_ylim(top=spec.ylim.top)
        if spec.ylim.bottom is not None:
            ax.set_ylim(bottom=spec.ylim.bottom)

        if spec.suptitle:
            fig.suptitle(spec.suptitle)

    def plot_trajectory(self, exps, spec):