Fix plotting bug related to single deviation plot with deviations wit…

…hout rotations
gereon-t · Jan 6, 2025 · 4bc41b1 · 4bc41b1
1 parent c817a9a
commit 4bc41b1
Showing 1 changed file with 17 additions and 62 deletions.
diff --git a/trajectopy/core/plotting/mpl/results.py b/trajectopy/core/plotting/mpl/results.py
@@ -51,9 +51,7 @@ def _stair_hist(*, l, mm: bool = False, linewidth: float = 1.5) -> None:
     return max(n_hist)
 
 
-def plot_compact_ate_hist(
-    ate_result: ATEResult, plot_settings: MPLPlotSettings = MPLPlotSettings()
-) -> Figure:
+def plot_compact_ate_hist(ate_result: ATEResult, plot_settings: MPLPlotSettings = MPLPlotSettings()) -> Figure:
     """
     Plots compact ATE histograms for the given ATEResult.
     The plot contains histograms for the position deviations and, if available, the rotation deviations.
@@ -79,9 +77,7 @@ def plot_compact_ate_hist(
     return fig
 
 
-def plot_rotation_ate_hist(
-    devs: ATEResult, plot_settings: MPLPlotSettings = MPLPlotSettings()
-) -> None:
+def plot_rotation_ate_hist(devs: ATEResult, plot_settings: MPLPlotSettings = MPLPlotSettings()) -> None:
     roll = np.rad2deg(devs.rot_dev_x)
     pitch = np.rad2deg(devs.rot_dev_y)
     yaw = np.rad2deg(devs.rot_dev_z)
@@ -99,29 +95,11 @@ def plot_rotation_ate_hist(
     plt.legend(["yaw", "pitch", "roll"])
 
 
-def plot_position_ate_hist(
-    devs: ATEResult, plot_settings: MPLPlotSettings = MPLPlotSettings()
-):
-    deviations_xa = (
-        devs.abs_dev.directed_pos_dev[:, 0]
-        if plot_settings.directed_ate
-        else devs.abs_dev.pos_dev[:, 0]
-    )
-    deviations_yh = (
-        devs.abs_dev.directed_pos_dev[:, 1]
-        if plot_settings.directed_ate
-        else devs.abs_dev.pos_dev[:, 1]
-    )
-    deviations_zv = (
-        devs.abs_dev.directed_pos_dev[:, 2]
-        if plot_settings.directed_ate
-        else devs.abs_dev.pos_dev[:, 2]
-    )
-    labels = (
-        ["vertical", "horizontal", "along"]
-        if plot_settings.directed_ate
-        else ["x", "y", "z"]
-    )
+def plot_position_ate_hist(devs: ATEResult, plot_settings: MPLPlotSettings = MPLPlotSettings()):
+    deviations_xa = devs.abs_dev.directed_pos_dev[:, 0] if plot_settings.directed_ate else devs.abs_dev.pos_dev[:, 0]
+    deviations_yh = devs.abs_dev.directed_pos_dev[:, 1] if plot_settings.directed_ate else devs.abs_dev.pos_dev[:, 1]
+    deviations_zv = devs.abs_dev.directed_pos_dev[:, 2] if plot_settings.directed_ate else devs.abs_dev.pos_dev[:, 2]
+    labels = ["vertical", "horizontal", "along"] if plot_settings.directed_ate else ["x", "y", "z"]
 
     plt.xlabel(plot_settings.unit_str)
     plt.ylabel("counts")
@@ -175,9 +153,7 @@ def plot_position_ate_edf(
 
     for dev in deviation_list:
         sorted_comb_pos_dev = np.sort(dev.pos_dev_comb)
-        pos_norm_cdf = np.arange(len(sorted_comb_pos_dev)) / float(
-            len(sorted_comb_pos_dev)
-        )
+        pos_norm_cdf = np.arange(len(sorted_comb_pos_dev)) / float(len(sorted_comb_pos_dev))
         ax_pos.plot(sorted_comb_pos_dev * plot_settings.unit_multiplier, pos_norm_cdf)
 
 
@@ -194,9 +170,7 @@ def plot_rotation_ate_edf(deviation_list: List[ATEResult]) -> None:
         if dev.abs_dev.rot_dev is None:
             continue
         sorted_comb_rot_dev = np.sort(np.rad2deg(dev.rot_dev_comb))
-        rot_norm_cdf = np.arange(len(sorted_comb_rot_dev)) / float(
-            len(sorted_comb_rot_dev)
-        )
+        rot_norm_cdf = np.arange(len(sorted_comb_rot_dev)) / float(len(sorted_comb_rot_dev))
         ax_rot.plot(sorted_comb_rot_dev, rot_norm_cdf)
 
 
@@ -281,9 +255,7 @@ def plot_ate(
         Figure: Figure containing the plot.
     """
     deviation_list = ate_results if isinstance(ate_results, list) else [ate_results]
-    x_label = derive_xlabel_from_sortings(
-        [dev.trajectory.sorting.value for dev in deviation_list]
-    )
+    x_label = derive_xlabel_from_sortings([dev.trajectory.sorting.value for dev in deviation_list])
 
     fig = plt.figure()
 
@@ -323,9 +295,9 @@ def plot_ate(
                 dev.trajectory.function_of[arc_length_sorting],
                 np.rad2deg(dev.rot_dev_comb[arc_length_sorting]),
             )
+            ax_rot.set_xlim(min_x, max_x)
 
     ax_pos.set_xlim(min_x, max_x)
-    ax_rot.set_xlim(min_x, max_x)
 
     fig.legend([dev.name for dev in deviation_list], ncol=3, loc="upper center")
     plt.tight_layout()
@@ -379,17 +351,8 @@ def plot_rpe(rpe_results: List[RPEResult]) -> Tuple[Figure, Figure]:
 
     _rpy_legend(figure_dict)
 
-    ret_sum = (
-        1
-        if any(
-            dev.rpe_dev.pair_distance_unit == PairDistanceUnit.METER
-            for dev in rpe_results
-        )
-        else 0
-    )
-    if any(
-        dev.rpe_dev.pair_distance_unit == PairDistanceUnit.SECOND for dev in rpe_results
-    ):
+    ret_sum = 1 if any(dev.rpe_dev.pair_distance_unit == PairDistanceUnit.METER for dev in rpe_results) else 0
+    if any(dev.rpe_dev.pair_distance_unit == PairDistanceUnit.SECOND for dev in rpe_results):
         ret_sum += 2
 
     plt.close({1: fig_time, 2: fig_metric}.get(ret_sum))
@@ -402,9 +365,7 @@ def plot_rpe(rpe_results: List[RPEResult]) -> Tuple[Figure, Figure]:
     }[ret_sum]
 
 
-def _plot_rpe_pos(
-    figure_dict: Dict[PairDistanceUnit, Axes], devs: List[RPEResult]
-) -> None:
+def _plot_rpe_pos(figure_dict: Dict[PairDistanceUnit, Axes], devs: List[RPEResult]) -> None:
     for dev in devs:
         line_plot = figure_dict[dev.rpe_dev.pair_distance_unit].plot(
             dev.mean_pair_distances, dev.pos_dev_mean, label=dev.name
@@ -426,9 +387,7 @@ def _plot_rpe_pos(
         _set_violin_color(violin_plot, line_plot[0].get_color())
 
 
-def _plot_rpe_rot(
-    figure_dict: Dict[PairDistanceUnit, Axes], devs: List[RPEResult]
-) -> None:
+def _plot_rpe_rot(figure_dict: Dict[PairDistanceUnit, Axes], devs: List[RPEResult]) -> None:
     plot_sum = 0
     for dev in devs:
         if not dev.has_rot_dev:
@@ -481,9 +440,7 @@ def _rpy_legend(figure_dict: Dict[str, Dict[PairDistanceUnit, Axes]]):
                 ax.legend()
 
 
-def scatter_ate(
-    ate_result: ATEResult, plot_settings: MPLPlotSettings = MPLPlotSettings()
-) -> Tuple[Figure, Figure]:
+def scatter_ate(ate_result: ATEResult, plot_settings: MPLPlotSettings = MPLPlotSettings()) -> Tuple[Figure, Figure]:
     """
     Plots the ATE results as a scatter plot with color-coded deviations.
 
@@ -524,9 +481,7 @@ def _colored_scatter_plot(
     plt.xlabel("x [m]")
     plt.ylabel("y [m]")
 
-    c_list, lower_bound, upper_bound, c_bar_ticks, c_bar_ticklabels = (
-        _setup_cbar_params(c_list, plot_settings)
-    )
+    c_list, lower_bound, upper_bound, c_bar_ticks, c_bar_ticklabels = _setup_cbar_params(c_list, plot_settings)
 
     sc = plt.scatter(
         xyz[:, 0],