Kalman Filters Book¶
Kalman and Bayesian Filters in Python is a pretty good way to learn Kalman filters. Clone my fork of the book (I’ll update the dependencies and fix any issues you might encounter there).
git clone https://github.com/ethanc8/Kalman-and-Bayesian-Filters-in-Python
Then, you can install the “Jupyter” extension in VSCode to read the book, or you can install Jupyter Notebook or Jupyter Lab and read it there.
Installing dependencies¶
If you already have Miniforge3 installed, use those instructions. Otherwise you can use the Micromamba instructions. If you’re on Windows use the Micromamba instructions.
Micromamba¶
Open a Bash terminal. On Linux, this should be your default terminal. On macOS, open Terminal.app and run the bash
command. On Windows, you can use Git Bash. (You have Git installed, right? If not, go back to [/Resources/JavaProgramming/installation.md#])
"${SHELL}" <(curl -L micro.mamba.pm/install.sh)
Open a new Bash terminal. Now, you can use Micromamba to install the dependencies.
micromamba env create -f environment.yml
micromamba activate kf_bf
If you modify environment.yml
, please run
micromamba env update -f environment.yml
Occassionally, you might want to update all the packages to the latest versions:
micromamba update --all -n kf_bf
In VS Code, it will ask you which Jupyter kernel you want to use. Choose kf_bf
.
Miniforge3 (Linux or macOS)¶
First, please have Conda installed on your computer. If it’s not installed, please install Miniforge3, which includes Conda and a conda-forge based Python environment. You can install Miniforge3 using the following command:
wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
bash Miniforge3-$(uname)-$(uname -m).sh
rm Miniforge3-$(uname)-$(uname -m).sh
Close and reopen your shell, and run:
# Prevent Conda from polluting your environment when you're not working on Conda-managed projects.
conda config --set auto_activate_base false
Now, you can use Conda to install the dependencies.
mamba env create -f environment.yml
mamba activate kf_bf
If you modify environment.yml
, please run
mamba env update -f environment.yml
Occassionally, you should update all the packages to the latest versions:
mamba activate kf_bf
mamba update --all
In VS Code, it will ask you which Jupyter kernel you want to use. Choose kf_bf
.
Getting sliders working¶
Only do this if the sliders aren’t working; it hasn’t been tested for a while.
pip3 install --user --upgrade ipywidgets
jupyter nbextension enable --py --sys-prefix widgetsnbextension
Low contrast issues¶
In Light+ theme in VSCode, the text is too low contrast. To fix this, add this to settings.json
(Ctrl+Shift+P -> “Open User Settings (JSON)”):
"workbench.colorCustomizations": {
"[Default Light+]": {
"foreground": "#111111"
}
},