trajectopy 4.2.4__tar.gz → 4.3.0__tar.gz

{trajectopy-4.2.4 → trajectopy-4.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: trajectopy
-Version: 4.2.4
+Version: 4.3.0
 Summary: Trajectory Evaluation in Python
 Project-URL: Homepage, https://gereon-t.github.io/trajectopy/
 Project-URL: Documentation, https://gereon-t.github.io/trajectopy/

{trajectopy-4.2.4 → trajectopy-4.3.0}/example_scripts/ate.py

@@ -28,7 +28,8 @@ def main():
     # default settings
     processing_settings = ProcessingSettings()
 
-    ate_result = ate(other=gt_traj, trajectory=est_traj, processing_settings=processing_settings)
+    # align = True is the default, but can be disabled if you want to evaluate the unaligned trajectories
+    ate_result = ate(other=gt_traj, trajectory=est_traj, processing_settings=processing_settings, align=True)
     console.print(dict_to_table(ate_result.property_dict))
 
 

trajectopy-4.3.0/trajectopy/__version__.py

@@ -0,0 +1 @@
+__version__ = "4.3.0"

{trajectopy-4.2.4 → trajectopy-4.3.0}/trajectopy/core/settings.py

@@ -543,6 +543,7 @@ class AlignmentSettings(Settings):
     Combines preprocessing, estimation, and stochastic settings for trajectory alignment.
 
     Attributes:
+        enabled: Whether alignment is enabled.
         preprocessing: Preprocessing filter settings
         estimation_settings: Parameter estimation settings
         stochastics: Stochastic model (observation uncertainty) settings
@@ -552,6 +553,7 @@ class AlignmentSettings(Settings):
             Defaults to 1e-4.
     """
 
+    enabled: bool = True
     preprocessing: AlignmentPreprocessing = field(default_factory=AlignmentPreprocessing)
     estimation_settings: AlignmentEstimationSettings = field(default_factory=AlignmentEstimationSettings)
     stochastics: AlignmentStochastics = field(default_factory=AlignmentStochastics)

{trajectopy-4.2.4 → trajectopy-4.3.0}/trajectopy/gui/managers/requests.py

@@ -55,8 +55,6 @@ class SessionManagerRequestType(Enum):
 
 class TrajectoryManagerRequestType(Enum):
     SWITCH_SORTING = auto()
-    COMPARE_ABS = auto()
-    COMPARE_REL = auto()
     ALIGN = auto()
     ADAPT_FIRST_POSE = auto()
     APPLY_ALIGNMENT = auto()

{trajectopy-4.2.4 → trajectopy-4.3.0}/trajectopy/gui/managers/trajectory_manager.py

@@ -48,15 +48,6 @@ class TrajectoryEntryPair:
     request: TrajectoryManagerRequest
     reference_entry: TrajectoryEntry | None = None
 
-    def __post_init__(self) -> None:
-        if self.request.type in [
-            TrajectoryManagerRequestType.ATE,
-            TrajectoryManagerRequestType.RPE,
-        ]:  # pipeline requests use matching setting from trajectory
-            return
-
-        self.entry.settings.matching.method = self.request.matching_method
-
 
 class TrajectoryManager(QObject):
     """
@@ -144,16 +135,6 @@ class TrajectoryManager(QObject):
                 apply_to_reference=True,
             ),
             TrajectoryManagerRequestType.AVERAGE: self.operation_average_trajectories,
-            TrajectoryManagerRequestType.COMPARE_ABS: lambda: self.handle_trajectory_operation(
-                operation=self.operation_compare_abs,
-                inplace=False,
-                apply_to_reference=False,
-            ),
-            TrajectoryManagerRequestType.COMPARE_REL: lambda: self.handle_trajectory_operation(
-                operation=self.operation_compare_rel,
-                inplace=False,
-                apply_to_reference=False,
-            ),
             TrajectoryManagerRequestType.MERGE: self.operation_merge_trajectories,
             TrajectoryManagerRequestType.SORT: lambda: self.handle_trajectory_operation(
                 operation=self.operation_sort, inplace=False, apply_to_reference=True
@@ -475,64 +456,6 @@ class TrajectoryManager(QObject):
 
         self.emit_add_trajectory_signal(new_trajectory_entry)
 
-    @staticmethod
-    def operation_compare_abs(entry_pair: TrajectoryEntryPair) -> tuple[ResultEntry]:
-        """
-        Compares the selected trajectory to the reference trajectory.
-
-        Args:
-            entry_pair (TrajectoryEntryPair): The pair of trajectories to compare.
-
-        Returns:
-            ResultEntry: The result of the comparison.
-        """
-        if (reference_entry := entry_pair.reference_entry) is None:
-            raise ValueError("No reference trajectory selected.")
-
-        traj_test, traj_ref = matching.match_trajectories(
-            trajectory=entry_pair.entry.trajectory,
-            other=reference_entry.trajectory,
-            matching_settings=entry_pair.entry.settings.matching,
-        )
-
-        if len(traj_ref) != len(traj_test):
-            raise ValueError("Something went wrong during matching.")
-
-        comparison_result = evaluation._compare_trajectories_absolute(trajectory=traj_test, other=traj_ref)
-
-        return (AbsoluteDeviationEntry(deviations=comparison_result),)
-
-    @staticmethod
-    def operation_compare_rel(entry_pair: TrajectoryEntryPair) -> tuple[ResultEntry]:
-        """
-        Compares the selected trajectory to the reference trajectory using relative comparison.
-
-        Args:
-            entry_pair (TrajectoryEntryPair): The pair of trajectories to compare.
-
-        Returns:
-            ResultEntry: The result of the comparison.
-        """
-        if (reference_entry := entry_pair.reference_entry) is None:
-            raise ValueError("No reference trajectory selected.")
-
-        traj_test, traj_ref = matching.match_trajectories(
-            trajectory=entry_pair.entry.trajectory,
-            other=reference_entry.trajectory,
-            matching_settings=entry_pair.entry.settings.matching,
-        )
-
-        if len(traj_ref) != len(traj_test):
-            raise ValueError("Something went wrong during matching.")
-
-        comparison_result = evaluation._compare_trajectories_relative(
-            trajectory=traj_test,
-            other=traj_ref,
-            relative_comparison_settings=entry_pair.entry.settings.relative_comparison,
-        )
-
-        return (RelativeDeviationEntry(deviations=comparison_result),)
-
     @staticmethod
     def operation_interpolate_to_grid(
         entry_pair: TrajectoryEntryPair,
@@ -824,7 +747,7 @@ class TrajectoryManager(QObject):
             entry_pair (TrajectoryEntryPair): The pair of trajectories to compare.
 
         Returns:
-            ResultEntry: The result of the comparison.
+            ResultEntry: The result of the comparison and the alignment information.
         """
         if (reference_entry := entry_pair.reference_entry) is None:
             raise ValueError("No reference trajectory selected.")
@@ -834,8 +757,12 @@ class TrajectoryManager(QObject):
             other=reference_entry.trajectory,
             processing_settings=entry_pair.entry.settings,
             return_alignment=True,
+            align=entry_pair.entry.settings.alignment.enabled,
         )
 
+        if not entry_pair.entry.settings.alignment.enabled:
+            return (AbsoluteDeviationEntry(deviations=ate_result),)
+
         return (AbsoluteDeviationEntry(deviations=ate_result), AlignmentEntry(alignment_result=alignment_result))
 
     @staticmethod

{trajectopy-4.2.4 → trajectopy-4.3.0}/trajectopy/gui/views/json_settings_view.py

@@ -214,6 +214,10 @@ class JSONViewer(QtWidgets.QMainWindow):
                 group_label = QtWidgets.QLabel(self.scroll_area_widget_contents)
                 group_label.setStyleSheet("color: #888888;")
 
+                if parent_name == "root":
+                    # make first level keys more prominent
+                    group_label.setStyleSheet("color: #888888; font-weight: bold; font-size: 14px;")
+
                 group_label.setObjectName(f"label-{parent_name}-{key}")
                 group_label.setText(_translate("MainWindow", format_key(key)))
                 self.form_layout.setWidget(self.form_item_cnt, QtWidgets.QFormLayout.ItemRole.LabelRole, group_label)

{trajectopy-4.2.4 → trajectopy-4.3.0}/trajectopy/gui/views/trajectory_context_menu.py

@@ -3,7 +3,6 @@
 from PySide6 import QtCore, QtWidgets
 from PySide6.QtGui import QAction, QCursor
 
-from trajectopy.core.settings import MatchingMethod
 from trajectopy.gui.managers.requests import (
     PlotRequest,
     PlotRequestType,
@@ -31,17 +30,12 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
 
     def __init__(self, parent=None) -> None:
         super().__init__(parent)
-        self.metrics_context_menu = QtWidgets.QMenu("Metrics")
+        self.evaluate_context_menu = QtWidgets.QMenu("Evaluate")
         self.comparison_context_menu = QtWidgets.QMenu("Compare With Reference")
-        self.match_context_menu = QtWidgets.QMenu("Match With Reference")
-        self.other_context_menu = QtWidgets.QMenu("Other")
+        self.other_context_menu = QtWidgets.QMenu("Utilities")
         self.view_context_menu = QtWidgets.QMenu("View")
         self.edit_context_menu = QtWidgets.QMenu("Edit")
-        self.action_context_menu = QtWidgets.QMenu("Action")
-        self.absolute_menu = QtWidgets.QMenu("Absolute", self)
-        self.relative_menu = QtWidgets.QMenu("Relative", self)
-        self.least_squares_menu = QtWidgets.QMenu("All Poses", self)
-        self.align_first_pose_menu = QtWidgets.QMenu("First Pose", self)
+        self.process_context_menu = QtWidgets.QMenu("Process")
         self.align_with_reference_sub_menu = QtWidgets.QMenu("Align With Reference", self)
         self._selection: TrajectorySelection
 
@@ -67,17 +61,12 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
 
     def clear(self) -> None:
         super().clear()
-        self.metrics_context_menu.clear()
+        self.evaluate_context_menu.clear()
         self.comparison_context_menu.clear()
-        self.match_context_menu.clear()
         self.other_context_menu.clear()
         self.view_context_menu.clear()
         self.edit_context_menu.clear()
-        self.action_context_menu.clear()
-        self.absolute_menu.clear()
-        self.relative_menu.clear()
-        self.least_squares_menu.clear()
-        self.align_first_pose_menu.clear()
+        self.process_context_menu.clear()
         self.align_with_reference_sub_menu.clear()
 
     def single_only_context(self) -> None:
@@ -116,12 +105,30 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
     def multi_context(self) -> None:
         """These options are shown for single and multiple trajectories"""
         self.view_context()
+
+        change_datum_action = QAction("Transform to EPSG", self)
+        change_datum_action.triggered.connect(
+            lambda: self.ui_request.emit(
+                UIRequest(
+                    type=UIRequestType.EPSG_TRANSFORMATION,
+                    trajectory_selection=self.get_selection(),
+                )
+            )
+        )
+        self.addAction(change_datum_action)
+
+        if self.get_selection().reference_is_set:
+            self.addSeparator()
+            self.evaluate_context()
+            self.addAction(self.match_action())
+            self.addMenu(self.align_context())
+
+        self.addSeparator()
         self.edit_context()
-        self.action_context()
-        self.metrics_context()
+        self.process_context()
 
     def edit_context(self) -> None:
-        """Actions sub-context menu"""
+        """Edit sub-context menu"""
         single_selection = len(self.get_selection()) == 1
         self.addMenu(self.edit_context_menu)
 
@@ -268,23 +275,8 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
         )
         self.view_context_menu.addAction(playback_action)
 
-    def action_context(self) -> None:
-        self.addMenu(self.action_context_menu)
-
-        self.action_context_menu.addMenu(self.align_context())
-        self.action_context_menu.addMenu(self.compare_context())
-        self.action_context_menu.addMenu(self.match_context())
-
-        change_datum_action = QAction("Transform to EPSG", self)
-        change_datum_action.triggered.connect(
-            lambda: self.ui_request.emit(
-                UIRequest(
-                    type=UIRequestType.EPSG_TRANSFORMATION,
-                    trajectory_selection=self.get_selection(),
-                )
-            )
-        )
-        self.action_context_menu.addAction(change_datum_action)
+    def process_context(self) -> None:
+        self.addMenu(self.process_context_menu)
 
         approximate_action = QAction("Approximate", self)
         approximate_action.triggered.connect(
@@ -295,7 +287,7 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
                 )
             )
         )
-        self.action_context_menu.addAction(approximate_action)
+        self.process_context_menu.addAction(approximate_action)
 
         interpolate_to_grid_action = QAction("Interpolate to Grid", self)
         interpolate_to_grid_action.triggered.connect(
@@ -306,7 +298,7 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
                 )
             )
         )
-        self.action_context_menu.addAction(interpolate_to_grid_action)
+        self.process_context_menu.addAction(interpolate_to_grid_action)
 
         apply_alignment_action = QAction("Apply Alignment", self)
         # -> ResultModelRequest(selection=selected_trajectories) -> ResultModel
@@ -321,9 +313,9 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
                 )
             )
         )
-        self.action_context_menu.addAction(apply_alignment_action)
+        self.process_context_menu.addAction(apply_alignment_action)
 
-        self.action_context_menu.addMenu(self.other_context())
+        self.process_context_menu.addMenu(self.other_context())
 
         if not self.get_selection().reference_is_set:
             return
@@ -340,7 +332,7 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
                 )
             )
         )
-        self.action_context_menu.addAction(epsg_to_ref_action)
+        self.process_context_menu.addAction(epsg_to_ref_action)
 
     def other_context(self) -> QtWidgets.QMenu:
         sort_action = QAction("Sort Spatially", self)
@@ -380,274 +372,50 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
     def align_context(self) -> QtWidgets.QMenu:
         self.align_with_reference_sub_menu.setEnabled(self.get_selection().reference_is_set)
 
-        align_interpolate_action = QAction("Match by Interpolation", self)
-        align_interpolate_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.ALIGN,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.INTERPOLATION,
-                )
-            ),
-        )
-
-        align_nearest_temporal_action = QAction("Match Nearest Temporal", self)
-        align_nearest_temporal_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.ALIGN,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_TEMPORAL,
-                )
-            ),
-        )
-
-        align_nearest_spatial_action = QAction("Match Nearest Spatial", self)
-        align_nearest_spatial_action.triggered.connect(
+        align_all_poses_action = QAction("All Poses", self)
+        align_all_poses_action.triggered.connect(
             lambda: self.trajectory_manager_request.emit(
                 TrajectoryManagerRequest(
                     type=TrajectoryManagerRequestType.ALIGN,
                     selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL,
                 )
             ),
         )
 
-        align_nsi_action = QAction("Nearest Spatial Interpolated", self)
-        align_nsi_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.ALIGN,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL_INTERPOLATED,
-                )
-            ),
-        )
-
-        align_first_pose_interpolation_action = QAction("Match by Interpolation", self)
-        align_first_pose_interpolation_action.triggered.connect(
+        align_first_pose_action = QAction("First Pose", self)
+        align_first_pose_action.triggered.connect(
             lambda: self.trajectory_manager_request.emit(
                 TrajectoryManagerRequest(
                     type=TrajectoryManagerRequestType.ADAPT_FIRST_POSE,
                     selection=self.get_selection(),
-                    matching_method=MatchingMethod.INTERPOLATION,
                 )
             ),
         )
 
-        align_first_pose_nearest_temporal_action = QAction("Match Nearest Temporal", self)
-        align_first_pose_nearest_temporal_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.ADAPT_FIRST_POSE,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_TEMPORAL,
-                )
-            ),
-        )
-
-        align_first_pose_nearest_spatial_action = QAction("Match Nearest Spatial", self)
-        align_first_pose_nearest_spatial_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.ADAPT_FIRST_POSE,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL,
-                )
-            ),
-        )
-
-        align_first_pose_nsi_action = QAction("Nearest Spatial Interpolated", self)
-        align_first_pose_nsi_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.ADAPT_FIRST_POSE,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL_INTERPOLATED,
-                )
-            ),
-        )
-
-        self.least_squares_menu.addAction(align_interpolate_action)
-        self.least_squares_menu.addAction(align_nearest_temporal_action)
-        self.least_squares_menu.addAction(align_nearest_spatial_action)
-        self.least_squares_menu.addAction(align_nsi_action)
-        self.align_with_reference_sub_menu.addMenu(self.least_squares_menu)
-
-        self.align_first_pose_menu.addAction(align_first_pose_interpolation_action)
-        self.align_first_pose_menu.addAction(align_first_pose_nearest_temporal_action)
-        self.align_first_pose_menu.addAction(align_first_pose_nearest_spatial_action)
-        self.align_first_pose_menu.addAction(align_first_pose_nsi_action)
-        self.align_with_reference_sub_menu.addMenu(self.align_first_pose_menu)
+        self.align_with_reference_sub_menu.addAction(align_all_poses_action)
+        self.align_with_reference_sub_menu.addAction(align_first_pose_action)
 
         return self.align_with_reference_sub_menu
 
-    def compare_context(self) -> QtWidgets.QMenu:
-        """Compare-Sub-Context menu"""
-        self.comparison_context_menu.setEnabled(self.get_selection().reference_is_set)
-
-        abs_nearest_spatial_action = QAction("Match Nearest Spatial", self)
-        abs_nearest_spatial_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.COMPARE_ABS,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL,
-                )
-            ),
-        )
-
-        abs_nearest_temporal_action = QAction("Match Nearest Temporal", self)
-        abs_nearest_temporal_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.COMPARE_ABS,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_TEMPORAL,
-                )
-            ),
-        )
-
-        abs_interpolation_action = QAction("Match by Interpolation", self)
-        abs_interpolation_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.COMPARE_ABS,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.INTERPOLATION,
-                )
-            ),
-        )
-
-        abs_nsi_action = QAction("Nearest Spatial Interpolated", self)
-        abs_nsi_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.COMPARE_ABS,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL_INTERPOLATED,
-                )
-            ),
-        )
-
-        rel_nearest_spatial_action = QAction("Match Nearest Spatial", self)
-        rel_nearest_spatial_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.COMPARE_REL,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL,
-                )
-            ),
-        )
-
-        rel_nearest_temporal_action = QAction("Match Nearest Temporal", self)
-        rel_nearest_temporal_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.COMPARE_REL,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_TEMPORAL,
-                )
-            ),
-        )
-
-        rel_interpolation_action = QAction("Match by Interpolation", self)
-        rel_interpolation_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.COMPARE_REL,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.INTERPOLATION,
-                )
-            ),
-        )
-
-        rel_nsi_action = QAction("Nearest Spatial Interpolated", self)
-        rel_nsi_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.COMPARE_REL,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL_INTERPOLATED,
-                )
-            ),
-        )
-
-        self.absolute_menu.addAction(abs_interpolation_action)
-        self.absolute_menu.addAction(abs_nearest_temporal_action)
-        self.absolute_menu.addAction(abs_nearest_spatial_action)
-        self.absolute_menu.addAction(abs_nsi_action)
-
-        self.relative_menu.addAction(rel_interpolation_action)
-        self.relative_menu.addAction(rel_nearest_temporal_action)
-        self.relative_menu.addAction(rel_nearest_spatial_action)
-        self.relative_menu.addAction(rel_nsi_action)
-
-        self.comparison_context_menu.addMenu(self.absolute_menu)
-        self.comparison_context_menu.addMenu(self.relative_menu)
-        return self.comparison_context_menu
-
-    def match_context(self) -> QtWidgets.QMenu:
-        self.match_context_menu.setEnabled(self.get_selection().reference_is_set)
-
-        match_interpolation_action = QAction("Interpolation", self)
-        match_interpolation_action.triggered.connect(
+    def match_action(self) -> QAction:
+        match_action = QAction("Match With Reference", self)
+        match_action.triggered.connect(
             lambda: self.trajectory_manager_request.emit(
                 TrajectoryManagerRequest(
                     type=TrajectoryManagerRequestType.MATCH,
                     selection=self.get_selection(),
-                    matching_method=MatchingMethod.INTERPOLATION,
                 )
             ),
         )
 
-        match_nearest_temporal_action = QAction("Nearest Temporal", self)
-        match_nearest_temporal_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.MATCH,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_TEMPORAL,
-                )
-            ),
-        )
-
-        match_nearest_spatial_action = QAction("Nearest Spatial", self)
-        match_nearest_spatial_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.MATCH,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL,
-                )
-            ),
-        )
-
-        match_nsi_action = QAction("Nearest Spatial Interpolated", self)
-        match_nsi_action.triggered.connect(
-            lambda: self.trajectory_manager_request.emit(
-                TrajectoryManagerRequest(
-                    type=TrajectoryManagerRequestType.MATCH,
-                    selection=self.get_selection(),
-                    matching_method=MatchingMethod.NEAREST_SPATIAL_INTERPOLATED,
-                )
-            ),
-        )
-
-        self.match_context_menu.addAction(match_interpolation_action)
-        self.match_context_menu.addAction(match_nearest_temporal_action)
-        self.match_context_menu.addAction(match_nearest_spatial_action)
-        self.match_context_menu.addAction(match_nsi_action)
-
-        return self.match_context_menu
+        return match_action
 
-    def metrics_context(self) -> None:
-        self.addMenu(self.metrics_context_menu)
-        self.metrics_context_menu.setEnabled(self.get_selection().reference_is_set)
+    def evaluate_context(self) -> None:
+        self.addMenu(self.evaluate_context_menu)
+        self.evaluate_context_menu.setEnabled(self.get_selection().reference_is_set)
 
-        ate_action = QAction("Compute ATE", self)
-        ate_action.triggered.connect(
+        ate = QAction("ATE", self)
+        ate.triggered.connect(
             lambda: self.trajectory_manager_request.emit(
                 TrajectoryManagerRequest(
                     type=TrajectoryManagerRequestType.ATE,
@@ -656,7 +424,7 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
             ),
         )
 
-        rpe_action = QAction("Compute RPE", self)
+        rpe_action = QAction("RPE", self)
         rpe_action.triggered.connect(
             lambda: self.trajectory_manager_request.emit(
                 TrajectoryManagerRequest(
@@ -666,5 +434,5 @@ class TrajectoryContextMenu(QtWidgets.QMenu):
             ),
         )
 
-        self.metrics_context_menu.addAction(ate_action)
-        self.metrics_context_menu.addAction(rpe_action)
+        self.evaluate_context_menu.addAction(ate)
+        self.evaluate_context_menu.addAction(rpe_action)

{trajectopy-4.2.4 → trajectopy-4.3.0}/trajectopy/processing/lib/alignment/data.py

@@ -114,7 +114,7 @@ class AlignmentData:
             "Z_TO": (5, 6),
             "XYZ_TO": (3, 6),
             "POSITIONS": (0, 6),
-            "ROLL_PITCH": (6, 8) if self.alignment_settings.estimation_settings.leverarm_enabled else (None, None),
+            "ROLL_PITCH": ((6, 8) if self.alignment_settings.estimation_settings.leverarm_enabled else (None, None)),
             "YAW": (8, 9) if self.alignment_settings.estimation_settings.leverarm_enabled else (None, None),
             "RPY": (6, 9) if self.alignment_settings.estimation_settings.leverarm_enabled else (None, None),
             "SPEED": speed_indices,

{trajectopy-4.2.4 → trajectopy-4.3.0}/trajectopy-docs/docs/settings.md

@@ -12,13 +12,15 @@ The processing settings allow you to configure various processing steps that can
 
 ### Alignment Settings
 
-#### Preprocessing Settings
+- `alignment_enabled` (boolean): Enable or disable trajectory alignment. If disabled, no alignment will be performed and the trajectories will be compared as-is. Default value is `True`.
+
+#### Alignment Preprocessing Settings
 
 - `min_speed` (float): Only poses with a speed above this threshold are considered for alignment (meters/second).
 - `time_start` (float): Only poses with a timestamp above this threshold are considered for alignment. The timestamp is given in seconds and is relative to the first common timestamp of both matched trajectories.
 - `time_end` (float): Only poses with a timestamp below this threshold are considered for alignment. The timestamp is given in seconds and is relative to the first common timestamp of both matched trajectories.
 
-#### Estimation Settings
+#### Alignment Estimation Settings
 
 - `translation_x` (boolean): Enable or disable x-translation of the similarity transformation.
 - `translation_y` (boolean): Enable or disable y-translation of the similarity transformation.
@@ -33,7 +35,7 @@ The processing settings allow you to configure various processing steps that can
 - `leverarm_z` (boolean): Enable or disable estimation of lever arm in the Z-axis.
 - `sensor_rotation` (boolean): Enable or disable computation of sensor rotation offsets. Independent of the least squares adjustment, constant offsets between the roll, pitch and yaw angles of both trajectories are computed.
 
-#### Stochastics Settings
+#### Alignment Stochastics Settings
 
 - `std_xy_from` (float): Standard deviation of XY source position components in meters.
 - `std_z_from` (float): Standard deviation of Z source position component in meters.
@@ -45,7 +47,7 @@ The processing settings allow you to configure various processing steps that can
 - `error_probability` (float): Probability of error used for stochastic testing.
 - `variance_estimation` (boolean): Enable or disable the estimation of the variance factor for a-posteriori variance computation.
 
-#### Threshold Settings
+#### Alignment Threshold Settings
 
 Usually, these settings can be left at their default values.