trajectopy 4.2.4__tar.gz → 4.3.1__tar.gz

{trajectopy-4.2.4 → trajectopy-4.3.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: trajectopy
-Version: 4.2.4
+Version: 4.3.1
 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-4.3.1}/example_data/report_settings.json

@@ -19,9 +19,9 @@
     "scatter_smooth": false,
     "scatter_smooth_window": 5,
     "scatter_plot_on_map": false,
-    "scatter_mapbox_style": "open-street-map",
+    "scatter_mapbox_style": "carto-positron",
     "scatter_mapbox_zoom": 15,
-    "scatter_mapbox_token": "pk.eyJ1IjoiZ2VyZW9uLXQiLCJhIjoiY2xwdGp6Nnh5MGZlejJqcnptemdlZnJicyJ9.fbQAv2C5pw7ctmzP_qX1pg",
+    "scatter_mapbox_token": "",
     "pos_x_name": "x",
     "pos_y_name": "y",
     "pos_z_name": "z",

{trajectopy-4.2.4 → trajectopy-4.3.1}/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-4.2.4 → trajectopy-4.3.1}/test/test_merging.py

@@ -59,7 +59,8 @@ class TestMerging(unittest.TestCase):
         self.assertIsInstance(merged, Trajectory)
 
         # Verify length is sum of input trajectories
-        expected_length = len(self.traj1) + len(self.traj2)
+        unique_timestamps = np.unique(np.concatenate([self.traj1.timestamps, self.traj2.timestamps]))
+        expected_length = len(unique_timestamps)
         self.assertEqual(len(merged), expected_length)
 
         # Verify name
@@ -81,7 +82,10 @@ class TestMerging(unittest.TestCase):
         merged = merge_trajectories([self.traj1, self.traj2, self.traj3])
 
         # Verify all trajectories are included
-        expected_length = len(self.traj1) + len(self.traj2) + len(self.traj3)
+        unique_timestamps = np.unique(
+            np.concatenate([self.traj1.timestamps, self.traj2.timestamps, self.traj3.timestamps])
+        )
+        expected_length = len(unique_timestamps)
         self.assertEqual(len(merged), expected_length)
 
         # Timestamps should still be sorted
@@ -104,9 +108,11 @@ class TestMerging(unittest.TestCase):
 
         merged = merge_trajectories([traj1_no_rot, traj2_no_rot])
 
+        unique_timestamps = np.unique(np.concatenate([traj1_no_rot.timestamps, traj2_no_rot.timestamps]))
+
         # Should work without rotations (creates identity rotations)
         self.assertIsNotNone(merged)
-        self.assertEqual(len(merged), len(traj1_no_rot) + len(traj2_no_rot))
+        self.assertEqual(len(merged), len(unique_timestamps))
 
     def test_merge_trajectories_preserves_epsg(self):
         """Test that EPSG code is preserved in merging."""

trajectopy-4.3.1/trajectopy/__version__.py

@@ -0,0 +1 @@
+__version__ = "4.3.1"

{trajectopy-4.2.4 → trajectopy-4.3.1}/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)
@@ -978,7 +980,7 @@ class ReportSettings(Settings):
         scatter_smooth: Smooth scatter plot color data. Defaults to False.
         scatter_smooth_window: Window size for scatter smoothing. Defaults to 5.
         scatter_plot_on_map: Plot trajectories on mapbox map (requires valid EPSG). Defaults to False.
-        scatter_mapbox_style: Mapbox style (some require token). Defaults to "open-street-map".
+        scatter_mapbox_style: Mapbox style (some require token). Defaults to "carto-positron".
         scatter_mapbox_zoom: Mapbox zoom level. Defaults to 15.
         scatter_mapbox_token: Mapbox access token (optional). Defaults to "".
         pos_x_name: Label for X position coordinate. Defaults to "x".
@@ -1024,7 +1026,7 @@ class ReportSettings(Settings):
     scatter_smooth_window: int = 5
 
     scatter_plot_on_map: bool = False
-    scatter_mapbox_style: str = "open-street-map"
+    scatter_mapbox_style: str = "carto-positron"
     scatter_mapbox_zoom: int = 15
     scatter_mapbox_token: str = ""
 

{trajectopy-4.2.4 → trajectopy-4.3.1}/trajectopy/core/trajectory.py

@@ -73,6 +73,20 @@ class Trajectory:
 
         self.timestamps = np.arange(0, len(positions)) if timestamps is None else timestamps
 
+        # ensure strictly increasing timestamps
+        unique_timestamps, unique_indices = np.unique(self.timestamps, return_index=True)
+
+        if len(unique_timestamps) != len(self.timestamps):
+            logger.warning(
+                "Timestamps contain duplicates. Only the first occurrence of each unique timestamp will be kept. "
+                "This may lead to loss of data if duplicates are present."
+            )
+            self.timestamps = unique_timestamps
+            self.positions.xyz = self.positions.xyz[unique_indices, :]
+
+            if self.rotations is not None:
+                self.rotations = Rotations.from_quat(self.rotations.as_quat()[unique_indices, :])
+
         if velocity_xyz is not None and len(velocity_xyz) == len(self.positions):
             self._velocity_xyz = velocity_xyz
         else:

{trajectopy-4.2.4 → trajectopy-4.3.1}/trajectopy/gui/managers/file_manager.py

@@ -61,9 +61,9 @@ class FileManager(QObject):
 
     @show_progress
     @Slot(FileRequest)
-    def handle_request(self, request: FileRequest) -> None:
+    def handle_request(self, request: FileRequest):
         """Logic for handling a request."""
-        self._request_executor.submit(generic_request_handler, self, request, True).result()
+        return self._request_executor.submit(generic_request_handler, self, request, True)
 
     def shutdown_executor(self) -> None:
         """Best-effort cleanup for the persistent Python worker thread."""

{trajectopy-4.2.4 → trajectopy-4.3.1}/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-4.3.1}/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
@@ -215,8 +196,9 @@ class TrajectoryManager(QObject):
             None.
         """
         self.request = request
-        self._request_executor.submit(generic_request_handler, self, request, False).result()
-        self.update_view.emit()
+        future = self._request_executor.submit(generic_request_handler, self, request, False)
+        future.add_done_callback(lambda ft: self.update_view.emit())
+        return future
 
     def shutdown_executor(self) -> None:
         """Best-effort cleanup for the persistent Python worker thread."""
@@ -475,64 +457,6 @@ 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 +748,7 @@ 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 +758,12 @@ 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-4.3.1}/trajectopy/gui/utils.py

@@ -61,8 +61,6 @@ def handle_drag_move(event: QtGui.QDragMoveEvent | None) -> None:
 def show_progress(func):
     """
     Decorator to show progress bar while executing a function
-
-    This should be used for functions that take a long time to execute.
     """
 
     @wraps(func)
@@ -71,12 +69,6 @@ def show_progress(func):
         progress_window = getattr(manager, "_progress_window", None)
 
         if progress_window is not None:
-            # Cross-thread: invoke the progress window slot directly via
-            # QMetaObject.invokeMethod with BlockingQueuedConnection.
-            # This guarantees the progress window is shown before work
-            # begins, even in PyInstaller-packaged executables where
-            # PySide6 signal dispatch across threads can be unreliable
-            # on the first call.
             QMetaObject.invokeMethod(
                 progress_window,
                 "handle_show_request",
@@ -86,15 +78,45 @@ def show_progress(func):
         manager.operation_started.emit()
 
         try:
-            return func(*args, **kwargs)
+            result = func(*args, **kwargs)
+            # Check if the result is a concurrent.futures.Future
+            import concurrent.futures
+
+            if isinstance(result, concurrent.futures.Future):
+
+                def on_done(future):
+                    # We must emit signals from the manager's thread
+                    # QMetaObject.invokeMethod handles this nicely if we call a slot,
+                    # but we can also just emit the signal directly since Qt queued connections will route it.
+                    manager.operation_finished.emit()
+                    if progress_window is not None:
+                        QMetaObject.invokeMethod(
+                            progress_window,
+                            "handle_close_request",
+                            Qt.ConnectionType.BlockingQueuedConnection,
+                        )
+                    # If there's an exception, we might want to log it
+                    try:
+                        future.result()
+                    except Exception as e:
+                        import logging
+
+                        logging.getLogger(__name__).exception("Error in background task: %s", e)
+
+                result.add_done_callback(on_done)
+                return result
+            else:
+                return result
         finally:
-            manager.operation_finished.emit()
-            if progress_window is not None:
-                QMetaObject.invokeMethod(
-                    progress_window,
-                    "handle_close_request",
-                    Qt.ConnectionType.BlockingQueuedConnection,
-                )
+            # Only emit finished immediately if it's NOT a Future
+            if not isinstance(result, concurrent.futures.Future):
+                manager.operation_finished.emit()
+                if progress_window is not None:
+                    QMetaObject.invokeMethod(
+                        progress_window,
+                        "handle_close_request",
+                        Qt.ConnectionType.BlockingQueuedConnection,
+                    )
 
     return wrapper
 

{trajectopy-4.2.4 → trajectopy-4.3.1}/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)