trajectopy 5.0.2__tar.gz → 5.1.1__tar.gz

{trajectopy-5.0.2 → trajectopy-5.1.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: trajectopy
-Version: 5.0.2
+Version: 5.1.1
 Summary: Trajectory Evaluation in Python
 Project-URL: Homepage, https://gereon-t.github.io/trajectopy/
 Project-URL: Documentation, https://gereon-t.github.io/trajectopy/
@@ -62,44 +62,42 @@ Description-Content-Type: text/markdown
 
 ## Installation
 
-Windows app: download `Trajectopy-<version>-setup.exe` from the [latest release](https://github.com/gereon-t/trajectopy/releases/latest) and run it. No Python installation or administrator rights are needed; `.traj` files can then be opened by double-click, and the app reports new versions (Help → Check for Updates).
+**Windows app**: download `Trajectopy-<version>-setup.exe` from the [latest release](https://github.com/gereon-t/trajectopy/releases/latest) and run it. No Python installation or administrator rights are needed; `.traj` files can then be opened by double-click, and the app reports new versions (Help → Check for Updates).
 
-Full version (with GUI):
+**Python package** (Python 3.10 or newer):
 
-```bash
-pip install "trajectopy[gui]"
-```
-
-Python package with plotting (no GUI):
+| Command | Contents |
+| --- | --- |
+| `pip install "trajectopy[gui]"` | Python package and GUI (recommended) |
+| `pip install "trajectopy[plot]"` | Python package with plotting, without the GUI |
+| `pip install trajectopy` | Python package only |
 
-```bash
-pip install "trajectopy[plot]"
-```
+Loading large trajectory files (millions of poses) is several times faster with the `fast` extra, which can be combined with the others: `pip install "trajectopy[gui,fast]"`.
 
-Python package only:
+## Quick Start
 
-```bash
-pip install trajectopy
-```
+```python
+import trajectopy as tpy
 
-Loading large trajectory files (millions of poses) is several times faster with the `fast` extra, which can be combined with the others:
+reference = tpy.Trajectory.from_file("./example_data/KITTI_gt.traj")
+estimate = tpy.Trajectory.from_file("./example_data/KITTI_ORB.traj")
 
-```bash
-pip install "trajectopy[gui,fast]"
+ate_result = tpy.ate(trajectory=estimate, other=reference)  # aligns the estimate first
+print(f"Position ATE: {ate_result.pos_ate:.3f} m")
 ```
 
+Or start the GUI with `trajectopy` (or from the Start menu), drop trajectory files onto it, right-click the ground truth → *Set as Reference*, then right-click another trajectory → *Compare with Reference*.
+
 ## Documentation
 
 <a href="https://gereon-t.github.io/trajectopy/" target="_blank">https://gereon-t.github.io/trajectopy/</a>
 
 ## Key Features
 
-Trajectopy offers a range of features, including:
-
-- __Interactive GUI__: A user-friendly interface that enables seamless interaction with your trajectory data, making it easy to visualize, align, and compare trajectories.
-- __Alignment__: An advanced trajectory alignment algorithm that can be tailored to the specific application and supports a similarity transformation, a leverarm and a time shift estimation.
-- __Comparison__: Absolute and relative trajectory comparison metrics (__ATE and RPE__) that can be computed using various pose-matching methods.
-- __Data Import/Export__: Support for importing and exporting data, ensuring compatibility with your existing workflows.
+- __Interactive GUI__: Load, plot, align and compare trajectories without writing code. Every action explains itself in the context menus, and trajectories can be aligned interactively if an automatic alignment is not possible.
+- __Alignment__: A spatio-temporal least squares alignment that can be tailored to the application: similarity transformation, leverarm and time shift, each of them optional.
+- __Comparison__: Absolute and relative trajectory error (__ATE and RPE__), computed with various pose-matching methods.
+- __Data Import/Export__: ASCII files with configurable columns, time formats and coordinate systems (any EPSG code), and ROS bags.
 - __Fast, Interactive Visualization__: Powered by [pyqtgraph](https://www.pyqtgraph.org/), the same plots are available in the GUI and in Python scripts, stay fluid for large trajectories, and can be exported to PNG, JPG or SVG. Georeferenced trajectories and ATE results can be exported to Google Earth, colored by speed, height or deviations, on the terrain or at their own heights, with playback.
 
 ## Web Application (Docker)

{trajectopy-5.0.2 → trajectopy-5.1.1}/README.md

@@ -22,44 +22,42 @@
 
 ## Installation
 
-Windows app: download `Trajectopy-<version>-setup.exe` from the [latest release](https://github.com/gereon-t/trajectopy/releases/latest) and run it. No Python installation or administrator rights are needed; `.traj` files can then be opened by double-click, and the app reports new versions (Help → Check for Updates).
+**Windows app**: download `Trajectopy-<version>-setup.exe` from the [latest release](https://github.com/gereon-t/trajectopy/releases/latest) and run it. No Python installation or administrator rights are needed; `.traj` files can then be opened by double-click, and the app reports new versions (Help → Check for Updates).
 
-Full version (with GUI):
+**Python package** (Python 3.10 or newer):
 
-```bash
-pip install "trajectopy[gui]"
-```
-
-Python package with plotting (no GUI):
+| Command | Contents |
+| --- | --- |
+| `pip install "trajectopy[gui]"` | Python package and GUI (recommended) |
+| `pip install "trajectopy[plot]"` | Python package with plotting, without the GUI |
+| `pip install trajectopy` | Python package only |
 
-```bash
-pip install "trajectopy[plot]"
-```
+Loading large trajectory files (millions of poses) is several times faster with the `fast` extra, which can be combined with the others: `pip install "trajectopy[gui,fast]"`.
 
-Python package only:
+## Quick Start
 
-```bash
-pip install trajectopy
-```
+```python
+import trajectopy as tpy
 
-Loading large trajectory files (millions of poses) is several times faster with the `fast` extra, which can be combined with the others:
+reference = tpy.Trajectory.from_file("./example_data/KITTI_gt.traj")
+estimate = tpy.Trajectory.from_file("./example_data/KITTI_ORB.traj")
 
-```bash
-pip install "trajectopy[gui,fast]"
+ate_result = tpy.ate(trajectory=estimate, other=reference)  # aligns the estimate first
+print(f"Position ATE: {ate_result.pos_ate:.3f} m")
 ```
 
+Or start the GUI with `trajectopy` (or from the Start menu), drop trajectory files onto it, right-click the ground truth → *Set as Reference*, then right-click another trajectory → *Compare with Reference*.
+
 ## Documentation
 
 <a href="https://gereon-t.github.io/trajectopy/" target="_blank">https://gereon-t.github.io/trajectopy/</a>
 
 ## Key Features
 
-Trajectopy offers a range of features, including:
-
-- __Interactive GUI__: A user-friendly interface that enables seamless interaction with your trajectory data, making it easy to visualize, align, and compare trajectories.
-- __Alignment__: An advanced trajectory alignment algorithm that can be tailored to the specific application and supports a similarity transformation, a leverarm and a time shift estimation.
-- __Comparison__: Absolute and relative trajectory comparison metrics (__ATE and RPE__) that can be computed using various pose-matching methods.
-- __Data Import/Export__: Support for importing and exporting data, ensuring compatibility with your existing workflows.
+- __Interactive GUI__: Load, plot, align and compare trajectories without writing code. Every action explains itself in the context menus, and trajectories can be aligned interactively if an automatic alignment is not possible.
+- __Alignment__: A spatio-temporal least squares alignment that can be tailored to the application: similarity transformation, leverarm and time shift, each of them optional.
+- __Comparison__: Absolute and relative trajectory error (__ATE and RPE__), computed with various pose-matching methods.
+- __Data Import/Export__: ASCII files with configurable columns, time formats and coordinate systems (any EPSG code), and ROS bags.
 - __Fast, Interactive Visualization__: Powered by [pyqtgraph](https://www.pyqtgraph.org/), the same plots are available in the GUI and in Python scripts, stay fluid for large trajectories, and can be exported to PNG, JPG or SVG. Georeferenced trajectories and ATE results can be exported to Google Earth, colored by speed, height or deviations, on the terrain or at their own heights, with playback.
 
 ## Web Application (Docker)

{trajectopy-5.0.2 → trajectopy-5.1.1}/installer/trajectopy.iss

@@ -6,7 +6,8 @@
 ; The installer is written to dist\Trajectopy-<version>-setup.exe.
 ;
 ; It installs for the current user without administrator rights (or for all users, if chosen in the
-; dialog), adds a Start menu entry and, optionally, a desktop icon and the .traj file association.
+; dialog), adds a Start menu entry and, optionally, a desktop icon and the .traj and .tpy (project) file
+; associations.
 ; Installing a newer version over an existing one updates it in place.
 
 #define AppName "Trajectopy"
@@ -51,6 +52,7 @@ Name: "english"; MessagesFile: "compiler:Default.isl"
 [Tasks]
 Name: "desktopicon"; Description: "{cm:CreateDesktopIcon}"; GroupDescription: "{cm:AdditionalIcons}"; Flags: unchecked
 Name: "associate"; Description: "Open .traj files with {#AppName}"; GroupDescription: "File associations:"
+Name: "associateproject"; Description: "Open {#AppName} projects (.tpy)"; GroupDescription: "File associations:"
 
 [InstallDelete]
 ; an update replaces the bundled libraries completely, so that no files of the previous version remain
@@ -72,6 +74,13 @@ Root: HKA; Subkey: "Software\Classes\Trajectopy.traj"; ValueType: string; ValueN
 Root: HKA; Subkey: "Software\Classes\Trajectopy.traj\DefaultIcon"; ValueType: string; ValueName: ""; ValueData: """{app}\{#AppExe}"",0"; Tasks: associate
 Root: HKA; Subkey: "Software\Classes\Trajectopy.traj\shell\open\command"; ValueType: string; ValueName: ""; ValueData: """{app}\{#AppExe}"" ""%1"""; Tasks: associate
 Root: HKA; Subkey: "Software\Classes\Applications\{#AppExe}\SupportedTypes"; ValueType: string; ValueName: ".traj"; ValueData: ""; Flags: uninsdeletekey; Tasks: associate
+; .tpy project files: created by Trajectopy only, so it is always their default program
+Root: HKA; Subkey: "Software\Classes\.tpy"; ValueType: string; ValueName: ""; ValueData: "Trajectopy.tpy"; Flags: uninsdeletevalue; Tasks: associateproject
+Root: HKA; Subkey: "Software\Classes\.tpy\OpenWithProgids"; ValueType: string; ValueName: "Trajectopy.tpy"; ValueData: ""; Flags: uninsdeletevalue; Tasks: associateproject
+Root: HKA; Subkey: "Software\Classes\Trajectopy.tpy"; ValueType: string; ValueName: ""; ValueData: "Trajectopy Project"; Flags: uninsdeletekey; Tasks: associateproject
+Root: HKA; Subkey: "Software\Classes\Trajectopy.tpy\DefaultIcon"; ValueType: string; ValueName: ""; ValueData: """{app}\{#AppExe}"",0"; Tasks: associateproject
+Root: HKA; Subkey: "Software\Classes\Trajectopy.tpy\shell\open\command"; ValueType: string; ValueName: ""; ValueData: """{app}\{#AppExe}"" ""%1"""; Tasks: associateproject
+Root: HKA; Subkey: "Software\Classes\Applications\{#AppExe}\SupportedTypes"; ValueType: string; ValueName: ".tpy"; ValueData: ""; Flags: uninsdeletekey; Tasks: associateproject
 
 [Run]
 Filename: "{app}\{#AppExe}"; Description: "{cm:LaunchProgram,{#AppName}}"; Flags: nowait postinstall skipifsilent

{trajectopy-5.0.2 → trajectopy-5.1.1}/test/test_fast_reading.py

@@ -119,6 +119,36 @@ class TestReadTrajectory(unittest.TestCase):
                 self._assert_same_as_general_reader(text)
 
 
+class TestDatetimeTimeSystems(unittest.TestCase):
+    TEMPLATE = (
+        "#fields t,px,py,pz\n#time_format datetime\n{header}"
+        "2024-01-01 12:00:00.000,0,0,0\n2024-01-01 12:00:00.100,1,0,0\n"
+    )
+    UTC_2024 = 1704110400.0  # 2024-01-01 12:00:00 UTC
+
+    def _timestamps(self, header: str) -> np.ndarray:
+        with tempfile.TemporaryDirectory() as directory:
+            filename = os.path.join(directory, "trajectory.traj")
+            with open(filename, "w", encoding="utf-8") as file:
+                file.write(self.TEMPLATE.format(header=header))
+            return read_trajectory(filename).timestamps
+
+    def test_utc(self):
+        for header_lines in ("", "#datetime_timezone UTC\n"):
+            np.testing.assert_allclose(self._timestamps(header_lines), [self.UTC_2024, self.UTC_2024 + 0.1])
+
+    def test_gps_time_subtracts_the_leap_seconds(self):
+        np.testing.assert_allclose(
+            self._timestamps("#datetime_timezone GPS\n"), [self.UTC_2024 - 18, self.UTC_2024 - 18 + 0.1]
+        )
+
+    def test_other_time_zones_are_read_as_utc_with_a_warning(self):
+        with self.assertLogs(ascii.logger, level="WARNING") as logs:
+            timestamps = self._timestamps("#datetime_timezone Europe/Berlin\n")
+        np.testing.assert_allclose(timestamps, [self.UTC_2024, self.UTC_2024 + 0.1])
+        self.assertTrue(any("Europe/Berlin" in message for message in logs.output))
+
+
 class TestFastExtraHint(unittest.TestCase):
     FILE = "test/data/generated_trajectory.traj"