trajectopy 5.1.1__tar.gz → 5.1.2__tar.gz

{trajectopy-5.1.1 → trajectopy-5.1.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: trajectopy
-Version: 5.1.1
+Version: 5.1.2
 Summary: Trajectory Evaluation in Python
 Project-URL: Homepage, https://gereon-t.github.io/trajectopy/
 Project-URL: Documentation, https://gereon-t.github.io/trajectopy/

{trajectopy-5.1.1 → trajectopy-5.1.2}/test/test_kml.py

@@ -269,13 +269,23 @@ class TestAteKml(unittest.TestCase):
             _export_ate(_ate_result(), field="speed")
 
 
+def _ui_manager():
+    """UI manager whose file requests are written synchronously by a file manager, as wired in the main window."""
+    from trajectopy.gui.managers.file_manager import FileManager
+    from trajectopy.gui.managers.ui_manager import UIManager
+
+    ui_manager, file_manager = UIManager(), FileManager()
+    ui_manager.file_request.connect(file_manager.handle_request)
+    ui_manager.file_manager = file_manager  # keeps it alive with the UI manager
+    return ui_manager
+
+
 class TestKmlGui(unittest.TestCase):
     def test_trajectory_export_uses_the_dialog_options(self):
         QtWidgets, settings = _gui()
         from PySide6 import QtGui
 
         from trajectopy.gui.managers.requests import UIRequest, UIRequestType
-        from trajectopy.gui.managers.ui_manager import UIManager
         from trajectopy.gui.models.entries import TrajectoryEntry
         from trajectopy.gui.models.selection import TrajectorySelection
         from trajectopy.gui.views import kml_dialog
@@ -297,7 +307,7 @@ class TestKmlGui(unittest.TestCase):
                 mock.patch.object(kml_dialog.KmlExportDialog, "exec", new=choose),
                 mock.patch("trajectopy.gui.managers.ui_manager.save_file_dialog", return_value=path),
             ):
-                UIManager().handle_request(request)
+                _ui_manager().handle_request(request)
             root = ET.parse(path).getroot()
             self.assertEqual(root.find(".//kml:LineStyle/kml:color", NS).text, "ff00ff00")
             self.assertEqual(root.find(".//gx:Track/kml:altitudeMode", NS).text, "relativeToGround")
@@ -310,14 +320,13 @@ class TestKmlGui(unittest.TestCase):
                 ),
                 mock.patch("trajectopy.gui.managers.ui_manager.save_file_dialog", return_value=path) as save,
             ):
-                UIManager().handle_request(request)
+                _ui_manager().handle_request(request)
             save.assert_not_called()
             self.assertFalse(os.path.exists(path))
 
     def test_ate_export_uses_the_chosen_field(self):
         QtWidgets, settings = _gui()
         from trajectopy.gui.managers.requests import UIRequest, UIRequestType
-        from trajectopy.gui.managers.ui_manager import UIManager
         from trajectopy.gui.models.entries import AbsoluteDeviationEntry
         from trajectopy.gui.models.selection import ResultSelection
         from trajectopy.gui.views import kml_dialog
@@ -338,7 +347,7 @@ class TestKmlGui(unittest.TestCase):
                 mock.patch.object(kml_dialog.KmlExportDialog, "exec", new=choose),
                 mock.patch("trajectopy.gui.managers.ui_manager.save_file_dialog", return_value=path),
             ):
-                UIManager().handle_request(request)
+                _ui_manager().handle_request(request)
             legend = ET.parse(path).getroot().find("kml:Document/kml:Folder/kml:name", NS)
             self.assertEqual(legend.text, "Yaw deviation [°]")
 

trajectopy-5.1.2/trajectopy/__version__.py

@@ -0,0 +1 @@
+__version__ = "5.1.2"

{trajectopy-5.1.1 → trajectopy-5.1.2}/trajectopy/gui/managers/file_manager.py

@@ -14,7 +14,7 @@ from trajectopy.gui.managers.requests import (
     UIRequest,
     generic_request_handler,
 )
-from trajectopy.gui.models.entries import ResultEntry, TrajectoryEntry
+from trajectopy.gui.models.entries import AbsoluteDeviationEntry, ResultEntry, TrajectoryEntry
 from trajectopy.gui.models.selection import ResultSelection, TrajectorySelection
 from trajectopy.gui.worker import BackgroundWorker
 from trajectopy.io.rosbag import trajectories_from_rosbag
@@ -31,6 +31,7 @@ class FileManager(QObject):
     - Write trajectory files
     - Read result files
     - Write result files
+    - Write KML files (trajectory or ATE result)
 
     """
 
@@ -48,6 +49,7 @@ class FileManager(QObject):
             FileRequestType.WRITE_TRAJ: self.write_trajectory,
             FileRequestType.READ_RES: self.read_result_files,
             FileRequestType.WRITE_RES: self.write_result,
+            FileRequestType.WRITE_KML: self.write_kml,
         }
 
     @Slot(FileRequest)
@@ -113,3 +115,13 @@ class FileManager(QObject):
     def write_result(self, request: FileRequest) -> None:
         result_entry = request.result_selection.entries[0]
         result_entry.to_file(request.file_list[0])
+
+    def write_kml(self, request: FileRequest) -> None:
+        """Google Earth export of the selected ATE result, or of the selected trajectory if no result is selected."""
+        if request.result_selection.entries:
+            ate_entry = request.result_selection.entries[0]
+            if not isinstance(ate_entry, AbsoluteDeviationEntry):
+                raise TypeError("Only ATE results can be exported to Google Earth.")
+            ate_entry.deviations.to_kml(request.file_list[0], **request.kml_options)
+        else:
+            request.trajectory_selection.entries[0].trajectory.to_kml(request.file_list[0], **request.kml_options)

{trajectopy-5.1.1 → trajectopy-5.1.2}/trajectopy/gui/managers/requests.py

@@ -21,6 +21,7 @@ class FileRequestType(Enum):
     WRITE_TRAJ = auto()
     READ_RES = auto()
     WRITE_RES = auto()
+    WRITE_KML = auto()
 
 
 class PlotRequestType(Enum):
@@ -125,6 +126,7 @@ class FileRequest(DeepCopyRequest):
     trajectory_selection: TrajectorySelection = field(default_factory=TrajectorySelection)
     result_selection: ResultSelection = field(default_factory=ResultSelection)
     id_list: list[str] = field(default_factory=list)
+    kml_options: dict[str, Any] = field(default_factory=dict)  # WRITE_KML, see trajectopy.io.kml.write_kml
 
 
 @dataclass

{trajectopy-5.1.1 → trajectopy-5.1.2}/trajectopy/gui/managers/ui_manager.py

@@ -18,7 +18,7 @@ from trajectopy.gui.managers.requests import (
     generic_request_handler,
 )
 from trajectopy.gui.models.entries import AbsoluteDeviationEntry, AlignmentEntry
-from trajectopy.gui.models.selection import TrajectorySelection
+from trajectopy.gui.models.selection import ResultSelection, TrajectorySelection
 from trajectopy.gui.utils import (
     read_file_dialog,
     save_file_dialog,
@@ -229,13 +229,15 @@ class UIManager(QObject):
             return
         if not (selected_file := save_file_dialog(self._dialog_parent(), file_filter="Google Earth (*.kml)")):
             return
-        try:
-            if ate_entry is not None:
-                ate_entry.deviations.to_kml(selected_file, **dialog.options())
-            else:
-                request.trajectory_selection.entries[0].trajectory.to_kml(selected_file, **dialog.options())
-        except ValueError as error:
-            show_msg_box(str(error), self._dialog_parent(), error=True)
+        self.file_request.emit(
+            FileRequest(
+                type=FileRequestType.WRITE_KML,
+                file_list=[selected_file],
+                trajectory_selection=request.trajectory_selection if ate_entry is None else TrajectorySelection(),
+                result_selection=ResultSelection(entries=[ate_entry]) if ate_entry is not None else ResultSelection(),
+                kml_options=dialog.options(),
+            )
+        )
 
     def _dialog_parent(self) -> QtWidgets.QWidget | None:
         parent = self.parent()

{trajectopy-5.1.1 → trajectopy-5.1.2}/trajectopy/gui/views/preview_plot_3d.py

@@ -104,7 +104,10 @@ class PreviewPlot3D(QtWidgets.QWidget):
             all_xyz.append(xyz)
             levels = np.nan_to_num(np.clip((ate - lower) / (upper - lower), 0.0, 1.0))
             colors = style.VALUE_COLORMAP.map(levels, mode=pg.ColorMap.FLOAT)
-            self._view.addItem(gl.GLScatterPlotItem(pos=xyz, color=colors, size=MARKER_SIZE, pxMode=True))
+            # opaque instead of the default additive blending, which saturates stacked points to white
+            self._view.addItem(
+                gl.GLScatterPlotItem(pos=xyz, color=colors, size=MARKER_SIZE, pxMode=True, glOptions="opaque")
+            )
 
         self._colorbar.setLevels(values=(lower, upper))
         fit_colorbar_axis(self._colorbar, lower, upper)

trajectopy-5.1.1/trajectopy/__version__.py

@@ -1 +0,0 @@
-__version__ = "5.1.1"