trajectopy 5.1.3__tar.gz → 5.1.4__tar.gz

{trajectopy-5.1.3 → trajectopy-5.1.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: trajectopy
-Version: 5.1.3
+Version: 5.1.4
 Summary: Trajectory Evaluation in Python
 Project-URL: Homepage, https://gereon-t.github.io/trajectopy/
 Project-URL: Documentation, https://gereon-t.github.io/trajectopy/

{trajectopy-5.1.3 → trajectopy-5.1.4}/test/test_visualization.py

@@ -176,6 +176,29 @@ class TestVisualization(unittest.TestCase):
         self.assertNotIsInstance(viewport(window), QtOpenGLWidgets.QOpenGLWidget)
         window.close()
 
+    def test_legend_toggles_series_in_all_subplots(self):
+        figures = [
+            vis.xyz_figure([generated_trajectory, noisy_trajectory]),
+            vis.rpy_figure([generated_trajectory, noisy_trajectory]),
+            vis.ate_figure([self.ate_result]),
+            *vis.rpe_figures([self.rpe_result]),
+        ]
+        for figure in figures:
+            with self.subTest(figure=figure.title):
+                widget = figure.create_widget()
+                plots = [item for item in widget.graphics.ci.items if isinstance(item, pg.PlotItem)]
+                self.assertGreater(len(plots), 1)
+                sample, _ = plots[0].legend.items[0]
+                sample.item.setVisible(False)  # what a click on the legend sample does
+                hidden = [item for plot in plots for item in plot.items if not item.isVisible()]
+                curves = [item for item in hidden if isinstance(item, pg.PlotDataItem)]
+                self.assertEqual([curve.name() for curve in curves], [sample.item.name()] * len(plots))
+                error_bars = [item for plot in plots for item in plot.items if isinstance(item, pg.ErrorBarItem)]
+                self.assertEqual(
+                    sum(isinstance(item, pg.ErrorBarItem) for item in hidden), len(error_bars) and len(plots)
+                )
+                widget.deleteLater()
+
     def test_grid_is_opaque_and_behind_the_data(self):
         from trajectopy.visualization import style
 

trajectopy-5.1.4/trajectopy/__version__.py

@@ -0,0 +1 @@
+__version__ = "5.1.4"

{trajectopy-5.1.3 → trajectopy-5.1.4}/trajectopy/processing/sorting.py

@@ -320,6 +320,8 @@ def _edge_matrix(xyz: np.ndarray, edges: np.ndarray) -> csr_array:
     weights = np.linalg.norm(xyz[second] - xyz[first], axis=1)
     # scipy treats zero weights as missing edges, which would disconnect duplicate points
     weights = np.maximum(weights, _MIN_EDGE_WEIGHT)
+    # scipy < 1.16 keeps 64-bit indices, which its csgraph routines (minimum_spanning_tree) do not accept
+    first, second = first.astype(np.int32), second.astype(np.int32)
     return csr_array((weights, (first, second)), shape=(num_points, num_points))
 
 

{trajectopy-5.1.3 → trajectopy-5.1.4}/trajectopy/visualization/figure.py

@@ -58,7 +58,7 @@ def _use_opengl(graphics: pg.GraphicsLayoutWidget) -> None:
     graphics.useOpenGL(True)
     surface_format = QtGui.QSurfaceFormat.defaultFormat()
     surface_format.setSamples(OPENGL_SAMPLES)
-    graphics.viewport().setFormat(surface_format)  # type: ignore[union-attr]
+    graphics.viewport().setFormat(surface_format)
     # Partial updates are clipped with the stencil buffer, which leaves holes in wide lines; repainting
     # everything is cheap on the GPU (and what Qt recommends for OpenGL viewports).
     graphics.setViewportUpdateMode(QtWidgets.QGraphicsView.ViewportUpdateMode.FullViewportUpdate)

{trajectopy-5.1.3 → trajectopy-5.1.4}/trajectopy/visualization/plots.py

@@ -57,8 +57,14 @@ def _opaque_pen(pen: QtGui.QPen, background: QtGui.QColor) -> QtGui.QPen:
     alpha = color.alphaF()
     if alpha >= 1.0:
         return pen
+
+    def mix(channel: float, base: float) -> float:
+        return alpha * channel + (1 - alpha) * base
+
     blended = QtGui.QColor.fromRgbF(
-        *(alpha * channel + (1 - alpha) * base for channel, base in zip(color.getRgbF()[:3], background.getRgbF()[:3]))
+        mix(color.redF(), background.redF()),
+        mix(color.greenF(), background.greenF()),
+        mix(color.blueF(), background.blueF()),
     )
     opaque = QtGui.QPen(pen)
     opaque.setColor(blended)
@@ -135,6 +141,24 @@ def _line(plot: pg.PlotItem, x: np.ndarray, y: np.ndarray, index: int, name: str
     return plot.plot(x, y, pen=style.pen(index, settings.line_width), name=name, antialias=style.antialias(len(x)))
 
 
+def _link_visibility(plots: Sequence[pg.PlotItem]) -> None:
+    """Shows and hides the curves of the other plots along with the same-named curves of the first plot, whose
+    legend toggles them. The other plots need not have a legend: curves are added to a legend only if there is one.
+    """
+    followers: dict[str, list[pg.PlotDataItem]] = {}
+    for plot in plots[1:]:
+        for item in plot.listDataItems():
+            if item.name() is not None:
+                followers.setdefault(item.name(), []).append(item)
+    for item in plots[0].listDataItems():
+        for follower in followers.get(item.name(), []) if item.name() is not None else []:
+            _follow_visibility(follower, item)
+
+
+def _follow_visibility(follower: pg.GraphicsObject, leader: pg.GraphicsObject) -> None:
+    leader.visibleChanged.connect(lambda: follower.setVisible(leader.isVisible()))
+
+
 def _link_x(plots: Sequence[pg.PlotItem]) -> None:
     """Shares the x range of stacked plots; the first plot (which shows all data) determines the auto range.
 
@@ -373,6 +397,7 @@ def xyz_figure(trajectories: Sequence[Trajectory], settings: PlotSettings | None
                 _line(plot, axis.values(trajectory), trajectory.xyz[:, dim], index, trajectory.name, settings)
             plots.append(plot)
         _link_x(plots)
+        _link_visibility(plots)
 
     return Figure("XYZ", render)
 
@@ -403,6 +428,7 @@ def rpy_figure(trajectories: Sequence[Trajectory], settings: PlotSettings | None
                     _line(plot, axis.values(trajectory), rpy[id(trajectory)][:, dim], index, trajectory.name, settings)
             plots.append(plot)
         _link_x(plots)
+        _link_visibility(plots)
 
     return Figure("RPY", render)
 
@@ -473,8 +499,9 @@ def ate_figure(ate_results: Sequence[ATEResult], settings: PlotSettings | None =
             x = axis.values(result.trajectory)
             _line(position_plot, x, result.pos_dev_comb * settings.unit_multiplier, index, result.name, settings)
             if with_rotation and result.has_orientation:
-                _line(plots[1], x, np.rad2deg(result.rot_dev_comb), index, None, settings)
+                _line(plots[1], x, np.rad2deg(result.rot_dev_comb), index, result.name, settings)
         _link_x(plots)
+        _link_visibility(plots)
 
     return Figure("ATE", render)
 
@@ -683,10 +710,11 @@ def rpe_figures(rpe_results: Sequence[RPEResult], settings: PlotSettings | None
                     (position_plot, np.asarray(result.pos_dev_mean), np.asarray(result.pos_std), result.name)
                 ]
                 if with_rotation and result.has_rot_dev:
-                    series.append((plots[1], np.rad2deg(result.rot_dev_mean), np.rad2deg(result.rot_std), None))
+                    series.append((plots[1], np.rad2deg(result.rot_dev_mean), np.rad2deg(result.rot_std), result.name))
                 for plot, mean, std, name in series:
-                    plot.addItem(pg.ErrorBarItem(x=x, y=mean, height=2 * std, beam=0, pen=style.pen(index, 1.0)))
-                    plot.plot(
+                    error_bars = pg.ErrorBarItem(x=x, y=mean, height=2 * std, beam=0, pen=style.pen(index, 1.0))
+                    plot.addItem(error_bars)
+                    curve = plot.plot(
                         x,
                         mean,
                         pen=style.pen(index, settings.line_width),
@@ -697,9 +725,11 @@ def rpe_figures(rpe_results: Sequence[RPEResult], settings: PlotSettings | None
                         name=name,
                         antialias=True,
                     )
+                    _follow_visibility(error_bars, curve)
             for plot in plots:
                 plot.setClipToView(False)
             _link_x(plots)
+            _link_visibility(plots)
 
         figures.append(Figure(title, render))
     return figures

trajectopy-5.1.3/trajectopy/__version__.py

@@ -1 +0,0 @@
-__version__ = "5.1.3"