The cnspy_trajectory Package

A Trajectory object consists of a matrix of positions, orientations (Quaternions) and associated timestamps. The object can be created by passing the these three matrices or by passing a Pandas DataFrame object containing them. The DataFrame will be converted using the class TUMCSV2DataFrame.

A trajectory object offers some conversions, load/store methods, plot, spatial transformations, etc.

A TrajectoryEstimated is a specialization of a Trajectory, holding a covariances of the position and orientation to the timestamps, which can be loaded form a DataFrame too.

The TrajectoryPlotter offers methods to visualize a (or multiple) Trajectory objects.

Installation

Install the current code base from GitHub and pip install a link to that cloned copy

git clone https://github.com/aau-cns/cnspy_trajectory.git
cd cnspy_trajectory
pip install -e .

or the official package via

pip install cnspy-trajectory

Dependencies

It is part of the cnspy eco-system of the cns-github group.

• numpy
• matplotlib
• pandas
• scipy
• cnspy_numpy_utils
• cnspy_csv2dataframe
• cnspy_spatial_csv_formats
• cnspy_trajectory
• matplotlib.pyplot

PlotTrajectory

trajectory$ python PlotTrajectory.py -h
usage: PlotTrajectory.py [-h] [--filename FILENAME] [--result_dir RESULT_DIR] [--verbose] [--plot_3D] [--plot_pose] [--show_plots] [--save_metrics]

PlotTrajectory: tool to save plots and metrics of a trajectory

optional arguments:
  -h, --help            show this help message and exit
  --filename FILENAME   csv filename
  --result_dir RESULT_DIR
                        directory to store results]
  --verbose
  --plot_3D
  --plot_pose
  --show_plots
  --save_metrics

Examples

Please refer to the unit-tests Trajectory_Test and TrajectoryEstimated_Test in Trajectory/TrajectoryEstimated.py. For plotting options to the unit-test TrajectoryPlotter_Test.

Pose plot

Pose plot 3D

Mutli pose plot 3D

License

Software License Agreement (GNU GPLv3 License), refer to the LICENSE file.

Sharing is caring! - Roland Jung