evo - pypi Package Compare versions

Comparing version 1.32.0 to 1.33.0

azure-pipelines.yml

@@ -45,10 +45,10 @@ # https://docs.microsoft.com/azure/devops/pipelines/languages/python
         imageName: 'ubuntu-latest'
-      Python-3.13-ubuntu:
-        python.version: '3.13'
+      Python-3.14-ubuntu:
+        python.version: '3.14'
         imageName: 'ubuntu-latest'
-      Python-3.13-mac:
-        python.version: '3.13'
+      Python-3.14-mac:
+        python.version: '3.14'
         imageName: 'macOS-latest'
-      Python-3.13-windows:
-        python.version: '3.13'
+      Python-3.14-windows:
+        python.version: '3.14'
         imageName: 'windows-latest'
@@ -55,0 +55,0 @@ maxParallel: 10

contrib/rerun_example/rerun_example.py

@@ -54,3 +54,3 @@ #!/usr/bin/env python3
 
-def configure_blueprint() -> rr.BlueprintLike:
+def configure_blueprint() -> rrb.BlueprintLike:
     # Adapt the blueprint's visible time range to include a sliding window
@@ -57,0 +57,0 @@ # instead of "latest" for better visibility. Can be changed also in the viewer.

evo/__init__.py

@@ -15,3 +15,3 @@ import logging
 
-__version__ = "v1.32.0"
+__version__ = "v1.33.0"
 
@@ -18,0 +18,0 @@

evo/common_ape_rpe.py

@@ -233,6 +233,2 @@ """
                                confirm_overwrite=not args.no_warnings)
-    if args.serialize_plot:
-        logger.debug(SEP)
-        plot_collection.serialize(args.serialize_plot,
-                                  confirm_overwrite=not args.no_warnings)
     plot_collection.close()
@@ -239,0 +235,0 @@

evo/main_ape_parser.py

@@ -95,4 +95,2 @@ import argparse
                              help="path to save plot")
-    output_opts.add_argument("--serialize_plot", default=None,
-                             help="path to serialize plot (experimental)")
     output_opts.add_argument("--rerun", action="store_true",
@@ -99,0 +97,0 @@ help="Log visualization data to rerun.")

evo/main_ape.py

@@ -170,3 +170,3 @@ #!/usr/bin/env python
 
-    if args.plot or args.save_plot or args.serialize_plot:
+    if args.plot or args.save_plot:
         common.plot_result(args, result, traj_ref,
@@ -173,0 +173,0 @@ result.trajectories[est_name],

evo/main_evo.py

@@ -53,3 +53,2 @@ #!/usr/bin/env python
    evo_ipython - IPython shell with pre-loaded evo modules
-   evo_fig - (experimental) tool for re-opening serialized plots
    evo_config - tool for global settings and config file manipulation
@@ -56,0 +55,0 @@ '''

evo/main_res_parser.py

@@ -31,5 +31,2 @@ import argparse
                              default=None)
-    output_opts.add_argument("--serialize_plot",
-                             help="path to serialize plot (experimental)",
-                             default=None)
     output_opts.add_argument(
@@ -36,0 +33,0 @@ "--save_table", help="path to a file to save the results in a table",

evo/main_res.py

@@ -157,3 +157,3 @@ #!/usr/bin/env python
 
-    if args.plot or args.save_plot or args.serialize_plot:
+    if args.plot or args.save_plot:
         # check if data has NaN "holes" due to different indices
@@ -242,6 +242,2 @@ inconsistent = error_df.isnull().values.any()
                                    confirm_overwrite=not args.no_warnings)
-        if args.serialize_plot:
-            logger.debug(SEP)
-            plot_collection.serialize(args.serialize_plot,
-                                      confirm_overwrite=not args.no_warnings)
 
@@ -248,0 +244,0 @@

evo/main_rpe_parser.py

@@ -110,4 +110,2 @@ import argparse
                              help="path to save plot")
-    output_opts.add_argument("--serialize_plot", default=None,
-                             help="path to serialize plot (experimental)")
     output_opts.add_argument("--rerun", action="store_true",
@@ -114,0 +112,0 @@ help="Log visualization data to rerun.")

evo/main_rpe.py

@@ -193,3 +193,3 @@ #!/usr/bin/env python
 
-    if args.plot or args.save_plot or args.serialize_plot:
+    if args.plot or args.save_plot:
         common.plot_result(args, result, traj_ref,
@@ -196,0 +196,0 @@ result.trajectories[est_name],

evo/main_traj_parser.py

@@ -94,5 +94,2 @@ import argparse
                              default=None)
-    output_opts.add_argument("--serialize_plot",
-                             help="path to serialize plot (experimental)",
-                             default=None)
     output_opts.add_argument("--save_as_tum",
@@ -99,0 +96,0 @@ help="save trajectories in TUM format (as *.tum)",

evo/main_traj.py

@@ -304,3 +304,3 @@ #!/usr/bin/env python
 
-    if args.plot or args.save_plot or args.serialize_plot:
+    if args.plot or args.save_plot:
         import numpy as np
@@ -444,6 +444,2 @@ from evo.tools import plot
                                    confirm_overwrite=not args.no_warnings)
-        if args.serialize_plot:
-            logger.info(SEP)
-            plot_collection.serialize(args.serialize_plot,
-                                      confirm_overwrite=not args.no_warnings)
 
@@ -481,3 +477,5 @@ if args.save_as_tum:
                 datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S"))
-            writers.append(Rosbag2Writer(dest_bag_path))
+            writers.append(
+                Rosbag2Writer(dest_bag_path,
+                              version=SETTINGS.ros2_bag_format_version))
         for writer in writers:
@@ -484,0 +482,0 @@ logger.info(SEP)

evo/tools/plot.py

@@ -24,7 +24,5 @@ # -*- coding: UTF8 -*-
 import os
-import collections
 import collections.abc
 import itertools
 import logging
-import pickle
 import typing
@@ -115,13 +113,8 @@ from enum import Enum, unique
 class PlotCollection:
-    def __init__(self, title: str = "",
-                 deserialize: typing.Optional[PathStr] = None):
+    def __init__(self, title: str = ""):
         self.title = " ".join(title.splitlines())  # one line title
-        self.figures = collections.OrderedDict()  # remember placement order
+        self.figures: dict[str, Figure] = {}
         # hack to avoid premature garbage collection when serializing with Qt
         # initialized later in tabbed_{qt, tk}_window
         self.root_window: typing.Optional[typing.Any] = None
-        if deserialize is not None:
-            logger.debug("Deserializing PlotCollection from %s ...",
-                         deserialize)
-            self.figures = pickle.load(open(deserialize, 'rb'))
 
@@ -234,9 +227,2 @@ def __str__(self) -> str:
 
-    def serialize(self, dest: str, confirm_overwrite: bool = True) -> None:
-        logger.debug("Serializing PlotCollection to " + dest + "...")
-        if confirm_overwrite and not user.check_and_confirm_overwrite(dest):
-            return
-        else:
-            pickle.dump(self.figures, open(dest, 'wb'))
-
     def export(self, file_path: str, confirm_overwrite: bool = True) -> None:
@@ -243,0 +229,0 @@ base, ext = os.path.splitext(file_path)

evo/tools/settings_template.py

@@ -222,2 +222,6 @@ """
     ),
+    "ros2_bag_format_version": (
+        9,
+        "ROS 2 bag file format version to use when writing files."
+    ),
     "ros_map_alpha_value": (
@@ -224,0 +228,0 @@ 1.0,

PKG-INFO

 Metadata-Version: 2.4
 Name: evo
-Version: 1.32.0
+Version: 1.33.0
 Summary: Python package for the evaluation of odometry and SLAM
@@ -19,2 +19,3 @@ Project-URL: Homepage, https://github.com/MichaelGrupp/evo
 Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
 Classifier: Programming Language :: Python :: Implementation :: CPython
@@ -34,3 +35,3 @@ Classifier: Topic :: Scientific/Engineering
 Requires-Dist: pyyaml
-Requires-Dist: rosbags>=0.10.9
+Requires-Dist: rosbags>=0.11.0
 Requires-Dist: scipy>=1.2
@@ -86,3 +87,3 @@ Requires-Dist: seaborn>=0.9
 * algorithmic options for association, alignment, scale adjustment for monocular SLAM etc.
-* flexible options for output, [plotting](https://github.com/MichaelGrupp/evo/wiki/Plotting) or export (e.g. LaTeX plots or Excel tables)
+* flexible options for output, [plotting](https://github.com/MichaelGrupp/evo/wiki/Plotting), [visualization](https://github.com/MichaelGrupp/evo/wiki/Rerun-integration) or export (e.g. LaTeX plots or Excel tables)
 * a powerful, configurable CLI that can cover many use cases
@@ -145,2 +146,6 @@ * modular `core` and `tools` libraries for custom extensions
 
+**Rerun (optional)**
+
+You can log data also to the [rerun](https://rerun.io/) viewer. See the related [Wiki page](https://github.com/MichaelGrupp/evo/wiki/Rerun-integration) for more details.
+
 ---
@@ -161,3 +166,2 @@
 * `evo_res` - tool for comparing one or multiple result files from `evo_ape` or `evo_rpe`
-* `evo_fig` - (experimental) tool for re-opening serialized plots (saved with `--serialize_plot`)
 * `evo_config` - tool for global settings and config file manipulation
@@ -164,0 +168,0 @@

pyproject.toml

@@ -39,2 +39,3 @@ [project.urls]
     "Programming Language :: Python :: 3.13",
+    "Programming Language :: Python :: 3.14",
     "Programming Language :: Python :: Implementation :: CPython"
@@ -63,3 +64,3 @@ ]
     "pillow",
-    "rosbags>=0.10.9",
+    "rosbags>=0.11.0",
     "packaging",
@@ -80,4 +81,3 @@ ]
 evo_config = "evo.main_config:main"
-evo_fig = "evo.main_fig:main"
 evo_ipython = "evo.main_ipython:main"
 evo = "evo.main_evo:main"

README.md

@@ -41,3 +41,3 @@ # evo
 * algorithmic options for association, alignment, scale adjustment for monocular SLAM etc.
-* flexible options for output, [plotting](https://github.com/MichaelGrupp/evo/wiki/Plotting) or export (e.g. LaTeX plots or Excel tables)
+* flexible options for output, [plotting](https://github.com/MichaelGrupp/evo/wiki/Plotting), [visualization](https://github.com/MichaelGrupp/evo/wiki/Rerun-integration) or export (e.g. LaTeX plots or Excel tables)
 * a powerful, configurable CLI that can cover many use cases
@@ -100,2 +100,6 @@ * modular `core` and `tools` libraries for custom extensions
 
+**Rerun (optional)**
+
+You can log data also to the [rerun](https://rerun.io/) viewer. See the related [Wiki page](https://github.com/MichaelGrupp/evo/wiki/Rerun-integration) for more details.
+
 ---
@@ -116,3 +120,2 @@
 * `evo_res` - tool for comparing one or multiple result files from `evo_ape` or `evo_rpe`
-* `evo_fig` - (experimental) tool for re-opening serialized plots (saved with `--serialize_plot`)
 * `evo_config` - tool for global settings and config file manipulation
@@ -119,0 +122,0 @@

test/cfg/ape_rpe/all_pairs_plot.json

@@ -12,3 +12,2 @@ {
     "save_plot": "tmp/plot.pdf",
-    "serialize_plot": "tmp/plot.pickle",
     "silent": false, 
@@ -15,0 +14,0 @@ "t_max_diff": 0.01,

test/cfg/ape_rpe/write_assets_xy.json

@@ -15,3 +15,2 @@ {
     "save_results": "tmp/result.zip", 
-    "serialize_plot": "tmp/plot.pickle",
     "logfile": "tmp/log.txt", 
@@ -18,0 +17,0 @@ "silent": false,

test/cfg/ape_rpe/write_assets_xyz.json

@@ -15,3 +15,2 @@ {
     "save_results": "tmp/result.zip", 
-    "serialize_plot": "tmp/plot.pickle",
     "logfile": "tmp/log.txt", 
@@ -18,0 +17,0 @@ "silent": false,

test/cfg/res/merge.json

@@ -7,3 +7,2 @@ {
     "save_table": "tmp/table.csv",
-    "serialize_plot": "tmp/plot.pickle",
     "logfile": "tmp/log.txt",
@@ -10,0 +9,0 @@ "silent": false,

test/cfg/res/write_assets.json

@@ -6,3 +6,2 @@ {
     "save_table": "tmp/table.csv",
-    "serialize_plot": "tmp/plot.pickle",
     "logfile": "tmp/log.txt",
@@ -9,0 +8,0 @@ "silent": false,

test/cfg/traj/common/write_assets_xy.json

@@ -15,3 +15,2 @@ {
     "save_table": "tmp/table.csv",
-    "serialize_plot": "tmp/plot.pickle",
     "logfile": "tmp/log.txt", 
@@ -18,0 +17,0 @@ "silent": false,

test/cfg/traj/common/write_assets_xyz.json

@@ -15,3 +15,2 @@ {
     "save_table": "tmp/table.csv",
-    "serialize_plot": "tmp/plot.pickle",
     "logfile": "tmp/log.txt", 
@@ -18,0 +17,0 @@ "silent": false,

test/test_file_interface.py

@@ -35,4 +35,4 @@ #!/usr/bin/env python
 from evo.tools import file_interface
+from evo.tools.settings import SETTINGS
 
-
 class MockFileTestCase(unittest.TestCase):
@@ -158,8 +158,11 @@ def __init__(self, in_memory_buffer, *args, **kwargs):
     def test_write_read_integrity(self):
-        for reader_t, writer_t in zip([Rosbag1Reader, Rosbag2Reader],
-                                      [Rosbag1Writer, Rosbag2Writer]):
+        for reader_t in [Rosbag1Reader, Rosbag2Reader]:
             # TODO: rosbags cannot overwrite existing paths, this forces us
             # to do this here to get only a filepath:
             tmp_filename = tempfile.NamedTemporaryFile(delete=True).name
-            bag_out = writer_t(tmp_filename)
+            if reader_t is Rosbag1Reader:
+                bag_out = Rosbag1Writer(tmp_filename)
+            else:
+                bag_out = Rosbag2Writer(
+                    tmp_filename, version=SETTINGS.ros2_bag_format_version)
             bag_out.open()
@@ -166,0 +169,0 @@ traj_out = helpers.fake_trajectory(1000, 0.1)

evo/main_fig.py

-#!/usr/bin/env python
-# -*- coding: UTF8 -*-
-# PYTHON_ARGCOMPLETE_OK
-"""
-plot editor
-author: Michael Grupp
-
-This file is part of evo (github.com/MichaelGrupp/evo).
-
-evo is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-evo is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with evo.  If not, see <http://www.gnu.org/licenses/>.
-"""
-
-import logging
-from pathlib import Path
-
-logger = logging.getLogger(__name__)
-
-SEP = "-" * 80  # separator line
-
-
-def main() -> None:
-    import argparse
-    import argcomplete
-    basic_desc = "experimental tool for opening a serialized PlotCollection"
-    lic = "(c) evo authors"
-    main_parser = argparse.ArgumentParser(description="%s %s" %
-                                          (basic_desc, lic))
-    main_parser.add_argument("in_file",
-                             help="path to a serialized plot_collection")
-    main_parser.add_argument("-t", "--title",
-                             help="custom title (default: file name)")
-    main_parser.add_argument("--save_plot", help="path to save plot",
-                             default=None)
-    main_parser.add_argument("--serialize_plot",
-                             help="path to re-serialize PlotCollection",
-                             default=None)
-    main_parser.add_argument("--to_html",
-                             help="convert to html (requires mpld3 library)",
-                             action="store_true")
-    main_parser.add_argument("--no_warnings",
-                             help="no warnings requiring user confirmation",
-                             action="store_true")
-    argcomplete.autocomplete(main_parser)
-    args = main_parser.parse_args()
-
-    from evo.tools import log, plot, user
-    log.configure_logging(verbose=True)
-
-    if not args.title:
-        title = Path(args.in_file).name
-    else:
-        title = args.title
-    if not args.no_warnings:
-        logger.warning(
-            "This tool is experimental and not guranteed to work.\nOnly works "
-            "if the same plot settings are used as for serialization.\n"
-            "If not, try: evo_config show/set \n" + SEP)
-
-    plot_collection = plot.PlotCollection(title, deserialize=args.in_file)
-    logger.debug("Deserialized PlotCollection: " + str(plot_collection))
-    plot_collection.show()
-
-    if args.serialize_plot:
-        logger.debug(SEP)
-        plot_collection.serialize(args.serialize_plot,
-                                  confirm_overwrite=not args.no_warnings)
-    if args.save_plot:
-        logger.debug(SEP)
-        plot_collection.export(args.save_plot,
-                               confirm_overwrite=not args.no_warnings)
-    if args.to_html:
-        import mpld3
-        logger.debug(SEP + "\nhtml export\n")
-        for name, fig in plot_collection.figures.items():
-            html = mpld3.fig_to_html(fig)
-            out = name + ".html"
-            with open(out, 'w') as f:
-                logger.debug(out)
-                f.write(html)
-    if not args.no_warnings:
-        logger.debug(SEP)
-        if user.confirm("Save changes & overwrite original file " +
-                        args.in_file + "? (y/n)"):
-            plot_collection.serialize(args.in_file, confirm_overwrite=False)
-
-
-if __name__ == '__main__':
-    main()

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Worsened metrics

Total package byte prevSize

14356043

-0.04%

Number of package files

191

-0.52%

Lines of code

11403

-1.02%