Merge branch 'master' into emmanuelmess/feature/umeyama_on_time_window

evo/__init__.py

@@ -8,7 +8,7 @@
 
 PACKAGE_BASE_PATH = Path(__file__).absolute().parent
 
-__version__ = "v1.30.3"
+__version__ = "v1.30.4"
 
 
 class EvoException(Exception):

evo/core/filters.py

@@ -47,10 +47,10 @@ def filter_pairs_by_index(poses: typing.Sequence[np.ndarray], delta: int,
     :return: list of index tuples of the filtered pairs
     """
     if all_pairs:
-        ids = np.arange(len(poses))
+        ids = np.arange(len(poses), dtype=int)
         id_pairs = [(i, i + delta) for i in ids if i + delta < len(poses)]
     else:
-        ids = np.arange(0, len(poses), delta)
+        ids = np.arange(0, len(poses), delta, dtype=int)
         id_pairs = [(i, j) for i, j in zip(ids, ids[1:])]
     return id_pairs
 

evo/core/trajectory.py

@@ -172,7 +172,7 @@ def transform(self, t: np.ndarray, right_mul: bool = False,
             self._poses_se3 = [np.dot(p, t) for p in self.poses_se3]
         elif right_mul and propagate:
             # Transform each pose and propagate resulting drift to the next.
-            ids = np.arange(0, self.num_poses, 1)
+            ids = np.arange(0, self.num_poses, 1, dtype=int)
             rel_poses = [
                 lie.relative_se3(self.poses_se3[i], self.poses_se3[j]).dot(t)
                 for i, j in zip(ids, ids[1:])

evo/main_res.py

@@ -188,10 +188,10 @@ def run(args: argparse.Namespace) -> None:
         # handle NaNs from concat() above
         error_df.interpolate(method="index", limit_area="inside").plot(
             ax=fig_raw.gca(), colormap=colormap, style=linestyles,
-            title=first_title, alpha=SETTINGS.plot_trajectory_alpha)
+            title=first_title, alpha=SETTINGS.plot_trajectory_alpha,
+            legend=SETTINGS.plot_show_legend)
         plt.xlabel(index_label)
         plt.ylabel(metric_label)
-        plt.legend(frameon=True)
         plot_collection.add_figure("raw", fig_raw)
 
         # statistics plot
@@ -200,9 +200,9 @@ def run(args: argparse.Namespace) -> None:
             include = df.loc["stats"].index.isin(SETTINGS.plot_statistics)
             if any(include):
                 df.loc["stats"][include].plot(kind="barh", ax=fig_stats.gca(),
-                                              colormap=colormap, stacked=False)
+                                              colormap=colormap, stacked=False,
+                                              legend=SETTINGS.plot_show_legend)
                 plt.xlabel(metric_label)
-                plt.legend(frameon=True)
                 plot_collection.add_figure("stats", fig_stats)
 
         # grid of distribution plots

evo/main_traj.py

@@ -363,7 +363,8 @@ def run(args):
                                 style=SETTINGS.plot_reference_linestyle,
                                 color=SETTINGS.plot_reference_color,
                                 alpha=SETTINGS.plot_reference_alpha,
-                                label=short_traj_name)
+                                label=short_traj_name,
+                                start_timestamp=start_time)
                 except trajectory.TrajectoryException as error:
                     logger.error(
                         f"Can't plot speeds of {short_traj_name}: {error}")
@@ -416,7 +417,8 @@ def run(args):
                                 style=SETTINGS.plot_trajectory_linestyle,
                                 color=color,
                                 alpha=SETTINGS.plot_trajectory_alpha,
-                                label=short_traj_name)
+                                label=short_traj_name,
+                                start_timestamp=start_time)
                 except trajectory.TrajectoryException as error:
                     logger.error(
                         f"Can't plot speeds of {short_traj_name}: {error}")

evo/tools/plot.py

@@ -490,8 +490,9 @@ def traj_colormap(ax: Axes, traj: trajectory.PosePath3D, array: ListOrArray,
         "{0:0.3f}".format(max_map)
     ])
     if title:
-        ax.legend(frameon=True)
         ax.set_title(title)
+    if SETTINGS.plot_show_legend:
+        ax.legend(frameon=True)
     if plot_start_end_markers:
         add_start_end_markers(ax, plot_mode, traj, start_color=colors[0],
                               end_color=colors[-1])
@@ -652,7 +653,8 @@ def traj_rpy(axarr: np.ndarray, traj: trajectory.PosePath3D, style: str = '-',
 
 
 def speeds(ax: Axes, traj: trajectory.PoseTrajectory3D, style: str = '-',
-           color="black", label: str = "", alpha: float = 1.):
+           color="black", label: str = "", alpha: float = 1.,
+           start_timestamp: typing.Optional[float] = None):
     """
     Plots the speed between poses of a trajectory.
     Note that a speed value is shown at the timestamp of the newer pose.
@@ -662,10 +664,16 @@ def speeds(ax: Axes, traj: trajectory.PoseTrajectory3D, style: str = '-',
     :param color: matplotlib color
     :param label: label (for legend)
     :param alpha: alpha value for transparency
+    :param start_timestamp: optional start time of the reference
+                            (for x-axis alignment)
     """
     if not isinstance(traj, trajectory.PoseTrajectory3D):
         raise PlotException("speeds can only be plotted with trajectories")
-    ax.plot(traj.timestamps[1:], traj.speeds, style, color=color, alpha=alpha,
+    if start_timestamp:
+        timestamps = traj.timestamps - start_timestamp
+    else:
+        timestamps = traj.timestamps
+    ax.plot(timestamps[1:], traj.speeds, style, color=color, alpha=alpha,
             label=label)
     ax.set_xlabel("$t$ (s)")
     ax.set_ylabel("$v$ (m/s)")
@@ -780,7 +788,8 @@ def error_array(ax: Axes, err_array: ListOrArray,
     plt.ylabel(ylabel if ylabel else name)
     plt.xlabel(xlabel)
     plt.title(title)
-    plt.legend(frameon=True)
+    if SETTINGS.plot_show_legend:
+        plt.legend(frameon=True)
 
 
 def ros_map(

evo/tools/settings_template.py

@@ -85,7 +85,7 @@ def get_default_plot_backend() -> str:
          "Can also be set to 'none'.")
     ),
     "plot_figsize": (
-        [6, 6],
+        [10, 10],
         "The default size of one (sub)plot figure (width, height)."
     ),
     "plot_fontfamily": (