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Alignment

module trajectopy.alignment

Trajectopy - Trajectory Evaluation in Python

Gereon Tombrink, 2025 tombrink@igg.uni-bonn.de

function estimate_alignment

estimate_alignment(
    traj_from: trajectopy.trajectory.Trajectory,
    traj_to: trajectopy.trajectory.Trajectory,
    alignment_settings: trajectopy.settings.AlignmentSettings = AlignmentSettings(preprocessing=AlignmentPreprocessing(min_speed=0.0, time_start=0.0, time_end=0.0), estimation_settings=AlignmentEstimationSettings(translation_x=True, translation_y=True, translation_z=True, rotation_x=True, rotation_y=True, rotation_z=True, scale=False, time_shift=False, leverarm_x=False, leverarm_y=False, leverarm_z=False, sensor_rotation=False), stochastics=AlignmentStochastics(std_xy_from=1.0, std_z_from=1.0, std_xy_to=1.0, std_z_to=1.0, std_roll_pitch=0.017453292519943295, std_yaw=0.017453292519943295, std_speed=1.0, error_probability=0.05, variance_estimation=False), metric_threshold=0.0001, time_threshold=0.0001),
    matching_settings: trajectopy.settings.MatchingSettings = MatchingSettings(method=<MatchingMethod.INTERPOLATION: 'interpolation'>, max_time_diff=0.01, max_distance=0.0, k_nearest=10)
) → AlignmentResult

Aligns two trajectories

Performs a - Helmert - Leverarm - Time shift

estimation depending on the configuration. After this, the estimated parameters are applied to the 'traj_from' trajectory.

Args:

  • traj_from (Trajectory)
  • traj_to (Trajectory)
  • alignment_settings (AlignmentSettings, optional): Settings for the alignment process. Defaults to AlignmentSettings().
  • matching_settings (MatchingSettings, optional): Settings for the matching process. Defaults to MatchingSettings().

Returns:

  • AlignmentResult: Result of the alignment process