API Reference¶
Welcome to the Trajectopy API reference. This section provides detailed documentation for all public modules, classes, and functions.
Core Modules¶
- Trajectory - Main trajectory class for representing and manipulating trajectory data
- Positions - Position data container
- Rotations - Rotation data container
- Settings - Configuration classes for trajectory processing
- Parameters - Alignment parameters and stochastic models
Processing Functions¶
- Alignment - Trajectory alignment functions
- Evaluation - ATE and RPE evaluation metrics
- Interpolation - Temporal interpolation
- Matching - Pose matching between trajectories
- Merging - Merge and average multiple trajectories
- Sorting - Spatial sorting of trajectories
- Approximation - Trajectory approximation algorithms
File I/O¶
- Trajectory I/O - Read and write trajectories (ASCII)
- Results I/O - Read and write ATE/RPE/alignment results and parameters
- Google Earth (KML) - Export trajectories and ATE results to Google Earth
- ROS Bags - Read trajectories from ROS1 bag files
Results¶
- ATEResult - Absolute Trajectory Error results
- RPEResult - Relative Pose Error results
- AlignmentResult - Alignment parameters and statistics
- DeviationCorrelation - Temporal correlation of ATE deviations
Visualization¶
- Figures - Plots of trajectories, ATE/RPE results and alignment parameters
- Showing & Exporting - Interactive plot window, image export and plot theme