name: trajectory-data
description: "Routes evo_traj workflows, trajectory file formats, converters,
synchronization, alignment, export, and bag/MCAP loading."
disable-model-invocation: true
metadata:
disco-role: operating
license: GPL 3.0
trajectory-data
Use this sub-skill for trajectory files, conversion helpers, synchronization, export, and the evo_traj CLI.
Route here when the user asks for
evo_traj or trajectory inspection / export- TUM, KITTI, EuRoC, ROS bag, ROS2 bag, or MCAP trajectories
PosePath3D, PoseTrajectory3D, TrajectoryBundle, or load_transform- timestamp association,
--ref, --sync, --merge, --downsample, --motion_filter
- converting KITTI pose/timestamp pairs to TUM or scaling TUM timestamps
- duplicate timestamp checks or trajectory-file validation failures
Do not route here when the task is mainly about
- APE/RPE metric math or result zip creation
- saved-result comparison, tables, or pandas exports
- package settings, logs, or IPython shell setup
- notebook plotting or custom Python embedding
Start with
- references/data-formats.md
- references/cli-reference.md
- references/workflows.md
- references/troubleshooting.md
- scripts/trajectory_io_smoke.py
Rules of thumb
- TUM rows are timestamp + xyz + quaternion; KITTI rows are the first 3 rows of a 4x4 pose matrix; EuRoC CSV timestamps are in nanoseconds and become seconds.
PoseTrajectory3D requires timestamps and they must be ascending and unique.bag2 and mcap are the same route in evo; bag-based routes require topics or --all_topics.--sync and --ref matter for timestamped workflows; motion_filter on path-only data is invalid in metrics workflows.load_transform accepts JSON, .npy, or text 4x4 matrices and rejects anything that is not a valid SE(3) or Sim(3) matrix.- The safe conversion helpers in this sub-skill write to an explicit output path instead of silently mutating source files in place.