CLAUDE: fopen_pose_compare.py — clean CSV/TSV output for Calc analysis

- flat column names (no _x_y_z suffix, single comparison set)
- XML angles in degrees (not radians) — more useful for Calc plotting
- auto TSV when --out ends in .tsv, CSV otherwise
- column comment block documents layout in the source
Co-authored-by: Claude <claude@elphel.com>

scripts/fopen_pose_compare.py

@@ -495,67 +495,68 @@ def main():
 
     # ── CSV ────────────────────────────────────────────────────────────────
     if args.out:
-        base_fields = [
+        # Column layout (all angles in degrees for easy Calc analysis):
+        #   Identity     : frame (0-based COLMAP), timestamp (seconds)
+        #   COLMAP pos   : colmap_X/Y/Z  (native COLMAP units)
+        #   XML pos (m)  : xml_x/y/z  (metres, relative to reference scene)
+        #   XML angles   : xml_az/tilt/roll  (degrees; radians in source XML)
+        #   Sim(3) align : aligned_X/Y/Z  (XML pos mapped to COLMAP units)
+        #   Pos residual : pos_res(colmap), pos_res(m)
+        #   COLMAP orient: colmap_yaw/pitch/roll (deg, in Sim3-aligned GPS frame)
+        #   Inter-frame Δ: delta_colmap/xml/diff (deg, convention-independent)
+        #   Cumulative   : cum_colmap/xml/diff (deg, integrated from frame 0)
+        fieldnames = [
             'frame', 'timestamp',
             'colmap_X', 'colmap_Y', 'colmap_Z',
             'xml_x', 'xml_y', 'xml_z',
-            'xml_az_rad', 'xml_tilt_rad', 'xml_roll_rad',
+            'xml_az(deg)', 'xml_tilt(deg)', 'xml_roll(deg)',
+            'aligned_X', 'aligned_Y', 'aligned_Z',
+            'pos_res(colmap)', 'pos_res(m)',
+            'colmap_yaw(deg)', 'colmap_pitch(deg)', 'colmap_roll(deg)',
+            'delta_colmap(deg)', 'delta_xml(deg)', 'delta_diff(deg)',
+            'cum_colmap(deg)', 'cum_xml(deg)', 'cum_diff(deg)',
         ]
-        extra_fields = []
-        for label, _, _, _ in col_specs:
-            if label not in pos_results:
-                continue
-            k = label.replace(' ', '_').replace('/', '_')
-            extra_fields += [
-                f'pos_res_{k}(colmap)', f'pos_res_{k}(m)',
-                f'aligned_{k}_X', f'aligned_{k}_Y', f'aligned_{k}_Z',
-                f'colmap_yaw_{k}(deg)', f'colmap_pitch_{k}(deg)', f'colmap_roll_{k}(deg)',
-                f'delta_colmap_{k}(deg)', f'delta_ers_{k}(deg)', f'delta_diff_{k}(deg)',
-                f'cum_colmap_{k}(deg)', f'cum_ers_{k}(deg)', f'cum_diff_{k}(deg)',
-            ]
-        fieldnames = base_fields + extra_fields
 
+        sep = '\t' if args.out.endswith('.tsv') else ','
         with open(args.out, 'w', newline='') as f:
-            w = csv.DictWriter(f, fieldnames=fieldnames)
+            w = csv.DictWriter(f, fieldnames=fieldnames, delimiter=sep)
             w.writeheader()
+            # There is only one col_spec (x/y/z); iterate for forward-compat.
+            label = col_specs[0][0]
+            if label in pos_results:
+                s, R_align, t, res = pos_results[label]
             for i, (ce, er) in enumerate(pairs):
+                Qi      = np.array([[er['x'], er['y'], er['z']]])
+                aligned = apply_sim3(s, R_align, t, Qi)[0]
+                od      = ori_results[label][i]
+                def _f(v): return v if np.isfinite(v) else ''
                 row = {
                     'frame':     ce['frame'],
                     'timestamp': er['timestamp'],
                     'colmap_X':  ce['center'][0],
                     'colmap_Y':  ce['center'][1],
                     'colmap_Z':  ce['center'][2],
-                    'xml_x':  er['x'],  'xml_y':  er['y'],  'xml_z':  er['z'],
-                    'xml_az_rad':   er['az'],
-                    'xml_tilt_rad': er['tilt'],
-                    'xml_roll_rad': er['roll'],
+                    'xml_x':     er['x'],
+                    'xml_y':     er['y'],
+                    'xml_z':     er['z'],
+                    'xml_az(deg)':   np.degrees(er['az']),
+                    'xml_tilt(deg)': np.degrees(er['tilt']),
+                    'xml_roll(deg)': np.degrees(er['roll']),
+                    'aligned_X': aligned[0],
+                    'aligned_Y': aligned[1],
+                    'aligned_Z': aligned[2],
+                    'pos_res(colmap)': _f(res[i]),
+                    'pos_res(m)':      _f(res[i] / s),
+                    'colmap_yaw(deg)':   od['colmap_yaw_deg'],
+                    'colmap_pitch(deg)': od['colmap_pitch_deg'],
+                    'colmap_roll(deg)':  od['colmap_roll_deg'],
+                    'delta_colmap(deg)': _f(od['delta_colmap_deg']),
+                    'delta_xml(deg)':    _f(od['delta_ers_deg']),
+                    'delta_diff(deg)':   _f(od['delta_diff_deg']),
+                    'cum_colmap(deg)':   od['cum_colmap_deg'],
+                    'cum_xml(deg)':      od['cum_ers_deg'],
+                    'cum_diff(deg)':     _f(od['cum_diff_deg']),
                 }
-                for label, kx, ky, kz in col_specs:
-                    if label not in pos_results:
-                        continue
-                    s, R_align, t, res = pos_results[label]
-                    k = label.replace(' ', '_').replace('/', '_')
-                    Qi = np.array([[er[kx], er[ky], er[kz]]])
-                    aligned = apply_sim3(s, R_align, t, Qi)[0]
-                    row[f'pos_res_{k}(colmap)'] = res[i] if np.isfinite(res[i]) else ''
-                    row[f'pos_res_{k}(m)']      = (res[i]/s) if np.isfinite(res[i]) else ''
-                    row[f'aligned_{k}_X'] = aligned[0]
-                    row[f'aligned_{k}_Y'] = aligned[1]
-                    row[f'aligned_{k}_Z'] = aligned[2]
-                    od = ori_results[label][i]
-                    row[f'colmap_yaw_{k}(deg)']   = od['colmap_yaw_deg']
-                    row[f'colmap_pitch_{k}(deg)']  = od['colmap_pitch_deg']
-                    row[f'colmap_roll_{k}(deg)']   = od['colmap_roll_deg']
-                    row[f'delta_colmap_{k}(deg)']  = od['delta_colmap_deg'] \
-                                                     if np.isfinite(od['delta_colmap_deg']) else ''
-                    row[f'delta_ers_{k}(deg)']     = od['delta_ers_deg'] \
-                                                     if np.isfinite(od['delta_ers_deg']) else ''
-                    row[f'delta_diff_{k}(deg)']    = od['delta_diff_deg'] \
-                                                     if np.isfinite(od['delta_diff_deg']) else ''
-                    row[f'cum_colmap_{k}(deg)']    = od['cum_colmap_deg']
-                    row[f'cum_ers_{k}(deg)']       = od['cum_ers_deg']
-                    row[f'cum_diff_{k}(deg)']      = od['cum_diff_deg'] \
-                                                     if np.isfinite(od['cum_diff_deg']) else ''
                 w.writerow(row)
         print(f"\nSaved: {args.out}")