CLAUDE: fopen_pose_compare.py — remove egomotion.csv support, --xml only

*-egomotion.csv is a human-readable output file for Calc analysis, not
a machine input source.  *-INTERFRAME.corr-xml is the internal state
always present alongside processed data and is the correct programmatic
source for x/y/z/a/t/r poses.

- remove parse_egomotion_csv() and --ego argument
- --xml is now required
- remove IMS/PIMU col_specs (not in XML)
- rename CSV output columns: ego_* → xml_*, ers_*_rad → xml_*_rad
Co-authored-by: Claude <claude@elphel.com>

scripts/fopen_pose_compare.py

@@ -4,9 +4,8 @@ fopen_pose_compare.py — Compare COLMAP camera poses with imagej-elphel ERS/GPS
 
 Reads:
   - COLMAP images.txt (IMAGE_ID QW QX QY QZ TX TY TZ CAMERA_ID NAME)
-  - imagej-elphel *-INTERFRAME.corr-xml  (--xml, always present)
-    OR  *-egomotion.csv                  (--ego, optional output file)
-    --ego takes precedence if both are given (it has IMS/PIMU columns too).
+  - imagej-elphel *-INTERFRAME.corr-xml  (machine-readable internal state,
+    always present alongside the processed data)
 
 Computes a 7-DOF Sim(3) alignment between the two POSITION sets (Umeyama 1991):
   COLMAP_center ≈ s * R_align * ego_pos + t_align
@@ -25,7 +24,6 @@ Usage:
   python3 scripts/fopen_pose_compare.py \\
       --images  /path/to/sparse/0_txt/images.txt \\
       --xml     /path/to/*-INTERFRAME.corr-xml \\
-      [--ego    /path/to/*-egomotion.csv] \\
       [--out    pose_compare.csv] \\
       [--plot]  \\
       [--skip   3 17 ...]  # pose row indices to skip (0-based)
@@ -188,61 +186,6 @@ def parse_images_txt(path):
     return entries
 
 
-def parse_egomotion_csv(path, skip_rows=None):
-    """
-    Parse imagej-elphel egomotion.csv.
-    Valid rows: tab-separated, ≥10 columns, col[0] is a numeric scene index.
-
-    Columns of interest (0-indexed):
-      0  scene_index
-      1  timestamp
-      2  x(m)      ERS-corrected position
-      3  y(m)
-      4  z(m)
-      5  a(rad)    azimuth
-      6  tilt(rad)
-      7  roll(rad)
-      98  imsX
-      99  imsY
-      100 imsZ
-      110 pimuX-C  IMU corrected
-      111 pimuY-C
-      112 pimuZ-C
-
-    Returns list of dicts in file order.
-    skip_rows: set of 0-based valid-row indices to exclude.
-    """
-    skip_set = set(skip_rows or [])
-    rows = []
-    valid_idx = 0
-    with open(path) as f:
-        for line in f:
-            line = line.rstrip('\n')
-            parts = line.split('\t')
-            if len(parts) < 10:
-                continue
-            try:
-                scene_idx = int(parts[0])
-            except ValueError:
-                continue
-            if valid_idx in skip_set:
-                valid_idx += 1
-                continue
-            def fg(i):
-                try:    return float(parts[i])
-                except: return float('nan')
-            rows.append({
-                'valid_idx':  valid_idx,
-                'scene_idx':  scene_idx,
-                'timestamp':  fg(1),
-                'x':   fg(2),   'y':   fg(3),   'z':   fg(4),
-                'az':  fg(5),   'tilt': fg(6),  'roll': fg(7),
-                'imsX': fg(98), 'imsY': fg(99), 'imsZ': fg(100),
-                'pimuX_C': fg(110), 'pimuY_C': fg(111), 'pimuZ_C': fg(112),
-            })
-            valid_idx += 1
-    return rows
-
 
 def parse_interframe_xml(path, skip_rows=None):
     """
@@ -250,12 +193,10 @@ def parse_interframe_xml(path, skip_rows=None):
     Returns list of dicts sorted by timestamp — same order as COLMAP frame_NNNN
     (elphel_to_colmap.py assigns frame numbers by sorting timestamps).
 
-    Fields match parse_egomotion_csv() for compatibility:
       scene_idx  — 0-based sequential index
       timestamp  — float seconds
       x/y/z      — position (m) relative to reference scene
       az/tilt/roll — orientation (rad)
-      imsX/Y/Z, pimuX_C/Y_C/Z_C — NaN (not in XML)
     """
     skip_set = set(skip_rows or [])
     PREFIX    = "EYESIS_DCT_AUX."
@@ -282,7 +223,6 @@ def parse_interframe_xml(path, skip_rows=None):
         ts_float = float(ts_str.replace("_", ".", 1))
         raw[ts_float] = vals
 
-    nan = float('nan')
     rows = []
     for i, (ts, vals) in enumerate(sorted(raw.items())):
         if i in skip_set:
@@ -293,8 +233,6 @@ def parse_interframe_xml(path, skip_rows=None):
             'timestamp': ts,
             'x': x,   'y': y,   'z': z,
             'az': az, 'tilt': tilt, 'roll': roll,
-            'imsX': nan, 'imsY': nan, 'imsZ': nan,
-            'pimuX_C': nan, 'pimuY_C': nan, 'pimuZ_C': nan,
         })
     return rows
 
@@ -498,28 +436,19 @@ def main():
     ap = argparse.ArgumentParser(description=__doc__,
                                  formatter_class=argparse.RawDescriptionHelpFormatter)
     ap.add_argument('--images', required=True, help='COLMAP sparse/0_txt/images.txt')
-    ap.add_argument('--xml',    default=None,  help='imagej-elphel *-INTERFRAME.corr-xml (preferred)')
-    ap.add_argument('--ego',    default=None,  help='imagej-elphel *-egomotion.csv (optional; overrides --xml if given)')
+    ap.add_argument('--xml',   required=True, help='imagej-elphel *-INTERFRAME.corr-xml')
     ap.add_argument('--out',   default=None,  help='Output CSV (optional)')
     ap.add_argument('--plot',  action='store_true', help='3-D trajectory plot')
     ap.add_argument('--skip',  type=int, nargs='*', default=[],
                     metavar='ROW', help='0-based pose rows to skip')
     args = ap.parse_args()
 
-    if not args.xml and not args.ego:
-        ap.error("provide at least one of --xml or --ego")
-
     # ── Load ───────────────────────────────────────────────────────────────
     print(f"Loading COLMAP images: {args.images}")
     colmap_entries = parse_images_txt(args.images)
     print(f"  {len(colmap_entries)} frames  "
           f"(frame_{colmap_entries[0]['frame']:04d} … frame_{colmap_entries[-1]['frame']:04d})")
 
-    if args.ego:
-        print(f"Loading egomotion:     {args.ego}")
-        ego_rows = parse_egomotion_csv(args.ego, skip_rows=args.skip)
-        print(f"  {len(ego_rows)} rows  (scene {ego_rows[0]['scene_idx']} … {ego_rows[-1]['scene_idx']})")
-    else:
     print(f"Loading INTERFRAME XML: {args.xml}")
     ego_rows = parse_interframe_xml(args.xml, skip_rows=args.skip)
     print(f"  {len(ego_rows)} rows  (ts {ego_rows[0]['timestamp']:.3f} … {ego_rows[-1]['timestamp']:.3f})")
@@ -527,11 +456,9 @@ def main():
     pairs = match_sequences(colmap_entries, ego_rows)
     print(f"  {len(pairs)} matched pairs")
 
-    # ── Position alignment for each egomotion column set ───────────────────
+    # ── Position alignment ─────────────────────────────────────────────────
     col_specs = [
-        ('ERS x/y/z',            'x',       'y',       'z'      ),
-        ('IMS imsX/Y/Z',         'imsX',    'imsY',    'imsZ'   ),
-        ('PIMU pimuX-C/Y-C/Z-C', 'pimuX_C', 'pimuY_C', 'pimuZ_C'),
+        ('x/y/z', 'x', 'y', 'z'),
     ]
 
     pos_results  = {}    # label → (s, R_align, t, res)
@@ -540,8 +467,6 @@ def main():
     for label, kx, ky, kz in col_specs:
         s, R_align, t, res = compute_pos_alignment(pairs, kx, ky, kz)
         if s is None:
-            if not args.ego:
-                continue   # IMS/PIMU are always NaN when using XML — no need to warn
             print(f"\n[SKIP] {label}: insufficient valid data")
             continue
         print_pos_alignment_report(label, s, R_align, t, res)
@@ -558,11 +483,8 @@ def main():
         base_fields = [
             'frame', 'scene_idx', 'timestamp',
             'colmap_X', 'colmap_Y', 'colmap_Z',
-            'ego_x', 'ego_y', 'ego_z',
-            'ego_imsX', 'ego_imsY', 'ego_imsZ',
-            'ego_pimuX_C', 'ego_pimuY_C', 'ego_pimuZ_C',
-            # Raw ERS orientation
-            'ers_az_rad', 'ers_tilt_rad', 'ers_roll_rad',
+            'xml_x', 'xml_y', 'xml_z',
+            'xml_az_rad', 'xml_tilt_rad', 'xml_roll_rad',
         ]
         extra_fields = []
         for label, _, _, _ in col_specs:
@@ -589,14 +511,10 @@ def main():
                     'colmap_X':   ce['center'][0],
                     'colmap_Y':   ce['center'][1],
                     'colmap_Z':   ce['center'][2],
-                    'ego_x':      er['x'],   'ego_y': er['y'],   'ego_z': er['z'],
-                    'ego_imsX':   er['imsX'],'ego_imsY': er['imsY'],'ego_imsZ': er['imsZ'],
-                    'ego_pimuX_C': er['pimuX_C'],
-                    'ego_pimuY_C': er['pimuY_C'],
-                    'ego_pimuZ_C': er['pimuZ_C'],
-                    'ers_az_rad':   er['az'],
-                    'ers_tilt_rad': er['tilt'],
-                    'ers_roll_rad': er['roll'],
+                    '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'],
                 }
                 for label, kx, ky, kz in col_specs:
                     if label not in pos_results: