Merge branch 'PRBonn:main' into main

PRBonn · Jul 11, 2024 · 43b7509 · 43b7509
2 parents 8952ca0 + 5d42087
commit 43b7509
Showing 1 changed file with 8 additions and 6 deletions.
diff --git a/python/kiss_icp/pipeline.py b/python/kiss_icp/pipeline.py
@@ -179,12 +179,14 @@ def _run_evaluation(self):
         # Run timing metrics evaluation, always
         def _get_fps():
             total_time_s = sum(self.times) * 1e-9
-            return float(len(self.times) / total_time_s)
-
-        avg_fps = int(np.ceil(_get_fps()))
-        avg_ms = int(np.ceil(1e3 * (1 / _get_fps())))
-        self.results.append(desc="Average Frequency", units="Hz", value=avg_fps, trunc=True)
-        self.results.append(desc="Average Runtime", units="ms", value=avg_ms, trunc=True)
+            return float(len(self.times) / total_time_s) if total_time_s > 0 else 0
+
+        fps = _get_fps()
+        avg_fps = int(np.floor(fps))
+        avg_ms = int(np.ceil(1e3 / fps)) if fps > 0 else 0
+        if avg_fps > 0:
+            self.results.append(desc="Average Frequency", units="Hz", value=avg_fps, trunc=True)
+            self.results.append(desc="Average Runtime", units="ms", value=avg_ms, trunc=True)
 
     def _write_log(self):
         if not self.results.empty():