From 67cfc3db77c0844f0e6ab5352f76e881dacf307f Mon Sep 17 00:00:00 2001 From: yuepan Date: Tue, 19 Sep 2023 15:52:24 +0200 Subject: [PATCH 1/3] fix kitti rotation error unit --- python/kiss_icp/metrics.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/python/kiss_icp/metrics.py b/python/kiss_icp/metrics.py index 923dc211..6e9b85c6 100644 --- a/python/kiss_icp/metrics.py +++ b/python/kiss_icp/metrics.py @@ -31,7 +31,8 @@ def sequence_error( gt_poses: List[np.ndarray], results_poses: List[np.ndarray] ) -> Tuple[float, float]: """Sptis the sequence error for a given trajectory in camera coordinate frames.""" - return kiss_icp_pybind._kitti_seq_error(gt_poses, results_poses) + ate_kitti, are_kitti = kiss_icp_pybind._kitti_seq_error(gt_poses, results_poses) + return ate_kitti, are_kitti/100. def absolute_trajectory_error( From 0fc03f1a7d09e9755542c5bd9c93288c316034ef Mon Sep 17 00:00:00 2001 From: yuepan Date: Tue, 19 Sep 2023 16:31:18 +0200 Subject: [PATCH 2/3] fix kitti rotation error unit --- python/kiss_icp/metrics.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/kiss_icp/metrics.py b/python/kiss_icp/metrics.py index 6e9b85c6..fa495324 100644 --- a/python/kiss_icp/metrics.py +++ b/python/kiss_icp/metrics.py @@ -32,7 +32,7 @@ def sequence_error( ) -> Tuple[float, float]: """Sptis the sequence error for a given trajectory in camera coordinate frames.""" ate_kitti, are_kitti = kiss_icp_pybind._kitti_seq_error(gt_poses, results_poses) - return ate_kitti, are_kitti/100. + return ate_kitti, are_kitti / 100.0 def absolute_trajectory_error( From 721cbe1273f1af165134c2a99aabfe84afc88bcc Mon Sep 17 00:00:00 2001 From: Yue Pan Date: Thu, 21 Sep 2023 13:45:00 +0200 Subject: [PATCH 3/3] fix kitti rotation error unit --- cpp/kiss_icp/metrics/Metrics.cpp | 2 +- python/kiss_icp/metrics.py | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/cpp/kiss_icp/metrics/Metrics.cpp b/cpp/kiss_icp/metrics/Metrics.cpp index 7b8a32ac..b3210f5f 100644 --- a/cpp/kiss_icp/metrics/Metrics.cpp +++ b/cpp/kiss_icp/metrics/Metrics.cpp @@ -149,7 +149,7 @@ std::tuple SeqError(const std::vector &poses_gt, } double avg_trans_error = 100.0 * (t_err / static_cast(err.size())); - double avg_rot_error = 100.0 * (r_err / static_cast(err.size())) / 3.14 * 180.0; + double avg_rot_error = (r_err / static_cast(err.size())) / 3.14 * 180.0; return std::make_tuple(avg_trans_error, avg_rot_error); } diff --git a/python/kiss_icp/metrics.py b/python/kiss_icp/metrics.py index fa495324..923dc211 100644 --- a/python/kiss_icp/metrics.py +++ b/python/kiss_icp/metrics.py @@ -31,8 +31,7 @@ def sequence_error( gt_poses: List[np.ndarray], results_poses: List[np.ndarray] ) -> Tuple[float, float]: """Sptis the sequence error for a given trajectory in camera coordinate frames.""" - ate_kitti, are_kitti = kiss_icp_pybind._kitti_seq_error(gt_poses, results_poses) - return ate_kitti, are_kitti / 100.0 + return kiss_icp_pybind._kitti_seq_error(gt_poses, results_poses) def absolute_trajectory_error(