Handled Zero Division Error in pipeline.py

[karthikbolla]

This pull request addresses a division by zero error in the _get_fps() function. I've implemented a check to handle the case where total_time_s is zero to prevent the error. Additionally, I've modified the calculation of avg_ms to ensure it doesn't result in a division by zero.

Changes Made:

• Added a conditional check in _get_fps() to handle division by zero.
• Adjusted the calculation of avg_ms to prevent division by zero.

Fixes: #343

[benemer]

Thanks for the fix! Two cosmetic suggestions from my side, just to keep things compact.

[nachovizzo]

Thanks for the fix, it is definetly helpful.

The bigger question here would be, though, how you end up with a 0.000 runtime. You might have a problem somewhere else. I agree that is not the right place to explode, but something else went wrong here

[benemer]

Is this PR still active? We should discuss which runtime should be reported if the total time is zero. I have two proposals:

1. Make it NaN, this also occurs sometimes for the relative error
2. Do not show it in the final logs

What do you think?

[karthikbolla]

Is this PR still active? We should discuss which runtime should be reported if the total time is zero. I have two proposals:

1. Make it NaN, this also occurs sometimes for the relative error
2. Do not show it in the final logs

What do you think?

Is there any other way than returning 0?

[benemer]

How about

diff --git a/python/kiss_icp/pipeline.py b/python/kiss_icp/pipeline.py
index 52cb7a7..46b9d4d 100644
--- a/python/kiss_icp/pipeline.py
+++ b/python/kiss_icp/pipeline.py
@@ -184,9 +184,10 @@ class OdometryPipeline:
         fps = _get_fps()
         avg_fps = int(np.floor(fps))
         avg_ms = int(np.ceil(1e3 / fps)) if fps > 0 else 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)
 
+        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():

Wit this, we don't have think about what the correct return value would be.

[nachovizzo]

@karthikbolla would you please do as @benemer suggested? you can also give us access to commit there so we also ack your contribution

thanks

[karthikbolla]

@nachovizzo @benemer I've raised a new commit based on @benemer's suggestions and also granted access to the fork.

Thank you.

[benemer]

Great, thank you for your contribution!