fix kitti rotation error unit

PRBonn · Sep 21, 2023 · 721cbe1 · 721cbe1
1 parent 0fc03f1
commit 721cbe1
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/cpp/kiss_icp/metrics/Metrics.cpp b/cpp/kiss_icp/metrics/Metrics.cpp
@@ -149,7 +149,7 @@ std::tuple<float, float> SeqError(const std::vector<Eigen::Matrix4d> &poses_gt,
     }
 
     double avg_trans_error = 100.0 * (t_err / static_cast<double>(err.size()));
-    double avg_rot_error = 100.0 * (r_err / static_cast<double>(err.size())) / 3.14 * 180.0;
+    double avg_rot_error = (r_err / static_cast<double>(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
@@ -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(