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Add error metrics for scale error #480

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Add error metrics for scale error #480

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2 changes: 2 additions & 0 deletions evo/common_ape_rpe.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,8 @@ def get_pose_relation(args: argparse.Namespace) -> PoseRelation:
pose_relation = PoseRelation.point_distance
elif args.pose_relation == "point_distance_error_ratio":
pose_relation = PoseRelation.point_distance_error_ratio
elif args.pose_relation == "scale_error":
pose_relation = PoseRelation.scale_error
return pose_relation


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24 changes: 22 additions & 2 deletions evo/core/metrics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,7 @@ class PoseRelation(Enum):
rotation_angle_deg = "rotation angle in degrees"
point_distance = "point distance"
point_distance_error_ratio = "point distance error ratio"
scale_error = "scale error"


class Unit(Enum):
Expand Down Expand Up @@ -198,7 +199,8 @@ def __init__(self,
if pose_relation in (PoseRelation.translation_part,
PoseRelation.point_distance):
self.unit = Unit.meters
elif pose_relation == PoseRelation.point_distance_error_ratio:
elif pose_relation in (PoseRelation.point_distance_error_ratio,
PoseRelation.scale_error):
self.unit = Unit.percent
elif pose_relation == PoseRelation.rotation_angle_deg:
self.unit = Unit.degrees
Expand Down Expand Up @@ -280,6 +282,23 @@ def process_data(self, data: PathPair) -> None:
self.delta_ids = [self.delta_ids[i] for i in nonzero]
self.error = np.divide(self.error[nonzero],
ref_distances[nonzero]) * 100
elif self.pose_relation == PoseRelation.scale_error:
# Compares the magnitude of the traveled distance.
ref_traveled_distances = np.array([
traj_ref.distances[i] - traj_ref.distances[j] for i, j in id_pairs
])
est_traveled_distances = np.array([
traj_est.distances[i] - traj_est.distances[j] for i, j in id_pairs
])
self.error = est_traveled_distances
nonzero = ref_traveled_distances.nonzero()[0]
if nonzero.size != ref_traveled_distances.size:
logger.warning(
f"Ignoring {ref_traveled_distances.size - nonzero.size} zero "
"divisions in ratio calculations.")
self.delta_ids = [self.delta_ids[i] for i in nonzero]
self.error = (np.divide(self.error[nonzero],
ref_traveled_distances[nonzero]) - 1) * 100
else:
# All other pose relations require the full pose error.
self.E = [
Expand All @@ -298,7 +317,8 @@ def process_data(self, data: PathPair) -> None:
self.pose_relation.value))

if self.pose_relation in (PoseRelation.point_distance,
PoseRelation.point_distance_error_ratio):
PoseRelation.point_distance_error_ratio,
PoseRelation.scale_error):
# Already computed, see above.
pass
elif self.pose_relation == PoseRelation.translation_part:
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2 changes: 1 addition & 1 deletion evo/main_rpe.py
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Expand Up @@ -51,7 +51,7 @@ def parser() -> argparse.ArgumentParser:
"-r", "--pose_relation", default="trans_part",
help="pose relation on which the RPE is based", choices=[
"full", "trans_part", "rot_part", "angle_deg", "angle_rad",
"point_distance", "point_distance_error_ratio"
"point_distance", "point_distance_error_ratio", "scale_error"
])
algo_opts.add_argument("-a", "--align",
help="alignment with Umeyama's method (no scale)",
Expand Down