Possible error in ATE/RTE metric calculation

[scottsun95]

Hi,

I was looking at this line of your ATE calculation

ronin/source/metric.py

Line 18 in 59b2a23

return np.sqrt(np.mean((est - gt) ** 2))

and these lines of your RTE calculation

ronin/source/metric.py

Lines 43 to 44 in 59b2a23

	err = est[deltas[i]:] + gt[:-deltas[i]] - est[:-deltas[i]] - gt[deltas[i]:]
	rtes[i] = np.sqrt(np.mean(err ** 2))

Based on your cited source, I am wondering if you are missing a norm in the error calculation, as you would want to be calculating the Euclidean distance between the estimated and ground truth positions. The equations, as written, appear to be computing the mean over all the individual squared x and y components. In other words, shouldn't this calculation be the following?

np.sqrt(np.mean(np.linalg.norm(est - gt) ** 2)

Thanks,
Scott

[Sachini]

Thank you for pointing this out Scott. You'e correct, for euclidian distance we'd have to modify as you suggested to np.sqrt(np.mean(np.linalg.norm(est - gt, axis=1) ** 2) which would increase all the errors reported by a factor of sqrt(2)