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Actual and not absolute point distance error #479

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3 changes: 1 addition & 2 deletions evo/core/metrics.py
Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,6 @@ class PoseRelation(Enum):
point_distance = "point distance"
point_distance_error_ratio = "point distance error ratio"


class Unit(Enum):
none = "unit-less"
meters = "m"
Expand Down Expand Up @@ -270,7 +269,7 @@ def process_data(self, data: PathPair) -> None:
np.linalg.norm(traj_est.positions_xyz[i] -
traj_est.positions_xyz[j]) for i, j in id_pairs
])
self.error = np.abs(ref_distances - est_distances)
self.error = ref_distances - est_distances
if self.pose_relation == PoseRelation.point_distance_error_ratio:
nonzero = ref_distances.nonzero()[0]
if nonzero.size != ref_distances.size:
Expand Down