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‎docs/main/_modules/pypose/metric/ape_rpe/index.html‎

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@@ -673,17 +673,17 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="sd"> etype (``str``, optional):</span>
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<span class="sd"> The type of pose error. Supported options include:</span>
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<span class="sd"> &#39;translation&#39;: :math:`|| t_{e} - t_{r} ||_2`</span>
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<span class="sd"> ``&#39;translation&#39;``: :math:`|| t_{e} - t_{r} ||_2`</span>
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<span class="sd"> &#39;rotation&#39;: :math:`|| R_{e}^T * R_{r} - I_3 ||_2`</span>
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<span class="sd"> ``&#39;rotation&#39;``: :math:`|| R_{e}^T * R_{r} - I_3 ||_2`</span>
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<span class="sd"> &#39;pose&#39;: :math:`|| T_{e}^{-1} * T_{r} - I_4 ||_2`</span>
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<span class="sd"> ``&#39;pose&#39;``: :math:`|| T_{e}^{-1} * T_{r} - I_4 ||_2`</span>
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<span class="sd"> &#39;radian&#39;: :math:`|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2`</span>
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<span class="sd"> ``&#39;radian&#39;``: :math:`|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2`</span>
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<span class="sd"> &#39;degree&#39;: :math:`\mathrm{Degree}(|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2)`</span>
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<span class="sd"> ``&#39;degree&#39;``: :math:`\mathrm{Degree}(|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2)`</span>
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<span class="sd"> Default: &#39;translation&#39;</span>
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<span class="sd"> Default: ``&#39;translation&#39;``</span>
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<span class="sd"> diff (``float``, optional):</span>
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<span class="sd"> The maximum allowed absolute time difference (in seconds)</span>
@@ -710,27 +710,27 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="sd"> otype (``str``, optional):</span>
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<span class="sd"> The output type for the metric. Supported options include:</span>
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<span class="sd"> &#39;All&#39;: All metrics will be computed and returned.</span>
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<span class="sd"> ``&#39;All&#39;``: All metrics will be computed and returned.</span>
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<span class="sd"> &#39;Max&#39;: The Max error is computed and returned.</span>
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<span class="sd"> ``&#39;Max&#39;``: The Max error is computed and returned.</span>
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<span class="sd"> &#39;Min&#39;: The Min error is computed and returned.</span>
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<span class="sd"> ``&#39;Min&#39;``: The Min error is computed and returned.</span>
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<span class="sd"> &#39;Mean&#39;: The Mean error is computed and returned.</span>
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<span class="sd"> ``&#39;Mean&#39;``: The Mean error is computed and returned.</span>
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<span class="sd"> &#39;Median&#39;: The Median error is computed and returned.</span>
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<span class="sd"> ``&#39;Median&#39;``: The Median error is computed and returned.</span>
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<span class="sd"> &#39;RMSE&#39;: The root mean square error (RMSE) is computed and returned.</span>
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<span class="sd"> ``&#39;RMSE&#39;``: The root mean square error (RMSE) is computed and returned.</span>
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<span class="sd"> &#39;SSE&#39;: The sum of square error (SSE) is computed and returned.</span>
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<span class="sd"> ``&#39;SSE&#39;``: The sum of square error (SSE) is computed and returned.</span>
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<span class="sd"> &#39;STD&#39;: The standard deviation (STD) is computed and returned.</span>
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<span class="sd"> ``&#39;STD&#39;``: The standard deviation (STD) is computed and returned.</span>
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<span class="sd"> Defaults to &#39;All&#39;.</span>
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<span class="sd"> Defaults to ``&#39;All&#39;``.</span>
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<span class="sd"> Returns:</span>
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<span class="sd"> ``dict`` or ``Tensor``: The computed statistics of the APE (Absolute Pose Error).</span>
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<span class="sd"> The return is a ``dict`` if &quot;otype&quot; is not &#39;all&#39;, otherwise a ``Tensor``.</span>
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<span class="sd"> The return is a ``dict`` if ``otype`` is not ``&#39;all&#39;``, otherwise a ``Tensor``.</span>
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<span class="sd"> Examples:</span>
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<span class="sd"> &gt;&gt;&gt; import torch</span>
@@ -806,17 +806,17 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="sd"> etype (``str``, optional):</span>
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<span class="sd"> The type of pose error. Supported options include:</span>
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<span class="sd"> &#39;translation&#39;: :math:`||{R_{r}^{rel}}^T * t_{r}^{rel} - {R_{e}^{rel}}^T * t_{e}^{rel}||_2`</span>
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<span class="sd"> ``&#39;translation&#39;``: :math:`||{R_{r}^{rel}}^T * t_{r}^{rel} - {R_{e}^{rel}}^T * t_{e}^{rel}||_2`</span>
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<span class="sd"> &#39;rotation&#39;: :math:`|| {R_{r}^{rel}}^T * R_{e}^{rel} - I_3 ||_2`</span>
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<span class="sd"> ``&#39;rotation&#39;``: :math:`|| {R_{r}^{rel}}^T * R_{e}^{rel} - I_3 ||_2`</span>
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<span class="sd"> &#39;pose&#39;: :math:`|| {T_{r}^{rel}}^{-1} * T_{e}^{rel} - I_4 ||_2`</span>
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<span class="sd"> ``&#39;pose&#39;``: :math:`|| {T_{r}^{rel}}^{-1} * T_{e}^{rel} - I_4 ||_2`</span>
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<span class="sd"> &#39;radian&#39;: :math:`|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2`</span>
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<span class="sd"> ``&#39;radian&#39;``: :math:`|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2`</span>
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<span class="sd"> &#39;degree&#39;: :math:`\mathrm{Degree}(|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2))`</span>
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<span class="sd"> ``&#39;degree&#39;``: :math:`\mathrm{Degree}(|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2))`</span>
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<span class="sd"> Default: &#39;translation&#39;</span>
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<span class="sd"> Default: ``&#39;translation&#39;``</span>
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<span class="sd"> diff (``float``, optional):</span>
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<span class="sd"> The maximum allowed absolute time difference (in seconds)</span>
@@ -858,27 +858,27 @@ <h1>Source code for pypose.metric.ape_rpe</h1><div class="highlight"><pre>
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<span class="sd"> otype (``str``, optional):</span>
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<span class="sd"> The output type for the metric. Supported options include:</span>
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<span class="sd"> &#39;All&#39;: All metrics will be computed and returned.</span>
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<span class="sd"> ``&#39;All&#39;``: All metrics will be computed and returned.</span>
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<span class="sd"> &#39;Max&#39;: The Max error is computed and returned.</span>
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<span class="sd"> ``&#39;Max&#39;``: The Max error is computed and returned.</span>
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<span class="sd"> &#39;Min&#39;: The Min error is computed and returned.</span>
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<span class="sd"> ``&#39;Min&#39;``: The Min error is computed and returned.</span>
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<span class="sd"> &#39;Mean&#39;: The Mean error is computed and returned.</span>
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<span class="sd"> ``&#39;Mean&#39;``: The Mean error is computed and returned.</span>
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<span class="sd"> &#39;Median&#39;: The Median error is computed and returned.</span>
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<span class="sd"> ``&#39;Median&#39;``: The Median error is computed and returned.</span>
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<span class="sd"> &#39;RMSE&#39;: The root mean square error (RMSE) is computed and returned.</span>
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<span class="sd"> ``&#39;RMSE&#39;``: The root mean square error (RMSE) is computed and returned.</span>
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<span class="sd"> &#39;SSE&#39;: The sum of square error (SSE) is computed and returned.</span>
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<span class="sd"> ``&#39;SSE&#39;``: The sum of square error (SSE) is computed and returned.</span>
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<span class="sd"> &#39;STD&#39;: The standard deviation (STD) is computed and returned.</span>
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<span class="sd"> ``&#39;STD&#39;``: The standard deviation (STD) is computed and returned.</span>
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<span class="sd"> Defaults to &#39;All&#39;.</span>
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<span class="sd"> Defaults to ``&#39;All&#39;``.</span>
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<span class="sd"> Returns:</span>
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<span class="sd"> ``dict`` or ``Tensor``: The computed statistics of the RPE (Relative Pose Error).</span>
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<span class="sd"> The return is a ``dict`` if &quot;otype&quot; is not &#39;all&#39;, otherwise a ``Tensor``.</span>
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<span class="sd"> The return is a ``dict`` if ``otype`` is not ``&#39;all&#39;``, otherwise a ``Tensor``.</span>
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<span class="sd"> Examples:</span>
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<span class="sd"> &gt;&gt;&gt; import torch</span>

‎docs/main/generated/pypose.metric.ape/index.html‎

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Original file line numberDiff line numberDiff line change
@@ -269,12 +269,12 @@ <h1>pypose.metric.ape<a class="headerlink" href="#pypose-metric-ape" title="Perm
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Must have the same length as <cite>estamp</cite>.
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For example, <cite>pypose.SE3(torch.rand(10, 7))</cite>.</p></li>
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<li><p><strong>etype</strong> (<code class="docutils literal notranslate"><span class="pre">str</span></code>, optional) – <p>The type of pose error. Supported options include:</p>
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<p>’translation’: <span class="math">\(|| t_{e} - t_{r} ||_2\)</span></p>
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<p>’rotation’: <span class="math">\(|| R_{e}^T * R_{r} - I_3 ||_2\)</span></p>
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<p>’pose’: <span class="math">\(|| T_{e}^{-1} * T_{r} - I_4 ||_2\)</span></p>
275-
<p>’radian’: <span class="math">\(|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2\)</span></p>
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<p>’degree’: <span class="math">\(\mathrm{Degree}(|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2)\)</span></p>
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<p>Default: ‘translation’</p>
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<p><code class="docutils literal notranslate"><span class="pre">'translation'</span></code>: <span class="math">\(|| t_{e} - t_{r} ||_2\)</span></p>
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<p><code class="docutils literal notranslate"><span class="pre">'rotation'</span></code>: <span class="math">\(|| R_{e}^T * R_{r} - I_3 ||_2\)</span></p>
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<p><code class="docutils literal notranslate"><span class="pre">'pose'</span></code>: <span class="math">\(|| T_{e}^{-1} * T_{r} - I_4 ||_2\)</span></p>
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<p><code class="docutils literal notranslate"><span class="pre">'radian'</span></code>: <span class="math">\(|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2\)</span></p>
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<p><code class="docutils literal notranslate"><span class="pre">'degree'</span></code>: <span class="math">\(\mathrm{Degree}(|| \mathrm{Log}(R_{e}^T * R_{r}) ||_2)\)</span></p>
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<p>Default: <code class="docutils literal notranslate"><span class="pre">'translation'</span></code></p>
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</p></li>
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<li><p><strong>diff</strong> (<code class="docutils literal notranslate"><span class="pre">float</span></code>, optional) – The maximum allowed absolute time difference (in seconds)
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for associating poses. Defaults to 0.01.</p></li>
@@ -292,21 +292,21 @@ <h1>pypose.metric.ape<a class="headerlink" href="#pypose-metric-ape" title="Perm
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matching pairs is below this threshold, a warning is issued.
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Defaults to 0.3.</p></li>
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<li><p><strong>otype</strong> (<code class="docutils literal notranslate"><span class="pre">str</span></code>, optional) – <p>The output type for the metric. Supported options include:</p>
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<p>’All’: All metrics will be computed and returned.</p>
296-
<p>’Max’: The Max error is computed and returned.</p>
297-
<p>’Min’: The Min error is computed and returned.</p>
298-
<p>’Mean’: The Mean error is computed and returned.</p>
299-
<p>’Median’: The Median error is computed and returned.</p>
300-
<p>’RMSE’: The root mean square error (RMSE) is computed and returned.</p>
301-
<p>’SSE’: The sum of square error (SSE) is computed and returned.</p>
302-
<p>’STD’: The standard deviation (STD) is computed and returned.</p>
303-
<p>Defaults to ‘All’.</p>
295+
<p><code class="docutils literal notranslate"><span class="pre">'All'</span></code>: All metrics will be computed and returned.</p>
296+
<p><code class="docutils literal notranslate"><span class="pre">'Max'</span></code>: The Max error is computed and returned.</p>
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<p><code class="docutils literal notranslate"><span class="pre">'Min'</span></code>: The Min error is computed and returned.</p>
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<p><code class="docutils literal notranslate"><span class="pre">'Mean'</span></code>: The Mean error is computed and returned.</p>
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<p><code class="docutils literal notranslate"><span class="pre">'Median'</span></code>: The Median error is computed and returned.</p>
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<p><code class="docutils literal notranslate"><span class="pre">'RMSE'</span></code>: The root mean square error (RMSE) is computed and returned.</p>
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<p><code class="docutils literal notranslate"><span class="pre">'SSE'</span></code>: The sum of square error (SSE) is computed and returned.</p>
302+
<p><code class="docutils literal notranslate"><span class="pre">'STD'</span></code>: The standard deviation (STD) is computed and returned.</p>
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<p>Defaults to <code class="docutils literal notranslate"><span class="pre">'All'</span></code>.</p>
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</p></li>
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</ul>
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</dd>
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<dt class="field-even">Returns<span class="colon">:</span></dt>
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<dd class="field-even"><p>The computed statistics of the APE (Absolute Pose Error).
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The return is a <code class="docutils literal notranslate"><span class="pre">dict</span></code> if “otype” is not ‘all’, otherwise a <code class="docutils literal notranslate"><span class="pre">Tensor</span></code>.</p>
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The return is a <code class="docutils literal notranslate"><span class="pre">dict</span></code> if <code class="docutils literal notranslate"><span class="pre">otype</span></code> is not <code class="docutils literal notranslate"><span class="pre">'all'</span></code>, otherwise a <code class="docutils literal notranslate"><span class="pre">Tensor</span></code>.</p>
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</dd>
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<dt class="field-odd">Return type<span class="colon">:</span></dt>
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<dd class="field-odd"><p><code class="docutils literal notranslate"><span class="pre">dict</span></code> or <code class="docutils literal notranslate"><span class="pre">Tensor</span></code></p>

‎docs/main/generated/pypose.metric.rpe/index.html‎

Lines changed: 16 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -269,12 +269,12 @@ <h1>pypose.metric.rpe<a class="headerlink" href="#pypose-metric-rpe" title="Perm
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Must have the same length as <cite>estamp</cite>.
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For example, <cite>pypose.SE3(torch.rand(10, 7))</cite>.</p></li>
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<li><p><strong>etype</strong> (<code class="docutils literal notranslate"><span class="pre">str</span></code>, optional) – <p>The type of pose error. Supported options include:</p>
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<p>’translation’: <span class="math">\(||{R_{r}^{rel}}^T * t_{r}^{rel} - {R_{e}^{rel}}^T * t_{e}^{rel}||_2\)</span></p>
273-
<p>’rotation’: <span class="math">\(|| {R_{r}^{rel}}^T * R_{e}^{rel} - I_3 ||_2\)</span></p>
274-
<p>’pose’: <span class="math">\(|| {T_{r}^{rel}}^{-1} * T_{e}^{rel} - I_4 ||_2\)</span></p>
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<p>’radian’: <span class="math">\(|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2\)</span></p>
276-
<p>’degree’: <span class="math">\(\mathrm{Degree}(|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2))\)</span></p>
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<p>Default: ‘translation’</p>
272+
<p><code class="docutils literal notranslate"><span class="pre">'translation'</span></code>: <span class="math">\(||{R_{r}^{rel}}^T * t_{r}^{rel} - {R_{e}^{rel}}^T * t_{e}^{rel}||_2\)</span></p>
273+
<p><code class="docutils literal notranslate"><span class="pre">'rotation'</span></code>: <span class="math">\(|| {R_{r}^{rel}}^T * R_{e}^{rel} - I_3 ||_2\)</span></p>
274+
<p><code class="docutils literal notranslate"><span class="pre">'pose'</span></code>: <span class="math">\(|| {T_{r}^{rel}}^{-1} * T_{e}^{rel} - I_4 ||_2\)</span></p>
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<p><code class="docutils literal notranslate"><span class="pre">'radian'</span></code>: <span class="math">\(|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2\)</span></p>
276+
<p><code class="docutils literal notranslate"><span class="pre">'degree'</span></code>: <span class="math">\(\mathrm{Degree}(|| \mathrm{Log}({R_{r}^{rel}}^T * R_{e}^{rel}) ||_2))\)</span></p>
277+
<p>Default: <code class="docutils literal notranslate"><span class="pre">'translation'</span></code></p>
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</p></li>
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<li><p><strong>diff</strong> (<code class="docutils literal notranslate"><span class="pre">float</span></code>, optional) – The maximum allowed absolute time difference (in seconds)
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for associating poses. Defaults to 0.01.</p></li>
@@ -302,21 +302,21 @@ <h1>pypose.metric.rpe<a class="headerlink" href="#pypose-metric-rpe" title="Perm
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Defaults to 0.3.</p></li>
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<li><p><strong>rpair</strong> (<code class="docutils literal notranslate"><span class="pre">bool</span></code>, optional) – Use reference trajectory to compute the pairing indices or not. Defaults to False.</p></li>
304304
<li><p><strong>otype</strong> (<code class="docutils literal notranslate"><span class="pre">str</span></code>, optional) – <p>The output type for the metric. Supported options include:</p>
305-
<p>’All’: All metrics will be computed and returned.</p>
306-
<p>’Max’: The Max error is computed and returned.</p>
307-
<p>’Min’: The Min error is computed and returned.</p>
308-
<p>’Mean’: The Mean error is computed and returned.</p>
309-
<p>’Median’: The Median error is computed and returned.</p>
310-
<p>’RMSE’: The root mean square error (RMSE) is computed and returned.</p>
311-
<p>’SSE’: The sum of square error (SSE) is computed and returned.</p>
312-
<p>’STD’: The standard deviation (STD) is computed and returned.</p>
313-
<p>Defaults to ‘All’.</p>
305+
<p><code class="docutils literal notranslate"><span class="pre">'All'</span></code>: All metrics will be computed and returned.</p>
306+
<p><code class="docutils literal notranslate"><span class="pre">'Max'</span></code>: The Max error is computed and returned.</p>
307+
<p><code class="docutils literal notranslate"><span class="pre">'Min'</span></code>: The Min error is computed and returned.</p>
308+
<p><code class="docutils literal notranslate"><span class="pre">'Mean'</span></code>: The Mean error is computed and returned.</p>
309+
<p><code class="docutils literal notranslate"><span class="pre">'Median'</span></code>: The Median error is computed and returned.</p>
310+
<p><code class="docutils literal notranslate"><span class="pre">'RMSE'</span></code>: The root mean square error (RMSE) is computed and returned.</p>
311+
<p><code class="docutils literal notranslate"><span class="pre">'SSE'</span></code>: The sum of square error (SSE) is computed and returned.</p>
312+
<p><code class="docutils literal notranslate"><span class="pre">'STD'</span></code>: The standard deviation (STD) is computed and returned.</p>
313+
<p>Defaults to <code class="docutils literal notranslate"><span class="pre">'All'</span></code>.</p>
314314
</p></li>
315315
</ul>
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</dd>
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<dt class="field-even">Returns<span class="colon">:</span></dt>
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<dd class="field-even"><p>The computed statistics of the RPE (Relative Pose Error).
319-
The return is a <code class="docutils literal notranslate"><span class="pre">dict</span></code> if “otype” is not ‘all’, otherwise a <code class="docutils literal notranslate"><span class="pre">Tensor</span></code>.</p>
319+
The return is a <code class="docutils literal notranslate"><span class="pre">dict</span></code> if <code class="docutils literal notranslate"><span class="pre">otype</span></code> is not <code class="docutils literal notranslate"><span class="pre">'all'</span></code>, otherwise a <code class="docutils literal notranslate"><span class="pre">Tensor</span></code>.</p>
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</dd>
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<dt class="field-odd">Return type<span class="colon">:</span></dt>
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<dd class="field-odd"><p><code class="docutils literal notranslate"><span class="pre">dict</span></code> or <code class="docutils literal notranslate"><span class="pre">Tensor</span></code></p>

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