def compute_translation_distance_metrics(
wti_list: List[Optional[Point3]],
gt_wti_list: List[Optional[Point3]]) -> StatsDict:
"""Computes statistics for the distance between estimated and GT translations.
Assumes that the estimated and GT translations have been aligned and do not
have a gauge freedom (including scale).
Args:
wti_list: List of estimated camera translations.
gt_wti_list: List of ground truth camera translations.
Returns:
A statistics dict of the metrics errors in degrees.
"""
errors = []
for (wti, gt_wti) in zip(wti_list, gt_wti_list):
errors.append(comp_utils.compute_points_distance_l2(wti, gt_wti))
return compute_errors_statistics(errors)
def test_compute_points_distance_l2_is_nonzero(self):
wti1 = Point3(1, 1, 1)
wti2 = Point3(1, 1, -1)
self.assertEqual(
geometry_comparisons.compute_points_distance_l2(wti1, wti2), 2)
def test_compute_points_distance_l2_is_none(self):
self.assertEqual(
geometry_comparisons.compute_points_distance_l2(wti1=Point3(
0, 0, 0),
wti2=None), None)
def test_compute_points_distance_l2_is_zero(self):
self.assertEqual(
geometry_comparisons.compute_points_distance_l2(
wti1=Point3(1, -2, 3), wti2=Point3(1, -2, 3)), 0.0)