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RPEResult

module trajectopy.core.evaluation.rpe_result

Trajectopy - Trajectory Evaluation in Python

Gereon Tombrink, 2025 tombrink@igg.uni-bonn.de

class RPEResult

This class represents a set of relative trajectory deviations

Relative trajectory deviations describe relative pose deviations between two trajectories. The deviations are calculated by comparing pairs of positions and orientations in the test and reference trajectory.

Attributes:

  • rpe_dev (RelativeTrajectoryDeviations): The relative trajectory deviations.
  • name (str): Name of the deviation set.

method RPEResult.__init__

__init__(
    rpe_dev: trajectopy.core.evaluation.deviations.RelativeTrajectoryDeviations,
    name: str
) → None
property RPEResult.all_pair_distances
property RPEResult.all_rot_devs
property RPEResult.columns
property RPEResult.drift_factor
property RPEResult.dynamic_pos_dict
property RPEResult.dynamic_rot_dict
property RPEResult.has_rot_dev
property RPEResult.mean_pair_distances
property RPEResult.num_pairs
property RPEResult.pair_distance_unit
property RPEResult.pos_dev_all
property RPEResult.pos_dev_max
property RPEResult.pos_dev_mean
property RPEResult.pos_dev_median
property RPEResult.pos_dev_min
property RPEResult.pos_drift_unit
property RPEResult.pos_rpe
property RPEResult.pos_std
property RPEResult.property_dict

Returns a dictionary containing the properties of the deviation set relevant for time based comparisons. This is the case when pose-pairs are defined by a time difference.

property RPEResult.rot_dev_max
property RPEResult.rot_dev_mean
property RPEResult.rot_dev_median
property RPEResult.rot_dev_min
property RPEResult.rot_drift_unit
property RPEResult.rot_rpe

Returns the average rotation drift in radians per 100 meters.

property RPEResult.rot_std
property RPEResult.step

method RPEResult.compute_metric

compute_metric(
    key: str,
    func: Callable[[Any], float],
    factor: float = 1.0
) → List[float]

classmethod RPEResult.from_file

from_file(filename: str)

Reads a set of relative trajectory deviations from a file.

method RPEResult.get_all

get_all(key: str) → List[float]

method RPEResult.to_dataframe

to_dataframe() → DataFrame

method RPEResult.to_file

to_file(filename: str, mode: str = 'a') → None