RPE (rotation) results of object motions are computed as RMSE?

Thanks a lot for open-sourcing this great work :)

I've come up with a doubt regarding the computation used in the paper for the Relative Pose Error of an object motion:

By reading the paper, at first, I thought that this RPE it's computed as the RMSE of the relative angles between the estimations and the ground-truth.
But know I'm doubting if my understanding is right, because looking at this part of the code:

VDO_SLAM/src/Tracking.cc

Lines 989 to 997 in 2b13517

    
           float trace_rpe = 0; 
        
           for (int i = 0; i < 3; ++i) 
        
           { 
        
               if (RePoEr.at<float>(i,i)>1.0) 
        
                    trace_rpe = trace_rpe + 1.0-(RePoEr.at<float>(i,i)-1.0); 
        
               else 
        
                   trace_rpe = trace_rpe + RePoEr.at<float>(i,i); 
        
           } 
        
           float r_rpe = acos( ( trace_rpe -1.0 )/2.0 )*180.0/3.1415926;

I think it's being computed directly as the relative angle.

So, is this last approach being used for the results reported in the paper?

Thanks in advance!

My bad, I've just realized this computation is used for one pose only,
my apologies.

	float trace_rpe = 0;
	for (int i = 0; i < 3; ++i)
	{
	if (RePoEr.at<float>(i,i)>1.0)
	trace_rpe = trace_rpe + 1.0-(RePoEr.at<float>(i,i)-1.0);
	else
	trace_rpe = trace_rpe + RePoEr.at<float>(i,i);
	}
	float r_rpe = acos( ( trace_rpe -1.0 )/2.0 )*180.0/3.1415926;