Confusing about Trajectory Evaluation Function evaluate_ate

[saulgooodman]

Hello, your work is really impressive.
I find it confusing reading the trajectory evaluation function eval_ate.
Within the eval_helpers.py file, the evaluation function def evaluate_ate(gt_traj, est_traj) is intended to return the mean Absolute Trajectory Error (ATE-mean), yet the output is ultimately utilized as the Root Mean Square Error (RMSE) of ATE. Could you elucidate on this? Thank you very much!"

[Nik-V9]

Hi, Thanks for your interest!

The ATE is the mean RMSE between the predicted and ground-truth poses.