From 1d84258c4835a4e605d8fe8574e994131c2e5ba7 Mon Sep 17 00:00:00 2001
From: Floppyrj45 <claude@nowyouknow.fr>
Date: Fri, 24 Apr 2026 12:02:20 +0200
Subject: [PATCH] =?UTF-8?q?fix:=20RMSE=202D=20Umeyama=20calcul=C3=A9=20sur?=
 =?UTF-8?q?=20le=20fit=20raffin=C3=A9=20post-rejet?=
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---
 fuse/fuse_trajectory.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/fuse/fuse_trajectory.py b/fuse/fuse_trajectory.py
index 839297d..2222c3c 100644
--- a/fuse/fuse_trajectory.py
+++ b/fuse/fuse_trajectory.py
@@ -193,7 +193,9 @@ def fuse(fixes_h5: str, poses_npz: str, out_h5: str,
             poses_world[i, :3, 3] = [t_xy[0], t_xy[1], z_world]
 
         xyz_world = poses_world[:, :3, 3]
-        rmse_m = float(residuals_2d[mask].mean())
+        residuals_2d_refined = np.linalg.norm(
+            (scale_xy * (R2 @ src_xy[mask].T).T + t2) - dst_xy[mask], axis=1)
+        rmse_m = float(residuals_2d_refined.mean())
         scale_out = scale_xy
         R_out = R3
         t_out = t3