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fix: RMSE 2D Umeyama calculé sur le fit raffiné post-rejet

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Floppyrj45
2026-04-24 12:02:20 +02:00
parent 4c01a9182a
commit 1d84258c48
1 changed files with 3 additions and 1 deletions
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4
fuse/fuse_trajectory.py
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@@ -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] poses_world[i, :3, 3] = [t_xy[0], t_xy[1], z_world]
xyz_world = poses_world[:, :3, 3] 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 scale_out = scale_xy
R_out = R3 R_out = R3
t_out = t3 t_out = t3