Compute Transformation Matrix Error
SUMMARY
compute_transformation_matrix_error computes a scalar SE(3) pose error, ‖log(T1⁻¹ · T2)‖₂, between a ground truth and an estimated 4x4 transform.
UNITS
T1 and T2 have translation in meters. The returned error mixes a rotational component in radians with a translational component in meters, so treat it as a unitless combined score rather than a physical distance.
The Skill
python
error = tfutils.compute_transformation_matrix_error(T1, T2)Parameter Configuration
| Parameter | Type | Default | Description |
|---|---|---|---|
T1 | np.ndarray | required | Ground truth (4, 4) transformation matrix. |
T2 | np.ndarray | required | Estimated (4, 4) transformation matrix. |
Returns
| Type | Description |
|---|---|
float | The scalar SE(3) error, ‖log(T1⁻¹ · T2)‖₂. |
Raises
| Exception | Condition |
|---|---|
TypeError | T1 is not a (4, 4) np.ndarray. |
TypeError | T2 is not a (4, 4) np.ndarray. |