From 443faa8b0fe8edfb57371be92f398dc77f2fb0a1 Mon Sep 17 00:00:00 2001 From: Alexander Gorban Date: Tue, 16 May 2023 23:24:02 -0700 Subject: [PATCH] Fix latex equation in the PEM doc. --- docs/pose_estimation_metric.md | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/docs/pose_estimation_metric.md b/docs/pose_estimation_metric.md index 26a695c..783c793 100644 --- a/docs/pose_estimation_metric.md +++ b/docs/pose_estimation_metric.md @@ -78,10 +78,12 @@ $$\textbf{PEM}(Y,\hat{Y}) = \frac{\sum_{i\in M}\left\|y_{i} - where $M$ - a set of indices of matched keypoints, $U$ - a set of indices of unmatched keypoints (ground truth keypoints without matching predicted keypoints -or predicted keypoints for unmatched objects); Sets $$Y= \left\{y_i\right\}_{i -\in M}$ and $\hat{Y} = \left\{\hat{y}_i\right\}_{i \in M}$$ are ground truth -and predicted 3D coordinates of keypoints; $C=0.25$ - a constant penalty for -an unmatched keypoint. +or predicted keypoints for unmatched objects); Sets +$Y = \lbrace y_i\rbrace_{i \in M}$ +and +$\hat{Y} = \lbrace\hat{y}_i\rbrace_{i \in M}$ +are ground truth and predicted 3D coordinates of keypoints; $C=0.25$ - a +constant penalty for an unmatched keypoint. ## Object Matching Algorithm @@ -165,4 +167,4 @@ responsible for removing duplicate detections. NOTE: The WOD library also implements the [`CppMatcher`](src/waymo_open_dataset/metrics/python/keypoint_metrics.py) which maximizes total Intersection over Union (IoU) between predicted and ground truth boxes. However, this matcher requires all predictions to have bounding -boxes and is provided only as a reference. \ No newline at end of file +boxes and is provided only as a reference.