---

name: metrics description: "Routes evo_ape and evo_rpe workflows, metric helper APIs, alignment and synchronization choices, result zip creation, and metric troubleshooting." metadata: disco-role: operating disable-model-invocation: true license: GPL 3.0

Metrics

Use this sub-skill for absolute pose error (APE) and relative pose error (RPE) workflows.

Route here when the user asks for

• evo_ape or evo_rpe
• evo.main_ape.ape or evo.main_rpe.rpe
• pose relation choices, delta/delta_unit, --align, --align_origin, or --correct_scale
• timestamp association, --downsample, --motion_filter, --project_to_plane
• --save_results, --save_plot, or --rerun
• metric-specific failures or result zip inspection

Do not route here when the task is mainly about

• trajectory file-format minutiae or converters
• evo_res table/comparison/export workflows
• evo_config, package info, or settings editing
• notebooks, custom app wiring, or broader plotting APIs

Start with

1. references/api-reference.md
2. references/workflows.md
3. references/troubleshooting.md
4. scripts/metric_smoke.py

Rules of thumb

• tum, euroc, bag, bag2, and mcap route through timestamp association; kitti does not.
• --align and --align_origin cannot be combined.
• --correct_scale may be used by itself or with --align; with --align it becomes Sim(3) alignment.
• --downsample and --motion_filter happen before synchronization.
• The Python helpers mutate trajectories in place, so copy inputs if you need them later.
• --rerun requires the optional Rerun dependency; if it is missing, the command exits early.