========== DESK SCALE DIAGNOSTIC ==========
Associated poses: 14
Maximum timestamp difference: 0.003377 s

Matched estimated path length:
6.428897 m
Matched ground-truth path length:
7.208293 m
Ground-truth / estimated path ratio: 1.121233

Scale applied to estimated translations:
1.11492989
Scale deviation from 1: 11.493 %

SE3 RMSE: 0.092476 m
SE3 mean: 0.088341 m
SE3 median: 0.087055 m
SE3 max: 0.140313 m

Sim3 RMSE: 0.016433 m
Sim3 mean: 0.014376 m
Sim3 median: 0.012634 m
Sim3 max: 0.026834 m

DESK_SCALE_DIAGNOSTIC_OK
