A question about equation (23) in the paper

[YuePanEdward]

In the paper, the absolute trajectory error can be calculated as Equation 23.

Note that in the equation for the position error, there's the rotation error multiplying with the aligned position.

However, according to the code, the position error is calculated as:

e_trans_vec = (p_gt-p_es_aligned)
e_trans = np.sqrt(np.sum(e_trans_vec**2, 1))

without the multiplication of the rotation error.

I wonder which one is correct.