diff --git a/src/eval/kitti_eval.py b/src/eval/kitti_eval.py
index 486fe34..1069da5 100644
--- a/src/eval/kitti_eval.py
+++ b/src/eval/kitti_eval.py
@@ -20,6 +20,8 @@ class KittiEval:
     """
     dic_stds = defaultdict(lambda: defaultdict(list))
     dic_stats = defaultdict(lambda: defaultdict(lambda: defaultdict(lambda: defaultdict(float))))
+    dic_cnt = defaultdict(int)
+    errors = defaultdict(lambda: defaultdict(list))
 
     def __init__(self, show=False, thresh_iou_our=0.3, thresh_iou_m3d=0.5, thresh_conf_m3d=0.5, thresh_conf_our=0.3):
 
@@ -49,9 +51,6 @@ class KittiEval:
         self.dic_thresh_iou = {'m3d': thresh_iou_m3d, '3dop': thresh_iou_m3d, 'md': thresh_iou_our, 'our': thresh_iou_our}
         self.dic_thresh_conf = {'m3d': thresh_conf_m3d, '3dop': thresh_conf_m3d, 'our': thresh_conf_our}
 
-        self.dic_cnt = defaultdict(int)
-        self.errors = defaultdict(lambda: defaultdict(list))
-
         # Extract validation images for evaluation
         names_gt = tuple(os.listdir(self.dir_gt))
         _, self.set_val = split_training(names_gt, path_train, path_val)
@@ -82,21 +81,21 @@ class KittiEval:
                     self._parse_txts(path_our, method='our')
 
                 # Compute the error with ground truth
-
-                self.estimate_error_base(boxes_m3d, dds_m3d, boxes_gt, dds_gt, truncs_gt, occs_gt, method='m3d')
-                self.estimate_error_base(boxes_3dop, dds_3dop, boxes_gt, dds_gt, truncs_gt, occs_gt,  method='3dop')
-                self.estimate_error_base(boxes_md, dds_md, boxes_gt, dds_gt, truncs_gt, occs_gt, method='md')
-                self.estimate_error_our(boxes_our, dds_our, stds_ale, stds_epi, kk_list, dds_geom, xyzs, xy_kps,
-                                        boxes_gt, dds_gt, truncs_gt, occs_gt, name)
+                self._estimate_error_base(boxes_m3d, dds_m3d, boxes_gt, dds_gt, truncs_gt, occs_gt, method='m3d')
+                self._estimate_error_base(boxes_3dop, dds_3dop, boxes_gt, dds_gt, truncs_gt, occs_gt,  method='3dop')
+                self._estimate_error_base(boxes_md, dds_md, boxes_gt, dds_gt, truncs_gt, occs_gt, method='md')
+                self._estimate_error_mloco(boxes_our, dds_our, stds_ale, stds_epi, kk_list, dds_geom, xyzs, xy_kps,
+                                          boxes_gt, dds_gt, truncs_gt, occs_gt, name)
 
                 # Iterate over all the files together to find a pool of common annotations
-                self.compare_error(boxes_m3d, dds_m3d, boxes_3dop, dds_3dop, boxes_md, dds_md, boxes_our, dds_our,
+                self._compare_error(boxes_m3d, dds_m3d, boxes_3dop, dds_3dop, boxes_md, dds_md, boxes_our, dds_our,
                                    boxes_gt, dds_gt, truncs_gt, occs_gt, dds_geom)
 
         # Save statistics
         for key in self.errors:
             for clst in self.clusters[:-2]:  # M3d and pifpaf does not have annotations above 40 meters
-                self.dic_stats['test'][key]['mean'][clst] = sum(self.errors[key][clst]) / float(len(self.errors[key][clst]))
+                self.dic_stats['test'][key]['mean'][clst] = \
+                    sum(self.errors[key][clst]) / float(len(self.errors[key][clst]))
                 self.dic_stats['test'][key]['max'][clst] = max(self.errors[key][clst])
                 self.dic_stats['test'][key]['cnt'][clst] = len(self.errors[key][clst])
 
@@ -237,7 +236,7 @@ class KittiEval:
             except FileNotFoundError:
                 return [], [], [], [], [], [], [], []
 
-    def estimate_error_base(self, boxes, dds, boxes_gt, dds_gt, truncs_gt, occs_gt, method):
+    def _estimate_error_base(self, boxes, dds, boxes_gt, dds_gt, truncs_gt, occs_gt, method):
 
         # Compute error (distance) and save it
         boxes_gt = copy.deepcopy(boxes_gt)
@@ -262,7 +261,7 @@ class KittiEval:
             else:
                 break
 
-    def estimate_error_our(self, boxes, dds, stds_ale, stds_epi, kk_list, dds_geom, xyzs, xy_kps,
+    def _estimate_error_mloco(self, boxes, dds, stds_ale, stds_epi, kk_list, dds_geom, xyzs, xy_kps,
                            boxes_gt, dds_gt, truncs_gt, occs_gt, name):
 
         # Compute error (distance) and save it
@@ -294,7 +293,7 @@ class KittiEval:
                     truncs_gt.pop(idx_max)
                     occs_gt.pop(idx_max)
 
-    def compare_error(self, boxes_m3d, dds_m3d, boxes_3dop, dds_3dop, boxes_md, dds_md, boxes_our, dds_our,
+    def _compare_error(self, boxes_m3d, dds_m3d, boxes_3dop, dds_3dop, boxes_md, dds_md, boxes_our, dds_our,
                       boxes_gt, dds_gt, truncs_gt, occs_gt, dds_geom):
 
         boxes_gt = copy.deepcopy(boxes_gt)