Closed successkaisadadi closed 2 years ago
This paper has background on evaluation methods: https://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf
In general it is based on the sensors / method used. If you are using a vision only monocular camera system then you would do sim3, for a stereo system you would do se3, and for a visual-inertial system you should use posyaw.
May I ask what kinds of alignment modes are applicable to each case, and which one should be used if you want to evaluate the angle? posyaw, posyawsingle, se3, se3single, sim3, and none.