Hello. I'm testing some icp methods on your dataset . In evaluate_poses_keyframe.m, there are translation error metric and rotation error metric. I wonder if the t_est in it is a pose or just the last column of transfomation matrix T(4*4) because in function add, t_est represents the last column of T. But if I use the definition in function te, it seems that it just measure distance difference the cloud travels, but not distance between ground truth cloud and our estimated cloud.
Hello. I'm testing some icp methods on your dataset . In evaluate_poses_keyframe.m, there are translation error metric and rotation error metric. I wonder if the t_est in it is a pose or just the last column of transfomation matrix T(4*4) because in function add, t_est represents the last column of T. But if I use the definition in function te, it seems that it just measure distance difference the cloud travels, but not distance between ground truth cloud and our estimated cloud.