Some question about error metrics #6
Description
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.