GT Camera Orientations

[Davidyao99]

Great work! Just a quick question about evaluation with evo.

I read from other issues such as #49 (comment) that your camera coordinates are all in RDF orientation. I suppose all of your GT camera pose are also in RDF orientation? I was wondering when calling evo to perform alignment for calculation of ATE/RPE, do we need the GT poses / Pred poses to be in the same orientation?

My understanding is that it does not matter for ATE since it is aligned with umeyama and as long as orientations are the same handedness (right-hand / left-hand), umeyama will resolve it. I am not sure how this affects the RPE though, and why. Wondering if you can provide any insights into this! Thanks so much!