Compute the transformation error between the predicted and ground truth 4x4 rigid transformation matrices. This function calculates both the

Load all matching pairs from the dataset. :return: List of matching pair information.

r"""Compute the isotropic Relative Rotation Error. RRE = acos((trace(R^T \cdot \bar{R}) - 1) / 2) Args: gt_rotation (array): ground

r"""Compute the isotropic Relative Translation Error. RTE = \lVert t - \bar{t} \rVert_2 Args: gt_translation (array): ground truth t

Function to integrate rotation matrix R and translation vector t into a 4x4 transformation matrix

Get a matching pair by index. :param idx: Index of the matching pair. :return: Dictionary containing kpts_src, kpts_dst, tra

Initialize the MatchDataset. :param base_dir: Base directory containing the datasets. :param dataset_type: Type of the datas

Return the number of matching pairs in the dataset. :return: Number of matching pairs.

Utility function to convert string to MetricType enum