A matlab tool to evaluate trajectory RMSE using sim3 alignment.
Run "example.m" to learn how to use it.
Not bug free. Feel free to do any modifications and use it at will.
This tool is basically reference to paper 'Least-Squares Estimation of Transformation Parameters between Two Point Patterns'.
The newest version added sensors setup mode according to paper 'A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry' .