Rotations don't match after alignment about evo

[MichaelGrupp]

In this case, you would need to investigate the orientations in your data. For example you could enable pose axis markers to see them in plots:
https://github.com/MichaelGrupp/evo/wiki/Plotting#coordinate-axis-markers

...and/or use the RPE or APE with --pose_relation angle_deg to check the rotation errors between the two trajectories.

[LeeBY68]

I have the same problem (Umeyama ONLY aligns positions instead of rotation) with evaluation using EVO in TextSLAM, inducing the wrong RPE results.

In response to this, I've developed a complementary solution for EVO that addresses the problem. You can use and find the details in the GitHub project: https://github.com/SJTU-ViSYS/SLAM_Evaluation/.