def eval_is_relative(dataset, phase):
    """Returns True if evaluation should be done using relative poses
       (NeuRoRA evaluation and 1DSfM datasets).
       False otherwise (ScanNet and NeuRoRA during training)
    """
    if dataset in ['scannet', '3dmatch']:
        return True
    elif dataset == 'neurora' and phase == 'train':
        return True
    elif (dataset == 'neurora' and phase == 'test') or dataset == 'rotreal':
        return False
    else:
        raise AssertionError('Invalid values')