When it comes to choosing between these two matching modes, you can refer to ‘How to Select Templates Based on 3D Matching Features?’
When the target object’s surface has a lot of features (such as camshafts, rotors, steel rods, etc.), it is recommended to use surface matching, and you should create a point cloud model that reflects the surface features of the object.
On the other hand, when the target object is relatively flat and exhibits clear, fixed edge features under the camera (such as panels, track plates, links, brake discs, etc.), it is recommended to use edge matching, and you should create a point cloud model that reflects the edge features of the object.