GT pose issue

[yccckid]

Hi, your GT pose is a transformation matrix relative to the GT point cloud, not a real global pose. Is it right? thank you

[mac137]

Yes, @yccckid. The GT pose is defined in a local map frame. In other words, the trajectory is internally consistent with the GT point cloud but it is not geo-referenced to an external frame such as UTM, WGS-84, or an earth-fixed coordinate system.