About the pose from SensorData.py

[SeokjuLee]

I am preprocessing the relative pose between color frames (t, t+1).
Is the pose coordinate aligned to the camera coordinate, defined as CameraToWorld?
If then, is it right to generate the relative pose, such as Pose_{1->2} = Pose_1 @ inv(Pose_2)?
Plus, I wonder how the coordinate of Pose_{1->2} is aligned to the camera coordinate in this case.

[wk738126046]

I have a same confusion. but I sure that Pose_{1->2} = Pose_1 @ inv(Pose_2) is right. Then how to confirm xyz in 3D space?

[ishanic]

Hello, I am wondering if you were able to solve the relative pose in world coordinates.

[Cuistiano]

The same question:(
Have you solved this question?