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.

[yunusstalha]

The poses in the dataset always start with the identity matrix, assuming the first pose is initialized as the origin of the coordinate system for each sequence. How do you align this with the ground-truth TLS scan? No transformation is provided for this alignment, so how do you ensure that different sequences are represented in the same coordinate frame? Or what is the ground truth if its not the TLS, and what is the purpose of the TLS?