custom point dataset

[youzi260]

Thank you for your excellent work!
My custom dataset contains point clouds and poses in the world coordinate system. When using your method to build the map, there are a few things that are not clear. I would like to ask you a question?

• First, is the point cloud in the TUM dataset a point cloud in the camera coordinate system?
• Second, is the pose of TUM the camera position in the world coordinate system?
• Third, every time you use the GICP algorithm to perform point cloud registration and pose estimation, do you align the source point cloud (in the camera coordinate system) with the target point cloud (in the world coordinate system)?

I look forward to your reply! Special thanks!