Understanding of KITTI dataset Odometry coordinate system transformation

Tr in the original data represents the transformation from the Velodyne coordinate system to the P0 camera

The GroundTruth label represents the transformation relationship under the P0 coordinates

The transformation of t0->t1 in the velodyne coordinate system is required, then:

                (1)

Equivalent to

Finally equivalent to

                             (2)

In short, the above two transformations (1) (2) are equivalent

(1) Computational efficiency is higher

(2) The calculation is more complicated and needs to be converted to the P0 coordinate system first and then inverse