Do we have to transform the pose as KITTI dataset if we use poses from other SLAM system?

[YiChenCityU]

Hi, Wang, I found that there is a transform dedicated for kitti. Is it needed for every SLAM system? Can I delete it?

static Eigen::Matrix4d transform_kitti;
{
Eigen::Matrix4d received_pose;
pose_ros2eigen(input_pose, received_pose);
if(poses_database.size() == 0)
{
Eigen::Matrix4d idea_pose;
idea_pose = Eigen::Matrix4d::Zero();
idea_pose(0,0) = 1.0;
idea_pose(1,2) = 1.0;
idea_pose(2,1) = -1.0;
idea_pose(3,3) = 1.0;
transform_kitti = idea_pose * received_pose.inverse();
}
Eigen::Matrix4d transformed_pose;
transformed_pose = transform_kitti * received_pose;
pose_eigen2ros(transformed_pose, input_pose);
}
transform end

[WANG KAIXUAN]

If I remember correctly, the idea_pose is only for better visualization.
Set it to Identity if you want.