Pose transfer

[foxkw]

Thank you for your outstanding work. I want to ask a question: kitti odometry's gt_ pose is relative to cam0 at t0, and my data is as follows: Given the position (x, y, z) of the camera on the vehicle in the world coordinate system and the conversion matrix from the camera to the world coordinate system at each time, how can I calculate the pose of the camera at each time relative to the camera at t0? Looking forward to your reply