Kitti dataset results in inccorect orientation

[Shubham-2302]

I am using Sc-A-LOAM to generate odometry. This outputs a txt file called optimised poses. When I use evo_traj on the optimised poses vs kitti ground truth for 05 sequence. This is my result.

The ground truth is in xz plane and my results are in xy plane. What is the best way to output the optimised_poses.txt in the xz plane? optimized_poses.txt This is in kitti format and thus doesn't have any time stamps and as you can see from the image has less number of total poses.

I am using ROS Melodic, Ubuntu 18.04 I am using minikitti publisher to publish the Kitti data & using aloam_velodyne_HDL_64.launch

Let me know if you need any more information.

Any help is appreciated.

@gisbi-kim