KITTI map same but differnt oientation when plotted with cartogrpaher and groundtruth

[prashkmr]

Hi, Thanks for this awesome project. Really helped me a lot.

I had a question, rather an issue that I am not able to solve.

I used groundtruth ktti poses and converted it to tum (timestamp x y z q_x q_y q_z q_w)format using the code here: https://github.com/MichaelGrupp/evo. Further, I used cartogrpaher to run SLAM on a sequence 005(2011_09_30 - 0018) using kitti2bag. I have to calcualte the error between both the poses for my research.

However when I plot both the pose maps, they have different orientation, although the overall structure is the same. Here is the glimpse of the same.

I am not able to align it, which is required for finding ate/rpe between the poses.

The trajectory txt required to plot this image is as followd: kitti05.txt & kitti_2011_09_30_drive_0018_synced.bag.txt

It woulbe great if someone could throw light on this and help me figure out the correct way to aligb both the trajectories.