Is there a ground truth pose of the vehicle in the world coordinate system?

[cp3cp]

Thank you for your excellent work! I am doing a research on the alignment of the vehicle and infrastructure side coordinate systems, and found that there is error in the transformation between the vehicle and infrastructure side in the DAIR-V2X dataset. I would like to ask if there is ground truth of the pose of the vehicle in the world coordinate system to measure the error?

[yangzvv]

Thank you for your appreciation and bringing up this important point.
I want to clarify that currently, the DAIR-V2X dataset does not include ground truth pose information for the vehicle in the world coordinate system. The dataset primarily provides data in the vehicle and infrastructure side coordinate systems.