KITTI Data parser : Velo2World

[git-sachin1066]

Hi , please provide some hint for the transformation represented by this line of code snippet,

drivestudio/datasets/kitti/kitti_preprocess.py

Line 158 in 388642a

velo2world = imu2world @ imu2velo

currenlty, velo -> world is taking point from imu -> velo and then imu -> world, which seems errorneous to me.
but i believe , there is a need for inverse for imu-> velo

velo2imu = np.linalg.inv(imu2velo) velo2world = imu2world @ velo2imu

is my understanding right??