Question about saving the results in kitti gt format

[yinqijun]

Hello, your work is great. I have a question after reading the code, I want to consult.Line 264，What does H_init means?Does it mean converting the point cloud to frame 1 instead of frame 0?And I removed it，the result is like the same as before.

[lbjfei1]

I think it means converting all the poses to the first frame thus wen can get laserodometry, and i think H_init is necessary and it works.

[PigletPh]

@yinqijun hi,when you run the code ,Have the following problems occurred？
1、rviz showed the Failed to find match for field 'intensity'.
2、And the last paragraph is difficult to loop.

[Shubham-2302]

@PigletPh I am facing the Failed to find match for field 'intensity' error.
Were you able to solve it?