about GT pose

[PengZai]

recentlly, I am trying to read the raw rosbag and visualize a cumulate point cloud map with GT pose. but there are lack of the description for data.

I guess the GT pose either from /vilens_slam/slam_poses? do you know what kind of coordinate for this pose were generated in ? in IMU coordinate or base coordinate?

and for /hesai/pandar, what kind of coordiante for this lidar? just in his own coordinate or in base coordinate?

path: frontier_2023-03-22-08-23-52_1.bag
version: 2.0
duration: 4:00s (240s)
start: Mar 22 2023 08:23:52.90 (1679473432.90)
end: Mar 22 2023 08:27:53.24 (1679473673.24)
size: 10.0 GB
messages: 503854
compression: lz4 [1202/1202 chunks; 52.38%]
uncompressed: 19.1 GB @ 81.3 MB/s
compressed: 10.0 GB @ 42.6 MB/s (52.38%)
types: gnss_comm/GnssMeasMsg [0eafeb530a3e6637722c4e296734c119]
gnss_comm/GnssPVTSolnMsg [d18171357d7a159f76d4d7c0b12fb631]
nav_msgs/Path [6227e2b7e9cce15051f669a5e197bbf7]
sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
vilens_msgs/State [ec86f6958b6903024c86e0cd6123ae58]
topics: /alphasense_driver_ros/cam0/debayered/image/compressed 4777 msgs : sensor_msgs/CompressedImage
/alphasense_driver_ros/cam1/debayered/image/compressed 4772 msgs : sensor_msgs/CompressedImage
/alphasense_driver_ros/cam2/debayered/image/compressed 4771 msgs : sensor_msgs/CompressedImage
/alphasense_driver_ros/imu 96135 msgs : sensor_msgs/Imu
/hesai/pandar 2403 msgs : sensor_msgs/PointCloud2
/tf 291342 msgs : tf2_msgs/TFMessage (3 connections)
/ublox_driver/range_meas 648 msgs : gnss_comm/GnssMeasMsg
/ublox_driver/receiver_lla 1202 msgs : sensor_msgs/NavSatFix
/ublox_driver/receiver_pvt 1202 msgs : gnss_comm/GnssPVTSolnMsg
/vilens/state_optimized 255 msgs : vilens_msgs/State
/vilens/state_propagated 95695 msgs : vilens_msgs/State
/vilens_slam/odom_poses 326 msgs : nav_msgs/Path
/vilens_slam/slam_poses 326 msgs : nav_msgs/Path