The KITTI-00 data test has a large error in the Z-axis

[asoteman]

Hello, I used the old version of fast-GICP（1m） to register the data of kitti-00, and there is a big error in the z-axis, is this the algorithm itself?

[asoteman]

Here's my formula for converting the camera coordinate system to the lidar coordinate system:
L_to_C_extrinsic_params = [
4.276802385584e-04, -9.999672484946e-01, -8.084491683471e-03, -1.198459927713e-02,
-7.210626507497e-03, 8.081198471645e-03, -9.999413164504e-01, -5.403984729748e-02,
9.999738645903e-01, 4.859485810390e-04, -7.206933692422e-03, -2.921968648686e-01,
0 , 0 , 0, 1
]
T_lidar = np.linalg.inv(L_to_C_extrinsic_params ) @ T_cam @ L_to_C_extrinsic_params