Pose Heading may not be correct

[javierpastorfernandez]

Good night,

I am trying to accumulate the 3D lanemarking detections using the information provided by the pose in the following manner:
points_global = np.dot(current_pose, points_lidar).
where current_pose=np.array(frame.pose.transform).reshape(4,4)

Points_lidar are already in vehicle frame as stated in the documentation, so I just use the pose to transform from vehicle frame to world/global frame.

When I visualize the accumulated point cloud, detections of different frames accumulate at an angle, and they do not overlap correctly. Moreover, when I plot the position of the car together with the heading/yaw, it does not align with the trajectory of the car.

I am working on segment segment-6935841224766931310_2770_310_2790_310, but I seen this in other segments. I am doing something wrong????