Question about compute_gt_poses.py

[r-9li]

Thanks for @F2Wang for making this Third Party Program, which is very helpful!
I have a question. In the compute_gt_poses.py file, this is how the odometer calculates:
odometry = np.dot(transformation_icp, odometry)
Why is the transformation_icp left multiplied instead of right multiplied?

[r-9li]

Another question.
In create_label_files.py, why T = np.dot(transform, np.linalg.inv(Tform))