Assign xyz pose and start orientation or rectify pose from msg file?

[fabisant]

Hello everyone, I am working on a project for indoor location using augmented reality, the idea is to position 3D objects in the real world; To make this possible, it is necessary to have xyz coordinates and orientation parameters. But, when obtaining the cloud (.msg) the starting xyz position (landmarks pos_w of the .msg file) is always 0,0,0.
My question is, is it possible to assign xyz coordinates and orientation parameters at the time of constructing the point cloud, or is there any possibility of rectifying these coordinates after generating the point cloud (.msg).
I would greatly appreciate your help.

[ymd-stella]

You should ask your question at https://spectrum.chat/openvslam/beginner, not here.

[fabisant]

Thank you, I will try where you have recommended me.