Coordinate system problem

[AHzZ123]

Hi, I would like to know how the matterport coordinate system and the map coordinate system in ROS are aligned.

I built a new map for my environment and constructed a new Matterport3D Simulator Environment. How to transform the coordinates of Matterport to the map coordinate system in ROS？

Below is a diagram of my running process, the orange and green markers are where it is read from <myscan>_connectivity.json