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Published 20 hours ago • verified publisher icon HKUST-Aerial-Robotics

Pointcloud orientation problem

Open enordco opened this issue 1 year ago • 3 comments

Hi, Im using realsense d435i and facing an issue of pointcloud in z axis. I am using depth topic of realsense. I am giving my odometry topic whose forward is x, and also giving my odometry pose topic. image Please help @bigsuperZZZX

enordco avatar Nov 04 '23 07:11 enordco

  1. Check pose_type_ to see which callback function will be used. SDFMap::depthPoseCallback() is recommended.
  2. If you use SDFMap::depthOdomCallback() instead, please add a proper rotation when assigning the value from odom to camera_q_.

bigsuperZZZX avatar Nov 11 '23 07:11 bigsuperZZZX

  1. Check pose_type_ to see which callback function will be used. SDFMap::depthPoseCallback() is recommended.
  2. If you use SDFMap::depthOdomCallback() instead, please add a proper rotation when assigning the value from odom to camera_q_.

Thank you for the reply!! As I already mentioned that I am using odometry(open_vins), and all the message type are corrected i have checked it again and Forward of odometry is x but pointcloud is facing z axis. @bigsuperZZZX

enordco avatar Nov 11 '23 16:11 enordco

You can add a rotation matrix like this https://github.com/ZJU-FAST-Lab/ego-planner/blob/0835f963dcfadce156dbec8ab66b93930955a87c/src/planner/plan_env/src/grid_map.cpp#L91

bigsuperZZZX avatar Apr 22 '24 06:04 bigsuperZZZX