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HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
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Point cloud orientation problem #136

Open bhaskar-glitch opened 2 years ago

bhaskar-glitch commented 2 years ago

Hi, Im using realsense d435i and facing an issue with the point cloud of realsense of topic /camera/depth/color/points in orientation of pointcloud is -y is upward...the problem is -y is facing toward z axis as in this picture IMG-20211217-WA0000

Please help

luccagandra commented 2 years ago

You can create a transform in your launch file from base_link to camera link using static transform. Mine looks like that: node pkg="tf2_ros" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 -1.57 0 -1.57 base_link camera_link

DavidePatria commented 2 years ago

@bhaskar-glitch have you solved the issue?

Xchegg commented 1 year ago

Have you solved this issue?

DavidePatria commented 1 year ago

I think I had i solved here, try and report. the environment was a simple iris drone as described in that repo

Xchegg commented 1 year ago

I have already solved this problem. Do not use the camera's point cloud as input. I use the octree map package to build a map, and then use the point cloud of the octree map as input to solve this problem.