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HKUST-Aerial-Robotics / Teach-Repeat-Replan

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
GNU General Public License v3.0
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Pointcloud orientation problem #67

Open enordco opened 8 months ago

enordco commented 8 months ago

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

bigsuperZZZX commented 7 months ago
  1. Check posetype 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 cameraq.
enordco commented 7 months ago
  1. Check posetype 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 cameraq.

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

bigsuperZZZX commented 2 months ago

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