About real scene

[libaiwanovo]

Thank you for your wonderful work, I am using this project to test real scenarios, but why is it reversed when visualising CAD? Here's the scene I typed. This is the output CAD

The camera I use is a realsense d435i, looking forward to your answer！thank you

[hmz-15]

The CAD replacement algrithm assumes the world frame locates on the floor with one axis (you can specify it) pointing up. Please transform the scan w.r.t. a proper world frame first.

[libaiwanovo]

Can you be more specific? I don't really understand.

[hmz-15]

To make sure the CAD replacement works as expected, you need to transform the scene into a coordinate system with origin on the ground and one of the axis (either x, y, or z) axis pointing up (opposite to the gravity direction). Then you will need to specify the ground_axis parameter in this launch file, where 0 means x-up, 1 means y-up, and 2 means z-up. If you use our mapping system and follow the instruction to setup the SLAM coordinate, the reconstructed scene should be already represented in appropriate coordinate system.

[libaiwanovo]

Unfortunately I changed the place you described and it's still the same situation

[hmz-15]

Please try these two steps to debug: 1. visualize the 3D scan with coordinate system to make sure the coordinate system is aligned with the ground (origin on the ground, 2 axes align with the ground, and 1 axis points up). 2. check the semantic label of the ground - is it correctly segmented as "floor" or wrongly segmented as "wall"?

[libaiwanovo]

Thanks for your patience in answering, I'm trying to try