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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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Loaded own 3D pointcloud map orientation RPY = 90', 0', 0' #15

Closed HappySamuel closed 5 years ago

HappySamuel commented 5 years ago

Screenshot from 2019-03-20 17-39-23 Screenshot from 2019-03-20 17-38-56

Hi,

I have recorded my own 3D pointcloud map and wanna to try it out with hdl_localization package. However, the loaded map orientation if off the plane with RPY=90', 0', 0' How should i correct the orientation of the loaded 3D pointcloud map?

I use ROS package "pointcloud_to_pcd" to save the map.

Best. Samuel

HappySamuel commented 5 years ago

Problem solved while waiting for answer...

For .pcd files, just open it with gedit. Then modify the following arguments... FIELDS y z x intensity Screenshot from 2019-03-20 22-11-04

By modifying the sequence of x y z following the "FIELDS" , can change the orientation of the pointcloud map.

Eg. FIELDS x y z intensity FIELDS y x z intensity FIELDS z y x intensity

Different combination will yield different orientation result.

walterchenchn commented 5 years ago

Hi,

After i modify the .PCD file, and save the file, the file was been corrupted. How can i open the .PCD file with gedit?

HappySamuel commented 5 years ago

Hi @walterchenchn

That's weird. Can you backup the .pcd file, and then try it again.

Best, Samuel