PCD file and octomap file generated by rgblslamv2 have wrong cooedinate

asked 2018-03-19 06:54:04 -0500

Summer gravatar image

updated 2018-03-20 07:56:12 -0500

I use rgblslamv2 to generate PCD file and octomap file,but they have wrong coordinates.

For example,I use the kinect to explore environment,it means my view to see the object is in a parallel to the ground,it may should let my environment looks like that: image description

But in the below is what I get: the inital coordinate before I rotate is likely be Vertical to the view I want,and the parameter:4.152.534.77m^3 proofs that I get a wrong coordinate. image description

If I want to look it at rviz: yes the ground is vertical. image description

How can I do to convert the coodinate system? I just feel the coordinate system depends on my first camera frame?If it is true,my camera just walk in a plane... Now I have no idea for that? Do you have any suggestion?

Thanks! I can not add other picture in extra edit... here is my picture's address. https://img3.doubanio.com/view/photo/... The straight direction is repersented the ground, the Parallel direction is the wall. And There are some points misestimated ,So they look like they are projecting below the ground.

edit retag flag offensive close merge delete

Comments

I find I put my camera in a tilted angle,but if I put camera orthogonal to the floor,I get a view that reverse 90 degree to world coordinate,such like my last picture. Is that because my tf transform has problem? please help me ...

Summer gravatar image Summer  ( 2018-03-20 07:50:35 -0500 )edit
add a comment