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PointCloud visualised in Rviz has the wrong orientation

asked 2019-05-11 12:43:44 -0500

Liv gravatar image

Hi, I am working on a project at university and have collected PointCloud data from a Kinect RGB-D, which I am visualising in RViz. I want to convert to PointCloud to a map using octomap_server but the orientation of the PointCloud is incorrect (the walls are horizontal, not vertical for example). I think it's something to do with robots frame of reference but I'm not sure how to fixed the problem. Can someone explain how to fix this (very simply as I am a beginner)?

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answered 2021-03-12 15:36:08 -0500

Suyashhchougule gravatar image

updated 2021-03-12 16:02:19 -0500

jayess gravatar image

frame needs to be transformed using static_transform_publisher

<node pkg="tf" type="static_transform_publisher" name="base_to_kinect" args=" x y z r p y base_link kinect_camera 100" />

now you can adjust x y z r p y This worked for me

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for some this might also work

Suyashhchougule gravatar image Suyashhchougule  ( 2021-03-13 03:29:29 -0500 )edit

answered 2019-05-13 08:53:59 -0500

AndyZe gravatar image

You can change the orientation of the link that the camera attaches to. By default, it's called camera_link. So go into the URDF and adjust the roll/pitch/yaw of that link until it matches what you expect.

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Could it be that the orientation of the cloud is actually fine, but there's either an intermediate TF frame missing (ie: the one that connects the camera to the world or robot) or the Fixed Frame setting is incorrect?

gvdhoorn gravatar image gvdhoorn  ( 2019-05-13 10:40:01 -0500 )edit

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Asked: 2019-05-11 12:43:44 -0500

Seen: 1,074 times

Last updated: Mar 12 '21