PointCloud visualised in Rviz has the wrong orientation

asked 2019-05-11 12:43:44 -0600

Liv
21 ●2 ●2 ●3

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)?

edit retag flag offensive close merge delete

add a comment

1

answered 2021-03-12 15:36:08 -0600

Suyashhchougule
11 ●1 ●3 ●5

updated 2021-03-12 16:02:19 -0600

jayess
6155 ●26 ●85 ●92

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

edit flag offensive delete link

Comments

(https://answers.ros.org/question/2183...)

for some this might also work

Suyashhchougule ( 2021-03-13 03:29:29 -0600 )edit

add a comment

0

answered 2019-05-13 08:53:59 -0600

AndyZe

2331 ●38 ●106 ●70

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.

edit flag offensive delete link

Comments

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 ( 2019-05-13 10:40:01 -0600 )edit

add a comment

PointCloud visualised in Rviz has the wrong orientation

2 Answers

Comments

Comments

Question Tools

Stats

Related questions

PointCloud visualised in Rviz has the wrong orientation edit

2 Answers

Comments

Comments

Question Tools

Stats

Related questions

PointCloud visualised in Rviz has the wrong orientation