Pointcloud orientation problem

[enordco]

Hi,
Im using realsense d435i and facing an issue of pointcloud in z axis. I am using depth topic of realsense.
I am giving my odometry topic whose forward is x, and also giving my odometry pose topic.

Please help
@bigsuperZZZX

[bigsuperZZZX]

1. Check pose_type_ to see which callback function will be used. SDFMap::depthPoseCallback() is recommended.
2. If you use SDFMap::depthOdomCallback() instead, please add a proper rotation when assigning the value from odom to camera_q_.

[enordco]

1. Check pose_type_ to see which callback function will be used. SDFMap::depthPoseCallback() is recommended.
2. If you use SDFMap::depthOdomCallback() instead, please add a proper rotation when assigning the value from odom to camera_q_.

Thank you for the reply!!
As I already mentioned that I am using odometry(open_vins), and all the message type are corrected i have checked it again and Forward of odometry is x but pointcloud is facing z axis.
@bigsuperZZZX

[bigsuperZZZX]

You can add a rotation matrix like this https://github.com/ZJU-FAST-Lab/ego-planner/blob/0835f963dcfadce156dbec8ab66b93930955a87c/src/planner/plan_env/src/grid_map.cpp#L91