Hi,
I am trying to use RTAB-Map with a stereo camera (rubedos viper) and the map is being created upside down, the floor is up and the objects are inverted. I think that my optical frames are good oriented (first image, visualization in rviz of the pointcloud produced by the camera). The orientation in rtabmap should be with z-axis up but it is down (second image). I think that it is something related to the odometry calculation but I don't know why it is happening. Do you have any idea?
Regards,
Inés
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n9040/Screenshot_from_2022-03-30_09-30-32.png)