Re: How RTAB-Map find the point cloud gravity direction?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-RTAB-Map-find-the-point-cloud-gravity-direction-tp3661p3667.html

Hi,

This is implicit to TF. If TF of the camera is correctly set on the robot, the cloud will be correctly aligned with gravity. In contrast without a robot, if you do the hand-held tutorial and start the camera with an angle, the whole map will be tilted. In that case (without robot), the parameter "Odom/AlignWithGround" can be set to true so that the ground plane is detected to correct the camera angle and height against the ground (code is here).

cheers,
Mathieu