zed mapping

[yyz]

Hi Mathieu,
I use zed camera mapping,odom is zed odom, and I use zed pointcloud to transform lasescan,when I control the robot to move forward,renderings as follows


I don't know what is the black part of the map,and when I did not turn the direction of the robot to move backwards,renderings as follows


Why does this happen?

[matlabbe]

Hi,
How the point cloud is converted to scan? It seems that it is like depthimage_to_laserscan with a slightly tilted camera toward the ground.

Cheers,
Mathieu