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visualizer show upside down cloud

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visualizer show upside down cloud

M.Arshad
I am running simple openni grabber sample with MS Kinect , visualizer show upside down cloud , i am also unable to invert it by  rotating  the cloud.
My settings are
PCL 1.7.2
VTK 6.1
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Re: visualizer show upside down cloud

VictorLamoine
Administrator
Hello,

Try to set the sensor_orientation_ field to something that flips the cloud into the right orientation!
http://docs.pointclouds.org/trunk/classpcl_1_1_point_cloud.html#a4cf725ae7670e05fbe0ec8270450b3dc

Bye
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Re: visualizer show upside down cloud

josuerocha
Can you please show an example?
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Re: visualizer show upside down cloud

stanly
This post has NOT been accepted by the mailing list yet.
 Eigen::Quaternionf m = Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitX()) //flip in X axis
        * Eigen::AngleAxisf(0.0f,  Eigen::Vector3f::UnitY())
        * Eigen::AngleAxisf(0.0f, Eigen::Vector3f::UnitZ());

 yourCloud->sensor_orientation_ = m;
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