Coordinate system and translation
Hello, i have scanned a room clockwise, i have processed them and extract all the poses for each frame to align the pointsclouds, which looks perfect. BUT when i import all of them in SDFStorm (right-hand openGL coordinate system), it looks like i scanned the room anticlockwise (rortate the frames mirror on y axes) and created false 3dreconstruction. How can I solve this?
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Hi Dimouzoi Are you exporting the pointcloud to a .ply pointcloud data file and then importing the ply into SDFStorm, please? If you are doing this then the links below may be a helpful reference.
https://github.com/IntelRealSense/librealsense/issues/10536
https://github.com/IntelRealSense/librealsense/issues/3589
#3589 explains that from RealSense SDK version 2.19.0 (a very long time ago), the points are converted from right hand to left hand coordinate system when exporting vertices to ply. The reason the coordinate system was changed when exporting vertices to ply is that when users loaded it with the MeshLab open-source 3D tool it looked flipped because the default viewpoint of MeshLab is different from the viewpoint on in the 3D mode of the RealSense Viewer. So it was adjusted to the default definition of MeshLab.
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