How to convert the point cloud to a right-handed coordinate?

Omniverse Isaac Sim
1

Hi,
I am publishing point cloud data from Isaac Sim using the depth_pcl type. When I display this point cloud in rviz2, the point cloud is generated with camera coordinate(z-axis forward) as below:

depth_pcl_issue
depth_pcl_issue1954×789 276 KB

Omnigraph is configured as follows:

depth_pcl_settings
depth_pcl_settings1520×470 63 KB

I can manually transform the point cloud data by fixing the SDGPipeline, but this isn’t very pleasant. Does anybody know how to deal with it?

3

Hi there,

currently manual post-process is needed to change the coordinate system. In future releases this can be provided as a built-in functionality.

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4

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