Hi @Raffaello ,
I tried using Isaac ROS Nvblox with a rosbag recorded from a RealSense D455 camera mounted on an AGV. To experiment with a different FOV more suitable for my AGV applications, I intentionally tilted the camera slightly upward. However, I noticed that the ESDF slice no longer remains parallel to the ground when the camera is not in a forward-facing position. This issue causes some objects on the ground to go undetected in certain areas, while other parts of the ground are erroneously identified as obstacles.
With the deliberately tilted camera placement, how can I manually adjust the transform of the frames to fine-tune the rotation and resolve this problem? Any suggestions or insights would be greatly appreciated!