PCD map orientation

[pedralmeida22]

Is there a way to change the orientation of the pcd map.
For instance, the green axis should be pointing North.

If it is not possible to edit the axis in the vector map builder do you have an ideia where we might change this setting.
Or the axis orientation is the same orientation as the initial position of the vehicle when the mapping starts. In this case, we need to be careful when generating a new map to always point the car to North.

[joaquimo-oramos]

I also would like to know how to do this, because then the orientation of the vehicle in autoware seems to be wrong using the resulting map.

[YamatoAndo]

@pedralmeida22 @joaquimo-oramos
You can use pcl_transform_point_cloud or CloudCompare for the conversion.

[liuXinGangChina]

Ando-san just provide a post-process solution
There is also another solution that can build your pcd heading true north once and for all
If you use slam based algorithm to generate your pcd map，there must be a backend optimizer（no matter pose graph， factor graph or kalman），just add gps factor to the back end then you will get a true north pcd map

happy hacking