Processing data from Share S20

[UA9LIF]

I am have raw data from Lidar Share S20 and try process it in HDMapping version 0.101.0 (for compare). I have problem, that survey have Control Points and one of them made on wall. So at this point HDMapping lost odometry and rotate all next survey (num 43 pose). How correctly process data from this point?

Files:
all_2025-10-15-15-51-12.bag - raw survey from SLAM
folder "extracted_data" - survey in HDMapping format
left_00290.jpg - image from left camera at ControlPoint, that broke all
Kuvinovo3_colorized.las - pointcloud from Share PointClouds Studio software

https://drive.google.com/drive/folders/1fAvoKTkAXwCeMh67CwXsmgUryRcXnybT?usp=sharing

[JanuszBedkowski]

I confirm, the problem is evident.
You can split session in step2 and merge in step3.

[Sau72]

Yes, thanks, i had did it.
New question, i am have lidar at angle 25 deg from horizontal plane, so my final cloud is rotated. How align all survey to horizont? Add at some place calibration data for lidar or only rotate final survey to horizont?

[JanuszBedkowski]

Hi

1. Use gizmo in LIO Segment editor

2. add 3 Control Points and set Z == 0, register session to CPs

Please share with us more comparison data