extrinsic rotation

3dmapmaker

I have a Livox Horizon mounted on a tripod to make a 360 degree scanner. The Horizon is rotated along the X axis so the Z is now pointed to the left when behind the unit. This allows for a much wider vertical scan pattern. 80+ degrees instread of 25. If I use the Livox Viewer it automatically rotate the cloud so that it is orientated correcly. If I try to use Horizon Loam or Livox Mapping it does not rotate the points. I tried setting the extrinsic_parameter_source to 1 in the livox ros driver but it made no difference. Any suggestions?

thanks in advance

3dmapmaker

I went back and tried setting the values again. I guess for some reason when I clicked save before it did not actually save. This time it saved and the rotation is correct in various SLAM software's.