Relocalization zed camera pose on point cloud mapping

What is 170? Is it floor height?

yes, 170 is the height between the floor with the camera.

Why don’t you use the parameter set_floor_as_origin instead?

Oh, so I cannot use both set_floor_as_origin and initial_world_transform at same time?
my origin though is to set the floor at origin and initial the camera position base on the floor. Meaning, the floor is at 0 then the camera should be 170 initially.

Floor detection will overwrite the initial_world_transform setting