Mosaic is rotated relative to actual spatial layout

Most likely cause is extra events. Extra events can cause a mosaic to be rotated because each RGB image could not be matched up with an event with improper location and rotation information. Features will still be matched as normal, and could even be stitched properly, but the mosaic as a whole will rotate and/or shift if events are matched to the wrong images. Please see our other RGB articles for dealing with event issues.

This may also happen if the RGB camera settings have image naming conventions set to continuous instead of series, where image numbers increment even through new datasets and power cycles. If RGB image number rolls of from 9999 back to 0001 this is the cause. Renumber the RGB images in order (can use automated tools like PowerToys or AdvancedRenamer). It is important RGB images increment value in collection order, as they do not contain the necessary EXIF data to properly determine capture time unambiguously.