Issue description
Incorrect generation of the navgraph, for example, nodes are generated on the ceiling.
Troubleshooting Procedure
In the View menu, check the Point cloud Normals.
Under Point Cloud appearance, select color style = normals
If you don't see multiple colors, but only gray sparse points it means that normals were not properly generated and therefore the navgraph cannot be generated.
A three-dimensional representation of an environment, made up of many points. A point is defined by x, y and z coordinates, and it may or may not contain RGB, an intensity value, and normals.
Normals are perpendicular to the tangent plane line at a particular point on the surface. They yield especially useful information about a curved surface's characteristics but conversely can tell us much about the planarity of a flat or angular surface also. Normals can tell us the rate of change of curvature when a surface has an angular departure and tell us just how perfectly flat something is.