0jiahao/cam_mocap_calib

cam_mocap_calib's Issues

Orientation of camera frames

The launch file uv_eval.launch contains a static transform:
<node pkg="tf" type="static_transform_publisher" name="cvtCameraFrame" args="0 0 0 0.5 -0.5 0.5 0.5 camera_opencv camera_color_frame 100" />

I would like to understand the following details about these frames:

1. What is the orientation of camera_opencv frame with respect to the camera? Is it x = forward, y = left, z = up OR x = right, y = down, z = forward?
2. As per the source code, I see that camera_opencv represents the position of the camera in mocap world. So, this means that the frame is x = forward, y = left, z = up with respect to camera body, as per the ROS convention REP 103.
3. However, camera_color_frame should be x = forward, y = left, z = up with respect to camera body as per the realsense camera source code. Therefore, camera_opencv cannot be x = forward, y = left, z = up with respect to camera body, because of the non-null rotation of the transform.

Points 2 and 3 do not agree on the orientation of camera_opencv. I am a bit confused about this particular frame.

@0Jiahao Would really appreciate if you could provide more details about the above camera frames. May be I am missing some important point.

Thank you!