Hi, currently in our ROS driver we have URDF set up so that optical frames are set on the glass, and that might change a little bit in the future. To see all the frames that we have set up you can run, for example stereo_inertial_node
from depthai_examples
package and display frames in Rviz. As for the axes, we use two conventions, since some libraries have different standards for them. Below is a screenshot from Rviz