• DepthAI

  • SpatialImgDetection - axes directions?

What are the axes directions for the spatial coordinates in SpatialImgDetection? I was expecting it to follow camera coordinate conventions, that is:

  • X points to the right
  • Y points down
  • Z points forward

However, in tests I found Y to point up — Y coordinate values are positive above the camera's center, and negative below.

Is this by design? If yes, what is the rationale?

  • jakaskerl replied to this.

  • Hi xperroni
    OAK camera uses left-handed (Cartesian) coordinate system for all spatial coordiantes.
    This is because the center of the image is the origin, so it makes sense intuitively that x is right, y is up and z is depth.

    Thanks,
    Jaka

      Hi xperroni
      OAK camera uses left-handed (Cartesian) coordinate system for all spatial coordiantes.
      This is because the center of the image is the origin, so it makes sense intuitively that x is right, y is up and z is depth.

      Thanks,
      Jaka

        a year later

        Are there any figures showing these coordinate frames to make sure I don't have any misunderstandings?

          crs287
          No, but it should be the same for all devices.
          Thanks,
          Jaka