Camera coordinate system

ferrari19

Hello,

I have a question concerning the orientation of the axis of the OAK_D camera. I f we refer to this image we get the following coordinate system

but when I get the acceleremoter when my camera ils like this

I get an accelerometer vector of [1.86, -10, -0.14] but in your system coordinate the x axis is pointing in the opposite direction of gravity not the y axis

So I was wondering how come are the x and y axis inverted

thank you in advance

jakaskerl

This is the orientation for OAk-D-S2:

The IMU is rotated is seems.

Thanks,
Jaka

ferrari19

Thank you!

so the x axis of the IMU coordinate system corresponds to the y axis of the camera coordinate system and the y axis of the IMU coordinate system corresponds to the x axis of the camera coordinate system right?

Thanks in advance

jakaskerl

Hi @ferrari19
Yes, though the directions of positive and negative will vary between some nodes.

Thanks,
Jaka

ferrari19

Hello,

Thank you for your answer. Is it possible to explain this a bit more cause I'm not sure I understand.

Thank you in advance

jakaskerl

Hi @ferrari19
PCL node and SpatialLocationCalculator use different orientations of the coordinate systems so the XYZ output would be different.
But yes, generally speaking the X should point to the right, Y should point down and Z should point forward.