WouterOddBot
Camera Frame
The camera frame (often referred to as the camera_link or camera_frame) is a reference frame that represents the physical position and orientation of the camera sensor on the robot. It is typically aligned with the mounting orientation of the camera on the robot. This frame is crucial for defining the spatial relationship between the camera and other parts of the robot, such as the robot base or end-effector.
Camera Optical Frame
The camera optical frame is a coordinate frame that is aligned with the optical axis of the camera sensor. This frame is used to represent the viewpoint from which the camera captures images. The orientation of this frame is typically defined such that:
• The X-axis points to the right in the image plane.
• The Y-axis points down in the image plane.
• The Z-axis points forward along the optical axis (i.e., into the scene being viewed).
The optical frame is crucial for transforming image and depth data into a common coordinate system used for computer vision processing and robot perception.
[source: GPT4o]
Thanks,
Jaka
