Coordinate Frames

crs287

I don't see anywhere in the documentation the coordinate frames for each camera in my OAK-D LR sensor? Am I missing some documentation somewhere? I need to know these coordinate frames to compute the extrinsics between this sensor and my LiDAR sensor.

crs287

I found this picture if this is still true for all 3 camera sensors on my OAK-D LR sensor

jakaskerl

crs287

IMU orientation depends on the layout of the IC. Should be printed on the PCB.
camera coordinate frame should be left-hand (right-x, left-y, depth-z+).

Thanks,
Jaka

crs287

So it's sounding like that drawing above is incorrect. What do you mean right-x and left-y? That's not a right angle between those axes. Can you give me a drawing or something?

jakaskerl

crs287

crs287 What do you mean right-x and left-y?

up -y sorry 🙂

IMU should be oriented for right hand since that's what the chip specifies. For image, one axis is negated so it becomes a right hand system. It's pretty arbitrary which one is used for image so no complications there.

Thanks,
Jaka

crs287

How does this work with ROS2 since ROS is a right handed coordinate system?