Coordinate system in AR0144 Tracking Camera
-
Hi guys,
I have a quick question regarding the coordinate frame orientation of the AR0144 tracking camera. As far as I understand it, the camera coordinate system is defined such that the z-axis points out of the lens, the x-axis to the right and the y-axis downward when looking through the camera.
What I am currently unsure about is the originally intended orientation of the tracking camera frame itself. I created a small sketch showing the two possible orientations I could think of. Which one is the correct one, the left or the right figure?
Additionally, I was wondering whether en_rotate in the voxl-camera-server.conf modifies the camera extrinsics, i.e. whether it applies a rotation to the underlying camera coordinate frame such that the extrinsics would need to be configured accordingly (for example upside down), or if it purely affects the image stream orientation without altering the extrinsic calibration at all.
Thanks a lot in advance!