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The reference frame in ROS is FLU, Front(X)-Left(Y)-Up(Z) as explained above. But optical frame uses Right(X)-Down(Y)-Front(Z), where Z axis direction is the direction that the camera looks forward.

The reference frame in ROS is FLU, Front(X)-Left(Y)-Up(Z) as explained above. But optical frame uses RDF, Right(X)-Down(Y)-Front(Z), where Z axis direction is the direction that the camera looks forward.

The reference frame in ROS is FLU, Front(X)-Left(Y)-Up(Z) as explained above. But optical frame uses RDF, Right(X)-Down(Y)-Front(Z), where Z axis direction is the direction that the camera looks forward.

More info.:

In this case, the rotation matrix (dcm) of RDF with respect to FLU is [0 0 1; -1 0 0; 0 -1 0] when the position vector is represented in column vector (not row vector) like [x; y; z] (or [x y z]' - the apostrophe(') symbol means matrix transposition).

Its Euler angle is (roll pitch yaw) = (-90, (-pi/2, 0, -90) deg -pi) rad ('pi' is 3.141592) represented in '3-2-1 (or z-y-x) intrinsic sequence' where the body frame is rotated three times sequentially from the reference frame with the order of z(yaw), y(pitch) and x(roll) about the three axes of the body frame.

This Euler angle value can be used in URDF(Unified Robot Description Format) file for a robot model.

The reference frame in ROS is FLU, Front(X)-Left(Y)-Up(Z) as explained above. But optical frame uses RDF, Right(X)-Down(Y)-Front(Z), where Z axis direction is the direction that the camera looks forward.

Normally, the unit of position is meter and the unit of angle is radian.

More info.:

In this case, the rotation matrix (dcm) of RDF with respect to FLU is [0 0 1; -1 0 0; 0 -1 0] when the position vector is represented in column vector (not row vector) like [x; y; z] (or [x y z]' - the apostrophe(') symbol means matrix transposition).

Its Euler angle is (roll pitch yaw) = (-pi/2, 0, -pi) rad ('pi' is 3.141592) represented in '3-2-1 (or z-y-x) intrinsic sequence' where the body frame is rotated three times sequentially from the reference frame with the order of z(yaw), y(pitch) and x(roll) about the three axes of the body frame.

This Euler angle value can be used in URDF(Unified Robot Description Format) file for a robot model.

The reference frame in ROS is FLU, Front(X)-Left(Y)-Up(Z) as explained above. But optical frame uses RDF, Right(X)-Down(Y)-Front(Z), where Z axis direction is the direction that the camera looks forward.

Normally, the unit of position is meter and the unit of angle is radian.

More info.:

In this case, the rotation matrix (dcm) of RDF with respect to FLU is [0 0 1; -1 0 0; 0 -1 0] when the position vector is represented in column vector (not row vector) like [x; y; z] (or [x y z]' - the apostrophe(') symbol means matrix transposition).

Its Euler angle is (roll pitch yaw) = (-pi/2, 0, -pi) rad ('pi' is 3.141592) represented in '3-2-1 (or z-y-x) intrinsic sequence' where the body frame is rotated three times sequentially from the reference frame with the order of z(yaw), y(pitch) and x(roll) by the sequence of yaw, pitch and roll about the three z, y and x axes of the body frame.frame respectively.

This Euler angle value can be used in URDF(Unified Robot Description Format) file for a robot model.