Mesh reconstruction vs Location in Map coordinate system

[brunoeducsantos]

Hi Mathieu,

Are the coordinate on the mesh reconstruction in the same reference frame than the points saved in export poses ?

Best regards,

Bruno

[matlabbe]

Yes, in map frame.

Cheers

[brunoeducsantos]

Maybe I didn't explain very well.
Is the initial position of the camera the reference frame for the points in the mesh?
How are the axis oriented?
I checked this resource: https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
I just wanted to know if you are using this orientation of the axis.

Cheers,
Bruno

[matlabbe]

Hi Bruno,

These OpenCV coordinates are in camera frame. The mesh in map frame, which is x->forward, y->left and z->up (like ROS). Well, if you remove the optical rotation added to camera, you will have the mesh in camera frame (x->right, y->down, z->forward).

cheers,
Mathieu