Why is the Airsim camera yaw angle negative of Unity quadrotor pose yaw?
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I am using the C++ Image API, particularly the simGetImages API. My quadrotor in Unity has a yaw angle of +45 degrees. However, when I view the RGB, depth, and semantic segmentation frames, they are in exactly -1*Unity yaw angle that I set for my quadrotor. Is this because Airsim uses the NED coordinate system, but Unity uses DirectX convention (left-handed Y-up)? I have included images below to explain my question.
My quadrotor in Unity is at 45 degrees yaw angle, and the camera viewframe is also shown:
However, when I start the simulation and view the RGB, depth, and semantic segmentation frames from Airsim, the camera is showing the viewpoint from exactly -45 degrees:
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Question
Why is the Airsim camera yaw angle negative of Unity quadrotor pose yaw?
Include context on what you are trying to achieve
I am using the C++ Image API, particularly the
simGetImages
API. My quadrotor in Unity has a yaw angle of +45 degrees. However, when I view the RGB, depth, and semantic segmentation frames, they are in exactly -1*Unity yaw angle that I set for my quadrotor. Is this because Airsim uses the NED coordinate system, but Unity uses DirectX convention (left-handed Y-up)? I have included images below to explain my question.Context details
OS: Linux Ubuntu 18.04 Airsim: latest release Python version: n/a Unity editor version: 2021.3.31f1
My quadrotor in Unity is at 45 degrees yaw angle, and the camera viewframe is also shown:
![Screenshot from 2023-11-06 21-38-53](https://github.com/microsoft/AirSim/assets/66180737/3dc095ad-bcc6-4d8a-b3b4-f9494decb903)
However, when I start the simulation and view the RGB, depth, and semantic segmentation frames from Airsim, the camera is showing the viewpoint from exactly -45 degrees:![Screenshot from 2023-11-06 21-40-55](https://github.com/microsoft/AirSim/assets/66180737/ef1593b9-9ce6-49dc-8004-3bf6cceabded)
Include details of what you already did to find answers
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