Coordinates in PointCloud are inverted along the x-y axis

[nagem07]

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Description

I have a node subscribing to the pointcloud & rgb image topics. I perform face recognition on the rgb image and use the center of the bounding in order to extract the corresponding coordinates from the point cloud. However, my results are inverted when I try to back trace the obtained coordinates on Rviz. I tried to peep into the points in the pointcloud as a whole, and most of the coordinates seems to be inverted, meaning behind the camera's field of view.

Steps to Reproduce

1. Create a node to subscribe to pointcloud
2. Extract and visualize point cloud

3. ...

Expected Result

Coordinates with respect to field of view

Actual Result

Inverted/Mirrored coordinates

ZED Camera model

ZED2

Environment

Ubuntu 18
Melodic
Jetson Xavier

Anything else?

No response

[Myzhar]

@nagem07 they are not inverted. They follow the ROS convention which is not the usual "computer vision" convention. Read more here: https://www.ros.org/reps/rep-0105.html and here https://www.ros.org/reps/rep-0103.html