How is the coordinate system oriented?

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LSD-SLAM

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How is the coordinate system oriented? #158

Open v0n0 opened 8 years ago

v0n0 commented 8 years ago

Is it a right handed coordinate system? When I do projections on the image to augment it, I get the wrong positions. I do it like this:

pointInCam = camToWorldInverse * pointInWorld
pointInImage = pointInCam * focal + principalPoint

It seems if I invert the sign of the y value of the principal point it does a better projection. Is the Y axis pointing down?

Please help.

jscatena88 commented 8 years ago

I don't quite understand your equations but in general if looking at image from the camera x is pointing right, y is pointing down and z(or depth) is pointing into the image