Documentation Issue: World Coordinate Frame

[kevinzakka]

The documentation states the following in the section entitled Point Coordinates:

Within this space, the positive x-axis points to the right, the positive y-axis points down, and the positive z-axis points forward.

According to my experience with using a D415 (which includes projecting, deprojecting and testing with ground truth test points), this is incorrect. The correct coordinate frame is the following:

If we pretend we are the camera and we’re looking out at the world, then:

• +x axis points to left
• +y points up
• +z points forward

[AntoineWefit]

A similar issue (#2317) has been recently opened.
If I'm not mistaken, your statement is true when talking about the Viewer (although, the axis in the Viewer are not named). But the actual generated point cloud seems to be oriented according to the documentation. I checked with Meshlab, and the coordinates axis look fine.

According to my experience with using a D415 (which includes projecting, deprojecting and testing with ground truth test points), this is incorrect.

How did you check the coordinate frame ?