What is the camera convention? What does the camera coordinate system look like?

[scy639]

Hi! thanks for your great work!
The README.md says:

The pose is given in world-to-camera format, i.e. $R(q), t$ transform a world point $p$ to the camera coordinate system as $Rp + t$.

But what does the camera coordinate system look like? In detail, what is the direction of x,y,z axis of camera?

[eduardohenriquearnold]

Hi, thanks for your question. The camera follows the OpenCV convention: X right, Y down, Z forward.

[scy639]

Thanks so much!