Coordinate Frame

When thinking about the 3-axis coordinate frame; I always use this representation

In Robot (Canonical) Frames we have

X forward, Y left, Z up

But apparently this is only for Robotics applications.

In Optical Frames we have

X right, y down, z forward

This is because an image is drawn on the x-y plane

So in SeaClear I have to assign a global coordinate frame.

The situation does that I have 2 different camera streams with 2 different point of views

The GoPro gives a bird-eye-view and the USB Camera provides more of a humanly perspective over the pool.

But they see the same ArUco marker and get both the translation and rotation vectors from the built-in aruco functions from OpenCV. So I know both camera coordinates in the ArUco frame!

I must convert the coordinates of the ROV from both perspectives by doing Transformations. In ROS, this is done through the tf2 library.