Talk:Getting Started

Okay, getting closer. But your IMU example does not match mine. I as well have the dot left bottom, I as well look at the camera from the bottom (so that "right" is on the wrong side, but my index no is 15, in your example it is the zero. So either we change the index numbers or we assume the IMU was mounted on top of the camera and the right arrow is pointing to the right.

Agreed?

->

I'm not sure I get exactly what you say, but the "old" picture describes a different situation than seen in your setup photo.... in your photo one is looking at the camera FROM BELOW while in the "old" picture one is looking at the camera FROM ABOVE (I guess I said this before ;))... the "right" is correct and no index number needs to be changed, it's just this different perspectives... maybe have a look at Greg's addition to this figure in the rcg thread... I'll provide you with some additional figures

Understood but I find it confusing. I would still not be able to relate this picture to my concrete example. What should we do?

-> Not sure what to do. I'll send a new picture with an explicit photo of a camera instead of the blueish scheme, I would hope that this avoids at least missreading it. I have my doubts though that this by itself would simplify relating things or remove any confusion. Ideally you would figure out what it exactly is what makes you confused and makes you not to be able to relate the pictures.

I think the basic problem is that it's not everyone's cup of tea to relate coordinate axes seen from different perspectives. I.e. one photo shows a camera from below, the next from above, the next from the front etc. etc.

I could imagine if one would stay within one perspective things might get simpler. In fact, I tried to aid the user into this with the grey axes labeled front, right, up shown in the GUI window. Following up on this I could suggest the following general recipe. Look at your camera from the front, i.e. directly into its lens. Then the meaning of the grey axes and their relation to the camera should be obvious. Now, still looking at your camera from the front, identify in which direction the IMU's z axis points to. It can only be one of six cases: it can point towards you, away from you, to the left, to the right, to the top, or to the bottom. Sounds fairly easy to me. Next, still looking at your camera from the front, do the very same for the x axis. What do you say?

PS: maybe the figure with teh many configurations should be totally removed