Bharath,
All frames are positions in free space in meters.  The camera frames point x
forward, and the frames with optical in them are z forward.  These
conventions are defined in REP 103 http://www.ros.org/reps/rep-0103.html

Tully

On Mon, Oct 25, 2010 at 4:25 PM, Bharath Sankaran <bharath@seas.upenn.edu>wrote:

> Hi ,
> I wanted to know what the camera frames corresponding to the PR-2 are?
> The PR-2 at Upenn publishes
> narrow_stereo_gazebo_l_stereo_camera_frame and similar ones for the
> right, and wide stereo pair.
> Is this the valid camera frame? Also the
> _stereo_camera_optical_frame(gazebo version). Is it pixel
> co-ordinates?
> I'm confused . Can someone point me in the right direction?
>
> Bharath Sankaran
> Research Assistant
> GRASP Lab, University of Pennsylvania
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-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827