Bharath, <br>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 <a href="http://www.ros.org/reps/rep-0103.html">http://www.ros.org/reps/rep-0103.html</a><br>

<br>Tully<br><br><div class="gmail_quote">On Mon, Oct 25, 2010 at 4:25 PM, Bharath Sankaran <span dir="ltr">&lt;<a href="mailto:bharath@seas.upenn.edu">bharath@seas.upenn.edu</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

Hi ,<br>
I wanted to know what the camera frames corresponding to the PR-2 are?<br>
The PR-2 at Upenn publishes<br>
narrow_stereo_gazebo_l_stereo_camera_frame and similar ones for the<br>
right, and wide stereo pair.<br>
Is this the valid camera frame? Also the<br>
_stereo_camera_optical_frame(gazebo version). Is it pixel<br>
co-ordinates?<br>
I&#39;m confused . Can someone point me in the right direction?<br>
<font color="#888888"><br>
Bharath Sankaran<br>
Research Assistant<br>
GRASP Lab, University of Pennsylvania<br>
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</font></blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>