Frame of reference of depth sensors
Hello everyone,
I am working on a project to do the 3D reconstruction of the environment using ASUS Xtion pro and using openni2_launch, openni2_camera and rgbd_launch packages to get the data from the device drivers.
In rgbd_launch, there is a file kinect_frames.launch in which four frames - camera_rgb_frame, camera_depth_frame, camera_rgb_optical_frame and camera_depth_optical_frame, with different orientations are defined. And there is a frame camera_link in which all of these frames are transformed. You can see the static transform between these frames here.
My question is that when the point cloud is created by the device, which frame among the above mentioned frames is considered as reference? Also when the image (rgb and/or depth) is acquired by the device, which frame is the reference frame?
The orientation of the base_link or camera_link is different from camera_rgb_optical_frame or camera_depth_optical_frame as mentioned in REP-103. Hence my confusion.
Any guidance is appreciated. Thanks in advance !!