car_center axis should be in the convencional way

[afonsocastro]

x axis should point to the front of atlas car, and y axis should point to left (driver view) so that z axis points to the top. Change the atlascar xacro file. @miguelriemoliveira

[tmralmeida]

Hi Afonso! Can you check if the moving_axis frame is correct? Because I'm doing the extrinsic calibration of the cameras. Please send me an image of the moving_axis, just to confirm @afonsocastro

[afonsocastro]

Hi Tiago! the moving_axis is also incorrect. As you can see, x axis is pointing to left and y axis is pointig to the back of the car model.... moving_axis should be as the car_center convenction. Only the cameras frames should have the z axis pointing the the front of their lenses.
@tmralmeida

[tmralmeida]

Afonso, I don't know what the xacro (that you are showing) is based on. However, there is an ATLAS xacro that is correctly done, as you can see in the figure below. This is from previous years. @afonsocastro