Camera Coordinate System in Vic3D
Posted by Elisha Byrne, Last modified by Micah Simonsen on 13 October 2016 01:08 PM


By default, Vic3D uses the "Best Plane Fit" to assign a coordinate system. This option calculates a transform into the best fit plane of the surface.
Sometimes it is preferred to leave the data in camera coordinates. By deselecting the Auto Plane Fit option, the data will be in camera coordinates.
This is how Vic3D assigns the camera coordinates system: 1. The xaxis is the baseline between the center of the two camera sensors. 2. The origin is the center point between the two camera sensors, along that baseline/Xaxis. 3. The Zaxis is defined as perpendicular to that Xaxis, starting at the origin. 4. One more constraint is required to define the Zaxis, or it could just spin around the Xaxis at the origin point. The average plane between the two sensor planes is used to determine that one degree of freedom that is missing to determine the Zaxis (without this constraint, the zaxis would just spin around the xaxis). 5. The Yaxis is normal to Xaxis and Zaxis, so that the three axes form a coordinate system with all axes normal to each other.  
