Hi @patching-github
when the ZED SDK starts and the positional tracking module is started the default initial position is [0,0,0] with the origin placed in the center of the CMOS sensor of the left camera:
https://www.stereolabs.com/docs/api/python/classpyzed_1_1sl_1_1PositionalTrackingParameters.html
The orientation is instead provided by the gravity vector estimated by the internal IMU.
The reference frame is reflecting the setting value in InitParameters:
https://www.stereolabs.com/docs/api/python/classpyzed_1_1sl_1_1InitParameters.html
https://www.stereolabs.com/docs/api/python/classpyzed_1_1sl_1_1COORDINATE__SYSTEM.html