ZED X Mini Reference Frame Creation

Software
1

Hello,

I am trying to simulate the pose and IMU outputs of a ZED X Mini and I want to make sure I correctly understand the coordinate-frame conventions used by the ZED SDK.

Suppose I initialize the camera with:

init_params.coordinate_system = sl::COORDINATE_SYSTEM::RIGHT_HANDED_Z_UP_X_FORWARD;

My current understanding is the following:

Camera frame:

  • +X forward into the scene

  • +Y left

  • +Z up

  • origin approximately at the left eye by default

World frame:

  • +Z gravity-aligned up
  • +X is the initial camera heading projected onto the horizontal plane
  • +Y initial camera left
    it initialized and fixed. The camera position starts at the world frame origin.

Could you please confirm whether this understanding is correct?

My goal is to generate simulated camera poses and IMU measurements that are consistent with the ZED SDK output, so I want to verify the exact world frame, camera frame, initialization behavior, and IMU-frame convention.

Thank you.