Coordinate system

[yuanxiaoyu1]

Great job, but I have some questions about the coordinate systems. What is the coordinate system for estimating the 6DOF pose? For the RealSense camera, which one should be used: camera_link, camera_color_optical_frame, or camera_depth_optical_frame?
This is crucial for the accurate operation of the robot.

[wenbowen123]

use camera_color_optical_frame, and make sure you are using the topic of depth aligned to rgb. See #44 (comment)

[yuanxiaoyu1]

Thanks for your quick reply !