Camera coordinate system – the coordinate system of most cameras, in which the positive direction of the y-axis points to the ground, the positive direction of the x-axis points to the right, and the positive direction of the z-axis points to the front.
up z front
| ^
| /
| /
| /
|/
left ------ 0 ------> x right | | | | v y down
LiDAR coordinate system – the coordinate system of many LiDARs, in which the negative direction of the z-axis points to the ground, the positive direction of the x-axis points to the front, and the positive direction of the y-axis points to the left. z up x front ^ ^ | / | / | / |/ y left <------ 0 ------ right