I’m trying to calculate the front camera angles relative to the drone angles.
I’m using libvideo-metadata to read the stream and retrieving frame information via pdraw_vsink_get_frame(), then frame angles via vmeta_frame_get_frame_euler(). I don’t understand in which base they are, as they don’t seem to be in NED. Are the X and Y axis arbitrary as in Vmeta_CameraMetadata ? If so how can I calculate them in NED or relative to the drone euler angles ?
When the drone boots, the drone and camera angles are in the drone coordinates system (X pointing forward), as there is no absolute reference available. Once the drone has a GPS fix, the coordinate system jumps to NED.
However, both the drone angles and the camera angles are affected by the same ‘jump’ so it should not be a problem if you are interested in the camera angles relative to the drone angles.