Getting camera pose with libvideo-metadata

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 ?
Thank you


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.