problem understanding the Coordinate

[QingSimon]

Hi jannismoeller, thanks for your great work!

I read the code and your bachelor thesis，i have some problem with the coordinate definition of camera and imu in samsung s7.

in your code, the extrinsic rotation between camera and imu is defined as follows:

//extrinsic param
#define RIC_y ((double)0.0)
#define RIC_p ((double)0.0)
#define RIC_r ((double)180.0)

it meas that, i can get the imu coordinate if I rotate the x-axis of camera coordinate with angle 180:

but according to the extrinsic translation definition in your code：

//extrinsic param
// TIC = Translation IMU to Camera
TIC_X = 0.0; // view direction
TIC_Y = -0.0045; //-0.005 // to the left when device is in landscape (up when normal)
TIC_Z = -0.01505; //-0.018792; // up when in landscape (right when normal)

the imu coordinate seems to look like this:

they seem to be in conflict, is it because i misunderstand the definition of camera coordinate or something esle? could you help me, please!