The direction of the result from Isaac-ROS-Apriltag

[uma7]

I use Isaac-ROS-Apriltag.
I got the output from Isaac-ROS-Apriltag.
For example,

Position:
    x: -0.3636
    y: 0.0944
    z: 0.5891
Orientation:
    w: 0.6776
    x: 0.2206
    y: 0.2171
    z: -0.6671 

(Red: X, Green: Y, Blue: Z)

Now, I wonder if which is correct the result-direction, vector, of self-location estimation, from camera to Apriltag or from Apriltag to camera.
I mean, the coordinate system of Apriltag or the coordinate system of camera.

[Raffaello]

Hi @uma7

Thank you for your post.

From the documentation:

The coordinates are related to the camera frame. More details related to the Camera coordinate system are available at this page: Camera Info — image_pipeline 3.2.1 documentation

Best,
Raffaello