# Coordinate System

#### Raw 2D

Raw2D is a coordinate system defined on the FOV (Field of View) in pixel. The origin is at the upper left corner of the FOV. Axes and origin is defined as follows.

#### Camera 2D

Camera 2D is a coordinate system defined on FOV in mm. The origin is at the center of FOV. The picture below shows axes.

#### Motion 2D

Motion 2D is a coordinate system aligned with the motion system. XY axes and rotation are defined by the motion system. the origin is the rotation center at home position, i.e., (X, Y) = (0, 0)

#### Angle Pose of the Corner Feature

The angle of corner feature is defined by the angle bisector of the two edges. The following figure illustrates it.

The blue dotted line represents the angle pose. The arrows of the edges correspond to the X direction at Edge Region setting