What is the coordinate system for gtsam-quadrics?

[siqiyan]

Hi, thanks for the great work! I am trying to run my customized dataset using quadricslam, and I am not sure for visual odometry what coordinate system I should provide to quadricslam. I am using rtabmap_ros to generate odometry which it is right-handed for the camera frame where the x-axis points to the front, y-axis left and z-axis up, and for the world frame it is also right-hand where x- and y-axis represents the ground plane and z-axis up. I tried to use this convention but it seems to be incorrect. Can you explain what is the correct coordinate convention I should use? Thanks!