# Adjusting the position of the main camera > **Note** Documentation for the versions [of image](image.md), starting with **0.15**. For earlier versions, see [documentation for version **0.14**](https://github.com/CopterExpress/clever/blob/v0.14/docs/ru/camera_frame.md). Position and orientation of the main camera is determined in file `~/catkin_ws/src/clever/clever/launch/main_camera.launch`: ```xml ``` This line sets static transformation between frame `base_link` ([corresponds to the flight controller housing](frames.md)) and the camera (`main_camera_optical`) in format: ```txt shift_x shift_y shift_z yaw_angle pitch_angle roll_angle ``` The frame of the camera is set so that: * **x** points to the right in the picture; * **y** points down in the picture; * **z** points away from the camera matrix plane. Shifts are set in meters, angles — in radians. Correctness of the transformation set may be checked using [rviz](rviz.md). ## Settings for Clever The first image — how a copter model looks in rviz with these settings, the second image — how Clever looks with the same settings. ### 1. The camera is facing downward, the flat cable — backward ```xml ```

### 2. The camera is facing downwards, the flat cable — forward ```xml ```

### 3. The camera is facing upward, the flat cable — backward ```xml ```

### 4. The camera is facing upward, the flat cable — forward ```xml ```