are the object coordinate and camera coordinate aligned?

[1474123989]

Seen from the code, the object coordinate x_corners is in the length dimension, y_corners the height, z_corners the width. Is it right that the object coordinate positive X axis towards forward, positive Y axis towards downside and positive Z axis towards left (the right hand rule) ? So the camera coordinate also the same direction with object coordinate? I am assuming the object coordinate must be aligned with the camera coordinate, right ? But if it is right, the kitti paper says the camera coordinate positive X towards right, positive Y towards downside, and positive Z towards forward...