I am working also with Multisense S7 and I am trying to figure out where exactly is the right_camera_optical_frame with respect to the front or the back part of the sensor. Unfortunately in the Interface Specs (http://files.carnegierobotics.com/products/MultiSense_S7/MultiSense_S7_interface.pdf) it is not possible to get this distance. If the Multisense S7 front part is similar to the Multisense SL one, then with my calculation the frame should be in distance 19.5mm from the front part. Is this correct? Thanks a lot!