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Coordinate System #

Transformations #

The reference sensor in the dataset is the left prophesee camera, with the coordinate frame show in Fig. 1 (TODO).

To convert from the right OVC camera to the left prophesee camera, you could use the transformation stored in ovc/right/calib/T_to_prophesee_left, noted \( {}^{pl} T_{or}\). Hence, if we have a point \(p_{or}\) in the coordinates of ovc right, you can transform them by doing:

$$ p_{pl} = {}^{pl} T_{or} \ \ p_{or} $$