question about ESVO2 yaml

[Liyuanyuan05]

the left.yaml and right.yaml files in calib. the T_right_left and T_b_c represent the transformation from frame to anthor frame? and this transformation is used in left.yaml or right.yaml. Because i notice they are same in yaml files. And another question about projection_matrix and rectification_matrix that they calculated ?Thank you!!

[LaCampanela]

1.The transformation matrix T_right_left represents the rigid-body transformation from the left camera coordinate system to the right camera coordinate system, whereas T_b_c denotes the transformation from the left camera to the IMU (body) frame. It is standard practice to maintain identical values for these two matrices across both YAML configuration files.
2.The rectification matrix and the reprojection matrix are parameters generated during stereo rectification. These matrices must be employed in the code to compute the pixel mapping relationships. For specific implementation details, you may refer to the code in ImageRepresentation.cpp.