Coordinate System and Transformation Matrix in SDK


We are a little bit confused by the coordinate system conversion of the Core’s Windows SDK:

  1. What are the coordinate systems of Core’s SLAM tracking for the camera and the world anchor? Any image illustration would be helpful.
  2. How about the direction of each coordinate axis compared with the standard Unity’s global coordinate system? How could we convert the Occipital’s coordinate system to left-handed (Unity) and right-handed (OpenCV) coordinate system?
  3. What is the definition of the Occipital’s 4*4 Transformation Matrix? Does it define as |R|T| or |R/T| (horizontal or vertical)? It looks different from the OpenCV’s, and how could it be converted to OpenCV’s format?

Any suggestion would be appreciated. Thanks!