How to specify the Transform from IMU to camera

[zc08]

Thank you so much for providing an open-source video stabilization tool! Like some of the previous issues have mentioned, I'm trying to apply the tool to videos recorded by a mobile phone.

I have calibrated the camera and the IMU, obtaining a 4x4 matrix that transforms a point in the IMU coordinate frame to the camera coordinate frame. However in Gyroflow, I see only a "camera to gyro angle" option which might not be enough to specify the full transform.

What I want to ask is:
What's the default coordinate frames used in the code (for both camera and IMU), and the default transform used in the code to transform a point in the IMU coordinate to the camera coordinate?

Could you give a pointer to the relevant code?

Thank you again!

[ElvinC]

There's some info about gyro orientation here: #54