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Concepts & glossary

Terms that come up across GI Labs capture devices.

  • Egocentric capture — recording from the wearer's first-person point of view.
  • Stereo (binocular) — two cameras capturing left and right views, enabling depth and wider coverage.
  • IMU — Inertial Measurement Unit. Measures motion and orientation; on EGO1 it tracks head pose.
  • MCAP — an open container format for timestamped, multi-channel recordings. It is self-describing: message schemas are stored inside the file, so any MCAP-compatible tool can read it without extra definitions. EGO1 recordings are .mcap files.
  • MCAP viewer — any app that can open .mcap recordings. One free option is Foxglove Studio (foxglove.dev), which decodes H.265 video natively.
  • H.265 (HEVC) — the video codec EGO1 uses to compress its camera streams.
  • UVC — USB Video Class, the standard protocol that lets a device act as a plain USB camera.
  • Extrinsics / intrinsics — intrinsics describe a camera's internal optics (focal length, etc.); extrinsics describe where a camera or sensor sits relative to a reference frame. EGO1 uses the right camera (cam0) as the anchor for all extrinsics.
  • Quaternion — a compact, gimbal-lock-free representation of 3D orientation; EGO1 publishes fused head orientation as a quaternion.