# Is the same the ego world coordinate with the exo coordinate?

**URL:** <https://discuss.ego4d-data.org/t/is-the-same-the-ego-world-coordinate-with-the-exo-coordinate/504>\
**Category:** Q&A\
**Created:** [February 17, 2024, 12:26pm UTC](https://discuss.ego4d-data.org/t/is-the-same-the-ego-world-coordinate-with-the-exo-coordinate/504 "2024-02-17T12:26:42Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![benzmao](https://avatars.discourse-cdn.com/v4/letter/b/eada6e/32.png) [@benzmao](https://discuss.ego4d-data.org/u/benzmao)\
**Post date:** [February 17, 2024, 12:26pm UTC](https://discuss.ego4d-data.org/t/is-the-same-the-ego-world-coordinate-with-the-exo-coordinate/504/1 "2024-02-17T12:26:42Z")

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Hello,  
I have some questions about the camera pose about the ego and exo cameras. I think ego camera poses are in the closed\_loop\_trajectory.csv and exo camera poses are in gopro\_calibs.csv.

Are the world coordinate systems of the ego viewpoint and the exo viewpoint the same? For example, in terms of the orientation of the XYZ axes, I’ve noticed some cases where they appear to be inconsistent.

Is the rotation and translation matrix obtained from the quaternion describing the transformation from the world coordinate system to the camera coordinate system, or from the camera coordinate system to the world coordinate system?

Thanks a lot!