Extrinsics and camera coordinate frames

[victochen]

I have a question about setting up the extrinsics and the camera coordinate frame. Where exactly is the camera coordinate frame on the camera? The center of the lens, on the bezel, or somewhere else?

For background, we're looking to use a VOXL 2 with the C29 camera configuration like on the Starling 2 Max but with our own custom frame. The locations of the hires, tracking and ToF sensors won't match the Starling 2 Max because it's a different frame. Our ME looked at the Starling 2 Max CAD and the coordinate frame of the tracking camera appeared to be on the bezel.

So we wanted to get clarification on where the coordinate frame are for the cameras.

Thanks!