How to distorted the rgb img for events

[zhangcj13]

Hello：
Thanks for your great work! I want to record a dataset with a RGB camera and a Davis camera like yours, but I did know how to align the frame to events, I read your paper《Low-latency automotive vision with event cameras》 said 'We select the left event camera and left RGB camera and align the RGB images with the distorted event camera frame by infinite depth alignment.' , but I did not know the details about ’infinite depth alignment‘，so can you tell me the details or provide any reference materials？ thanks！