VOXL Inspect Extrinsics

yocto:/$ voxl-inspect-extrinsics --help

Tool to print extrinsic config as loaded from disk.
This will also add any new entries that have been added in an update.
Run in quiet mode to only validate the file contents and add new defaults.

See also: voxl-inspect-apriltag-config

-h, --help                  print this help message
-q, --quiet                 quiet mode

typical usage:
/# voxl-inspect-extrinsics

yocto:/$

yocto:/$ voxl-inspect-extrinsics
#0:
    parent:                imu1
    child:                 imu0
    T_child_wrt_parent:   -0.048   0.037   0.002
    RPY_parent_to_child:   0.0     0.0     0.0
    R_child_to_parent:     1.000  -0.000   0.000
                           0.000   1.000  -0.000
                           0.000   0.000   1.000
#1:
    parent:                imu0
    child:                 tracking
    T_child_wrt_parent:    0.065  -0.014   0.013
    RPY_parent_to_child:   0.0    45.0    90.0
    R_child_to_parent:     0.000  -0.707   0.707
                           1.000   0.000  -0.000
                          -0.000   0.707   0.707
#2:
    parent:                imu1
    child:                 tracking
    T_child_wrt_parent:    0.017   0.015   0.013
    RPY_parent_to_child:   0.0    45.0    90.0
    R_child_to_parent:     0.000  -0.707   0.707
                           1.000   0.000  -0.000
                          -0.000   0.707   0.707
#3:
    parent:                body
    child:                 imu0
    T_child_wrt_parent:    0.020   0.014  -0.008
    RPY_parent_to_child:   0.0     0.0     0.0
    R_child_to_parent:     1.000  -0.000   0.000
                           0.000   1.000  -0.000
                           0.000   0.000   1.000
#4:
    parent:                body
    child:                 imu1
    T_child_wrt_parent:    0.068  -0.015  -0.008
    RPY_parent_to_child:   0.0     0.0     0.0
    R_child_to_parent:     1.000  -0.000   0.000
                           0.000   1.000  -0.000
                           0.000   0.000   1.000
#5:
    parent:                body
    child:                 stereo_l
    T_child_wrt_parent:    0.100  -0.040   0.000
    RPY_parent_to_child:   0.0    90.0    90.0
    R_child_to_parent:     0.000  -0.000   1.000
                           1.000   0.000  -0.000
                          -0.000   1.000   0.000
#6:
    parent:                body
    child:                 tof
    T_child_wrt_parent:    0.100   0.000   0.000
    RPY_parent_to_child:   0.0    90.0    90.0
    R_child_to_parent:     0.000  -0.000   1.000
                           1.000   0.000  -0.000
                          -0.000   1.000   0.000
#7:
    parent:                body
    child:                 ground
    T_child_wrt_parent:    0.000   0.000   0.100
    RPY_parent_to_child:   0.0     0.0     0.0
    R_child_to_parent:     1.000  -0.000   0.000
                           0.000   1.000  -0.000
                           0.000   0.000   1.000