VOXL Inspect Extrinsics
This tool reads the /etc/modalai/extrinsics.conf file and prints the data to the screen for debug. For more info about this extrinsics config file, see the Configure Extrinsics page.
Arguments
voxl2:/$ voxl-inspect-extrinsics --help
Tool to print extrinsic config as loaded from disk.
quiet mode: only validate the file contents and exit
all mode: print all extrisic relations
single mode: print the relation between a specified parent and child
-h, --help print this help message
-q, --quiet quiet mode
-a, --all print all relations
-p, --parent Specify the parent in single mode
-c, --child Specify the child in single mode
typical usage:
/# voxl-inspect-extrinsics --all
/# voxl-inspect-extrinsics -p body -c tracking_front
voxl2:/$
Use
voxl2:/$ voxl-inspect-extrinsics --all
#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
To print just one relation, specify the parent and child frames in single mode:
voxl2:/$ voxl-inspect-extrinsics -p body -c tracking_front
Source
Source code available on Gitlab.