VOXL Inspect QVIO
voxl-inspect-qvio
is a tool to check VIO localization data coming from QVIO. It requires that VOXL QVIO Server is running in the background, which can be checked with VOXL Inspect Services.
Arguments
yocto:/$ voxl-inspect-qvio --help
typical usage
/# voxl-inspect-qvio
This will print out qvio data from Modal Pipe Architecture.
By default this opens the extended qvio pipe /run/mpa/qvio_extended/
but this can be changed with the --pipe option.
Position and rotation will always print. Additional options are:
-a, --imu_angular_vel print imu_angular_vel
-b, --accl_gyro_bias print accl and gyro bias
-c, --time_shift_s print imu_cam_time_shift_s
-f, --n_feature_points print n_feature_points
-g, --gravity_vector print gravity_vector
-h, --help print this help message
-m, --extrinsics print cam to imu extrinsics
-n, --newline print each sample on a new line
-p, --pipe {pipe_name} optionally specify the pipe name
-q, --quality print quality
-t, --timestamp_ns print timestamp_ns
-v, --vel_imu_wrt_vio print vel_imu_wrt_vio
-z, --print_everything print everything
Example Output
yocto:/$ voxl-inspect-qvio
T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code
-4.96 0.94 -0.00| 17.9 -52.3 9.3| OKAY |
^C
received SIGINT Ctrl-C
closing and exiting
yocto:/$
Source
Source code available on Gitlab.