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VOXL Inspect QVIO

Overview

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

ParameterDescriptionExample
-h –helpPrint help messagevoxl-inspect-qvio --help
-n –newlinePrint each sample on a new line instead of updating the current output linevoxl-inspect-qvio -n
-a –imu_angular_velprint imu_angular_velvoxl-inspect-qvio -a
-b –accl_gyro_biasprint accl and gyro biasvoxl-inspect-qvio -b
-c –time_shift_sprint imu_cam_time_shift_svoxl-inspect-qvio -c
-f –n_feature_pointsprint n_feature_pointsvoxl-inspect-qvio -f
-g –gravity_vectorprint gravity_vectorvoxl-inspect-qvio -g
-m –extrinsicsprint cam to imu extrinsicsvoxl-inspect-qvio -m
-p –pipe {pipe_name}optionally specify the pipe namevoxl-inspect-qvio -p /file
-q –qualityprint qualityvoxl-inspect-qvio -q
-t –timestamp_nsprint timestamp_nsvoxl-inspect-qvio -t
-v –vel_imu_wrt_vioprint vel_imu_wrt_viovoxl-inspect-qvio -v
-z –print_everythingprint everythingvoxl-inspect-qvio -z

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:/$