VOXL Inspect VIO Cams

voxl-inspect-vio-cams prints the VIO camera configuration as loaded from disk (/etc/modalai/vio_cams.conf). This is the data consumed by voxl-qvio-server, voxl-feature-tracker, and voxl-open-vins-server to determine which cameras and IMUs to use for VIO. See Flying with VIO for how this fits into the overall VIO setup.

After listing the camera entries, the tool also prints the IMU-to-body rotation matrix (fetched from the extrinsics configuration, see voxl-inspect-extrinsics) which voxl-open-vins-server needs.

The write-side counterpart is voxl-configure-vio-cams, which installs and manages /etc/modalai/vio_cams.conf.

Arguments

voxl2:/$ voxl-inspect-vio-cams --help

Tool to print vio-cam config as loaded from disk.
This is the data consumed by voxl-qvio-server, voxl-feature-tracker, and
voxl-open-vins-server to see what camera and imus to use

See also: voxl-inspect-apriltag-config

-h, --help                  print this help message
-e, --enabled_only          only print enabled cameras

typical usage:
/# voxl-inspect-vio-cams

Example Use

voxl2:/$ voxl-inspect-vio-cams -e

The output lists each (enabled) camera entry from vio_cams.conf, followed by the IMU-to-body rotation, e.g.:

R_imu_apps_to_body:
          1.000   0.000   0.000 
          0.000   1.000   0.000 
          0.000   0.000   1.000 

Source

Source code available on Gitlab.