Stereo Camera Extrinsics

[Abdullah01]

Hi,

I am working on a custom vox2 body frame, and working on a custom stereo camera extrinsics file as well.

I came cross some thing unclear which are the imu_apps - Stereo front/lower upper translation & Rotation.

It is not clear what distances are they for the front and upper. Can you clear what distances are they?

thank you

[Abdullah01]

@Abdullah01

for more details, this a pic of the drone setup

As you can see VOXL2 is filliped and rotates. Also, the Custom Extrinsixs Config for this setup like this

			"parent":	"imu_px4",
			"child":	"imu_apps",
			"T_child_wrt_parent":	[0.02525, -0.01375, 0.0],
			"RPY_parent_to_child":	[0, 0, 0]
		}, {
			"parent": "imu_apps",
			"child":  "tracking",
			"T_child_wrt_parent": [-0.1125, 0.0055, 0.018],
			"RPY_parent_to_child":    [0, -45, -90]
		}, {
			"parent": "imu_px4",
			"child":  "tracking",
			"T_child_wrt_parent": [-0.08775, -0.0066, 0.018],
			"RPY_parent_to_child":    [0, -45, -90]
		}, {

thank you

[tom]

@Abdullah01 Have you read through?: https://docs.modalai.com/configure-extrinsics/

[Abdullah01]

@tom Yes I have read it, but it did not mentioned any thing about Stereo front/lower upper

[SMRazaRizvi]

@Abdullah01 Hi, did you solve this?