# Stereo Camera Extrinsics

Source: https://forum.modalai.com/topic/2235/stereo-camera-extrinsics
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-06-08 09:03:26 UTC by Abdullah01
Replies: 4 · Views: 1044

## Abdullah01 · 2023-06-08 09:03:26 UTC

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

## Reply by Abdullah01 · 2023-06-08 11:33:22 UTC

@Abdullah01 

for more details, this a pic of the drone setup ![Here](https://drive.google.com/file/d/1qPbPq8zR6A2KX13GVxBVZfjhE7YES5-k/view?usp=sharing)

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

## Reply by tom (ModalAI staff) · 2023-06-08 17:09:50 UTC (in reply to Abdullah01)

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

## Reply by Abdullah01 · 2023-06-11 05:02:17 UTC (in reply to tom)

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

## Reply by SMRazaRizvi · 2023-09-22 18:17:51 UTC (in reply to Abdullah01)

@Abdullah01 Hi, did you solve this?