# Extrinsic camera/imu parameters

Source: https://forum.modalai.com/topic/750/extrinsic-camera-imu-parameters
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: rb5
Posted: 2022-02-16 13:42:27 UTC by erlendb
Replies: 1 · Views: 823

## erlendb · 2022-02-16 13:42:27 UTC

Can I find the static relations (rotation and translation) between the sensors (cameras and imu) anywhere? 

At first I thought that these parameters could be found here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-mpa-tools/-/blob/dev/misc_files/usr/share/modalai/extrinsic_configs/m500_qrb5165.conf. However, they don't seem to be compatible with the EKF2_IMU_POS parameters in https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/platforms/v1.12/rb5_4s_config.params

## Reply by Chad Sweet (ModalAI staff) · 2022-02-25 05:55:53 UTC

[voxl-configure-extrinsics](https://docs.modalai.com/configure-extrinsics/![alt text](image url)) provides a tool for configuration, [voxl-inspect-extrinsics](https://docs.modalai.com/voxl-inspect-extrinsics/) provides a tool to view the current settings