Function print_extrinsic_info

utils/visualize_tracking.py:285–300

(extrinsic: dict)

def print_extrinsic_info(extrinsic: dict):
    if right_h2c:
        T_head_camera_r = matrix_from_array(right_h2c)
        T_camera_in_head_r = np.linalg.inv(T_head_camera_r)
        right_cam_pos = get_position(T_camera_in_head_r)
        print(f"\nRight Camera pose in head frame:")
        print(f"  Position: x={right_cam_pos[0]*100:.2f}cm, y={right_cam_pos[1]*100:.2f}cm, z={right_cam_pos[2]*100:.2f}cm")
        
        if left_cam_pos is not None:
            baseline = np.linalg.norm(right_cam_pos - left_cam_pos)
            x_baseline = right_cam_pos[0] - left_cam_pos[0]
            midpoint_x = (left_cam_pos[0] + right_cam_pos[0]) / 2
            print(f"\nStereo baseline: {baseline*100:.2f} cm (X separation: {x_baseline*100:.2f} cm)")
            print(f"Midpoint X: {midpoint_x*100:.2f} cm (ideally ~0)")
    
    print("=" * 35)


class TrackingVisualizer: