FP_A-TF

This message contains the transformation (translation in Cartesian coordinates and rotation as a quaternion) from frame A to B.

Configuration

FP_A-TF_POIIMUH transformation from the IMU horizontal frame to the sensor’s current attitude (roll, pitch, yaw)

FP_A-TF_VRTKCAM transformation from VRTK to camera

FP_A-TF_POIVRTK transformation from POI to VRTK

FP_A-TF_ECEFENU0 transformation from ECEF to ENU0 (available since 2.85.3)

FP_A-TF_POIPOISH transformation from POI to POISH (available since 2.85.3)

The frames are (see also this GitHub page):

VRTK: Coordinate Frame at the “X” logo of the XVN, with X pointing forward, Y pointing to the left and Z pointing up.

CAM: Camera coordinate frame, with X pointing to the left, Y pointing up and Z poiting to the direction of the optical axis

POI: “Point of Interest” The output coordinate frame with the user specified transformation from the VRTK frame to the frame of the output. By default it is the same as VRTK.

IMUH: IMU Horizontal, A local horizontal frame with the origin at the same location as FP_POI. This frame is a rough estimate determined by the IMU alone.

ENU0: Global-fixed East-North-Up coordinate frame. Its origin can be chosen as the first ODOMETRY position or configured manually.

$FP,TF,2,2233,315835.000000,VRTK,CAM,-0.00000,-0.00000,-0.00000,1.000000,0.000000,0.000000,0.000000*6Brn

$FP,TF,2,2233,315835.000000,POI,VRTK,-0.99301,-2.01395,-2.99298,0.999995,-0.002616,-0.001748,-0.000868*52rn

Message fields

#	Field	Format	Unit	Example	Description
1	`msg_type`	String	-	`TF`	Message type, always `TF` for this message
2	`msg_version`	Numeric	-	`2`	Message version, always `2` for this version of the `TF` message
3	`gps_week`	Numeric	-	`2233`	GPS week number, range 0–9999
4	`gps_tow`	Float (.6)	s	`315835.000000`	GPS time of week, range 0.000–604799.999999
5	`frame_a`	String	-	`POI`	Target frame (maximum 8 characters: A-Z and 0-9)
6	`frame_b`	String	-	`VRTK`	Initial frame (maximum 8 characters: A-Z and 0-9)
7	`translation_x`	Float (.5)	m	`-0.99301`	Translation, X component
8	`translation_y`	Float (.5)	m	`-2.01395`	Translation, Y component
9	`translation_z`	Float (.5)	m	`-2.99298`	Translation, Z component
10	`orientation_w`	Float (.6)	-	`0.999995`	Rotation in quaternion, W component
11	`orientation_x`	Float (.6)	-	`-0.002616`	Rotation in quaternion, X component
12	`orientation_y`	Float (.6)	-	`-0.001748`	Rotation in quaternion, Y component
13	`orientation_z`	Float (.6)	-	`-0.000868`	Rotation in quaternion, Z component

Field

Format

Unit

Example

Description

msg_type

String

TF

Message type, always TF for this message

msg_version

Numeric

2

Message version, always 2 for this version of the TF message

gps_week

Numeric

2233

GPS week number, range 0–9999

gps_tow

Float (.6)

315835.000000

GPS time of week, range 0.000–604799.999999

frame_a

String

POI

Target frame (maximum 8 characters: A-Z and 0-9)

frame_b

String

VRTK

Initial frame (maximum 8 characters: A-Z and 0-9)

translation_x

Float (.5)

-0.99301

Translation, X component

translation_y

Float (.5)

-2.01395

Translation, Y component

translation_z

Float (.5)

-2.99298

Translation, Z component

orientation_w

Float (.6)

0.999995

Rotation in quaternion, W component

orientation_x

Float (.6)

-0.002616

Rotation in quaternion, X component

orientation_y

Float (.6)

-0.001748

Rotation in quaternion, Y component

orientation_z

Float (.6)

-0.000868

Rotation in quaternion, Z component

Description

Configuration

Example messages

Message fields