search

SpectacularAI / sdk-examples

Spectacular AI SDK examples
Apache License 2.0
213 stars 34 forks source link

Realigning after tracking loss #62

Closed gseqBE closed 1 year ago

gseqBE commented 1 year ago

Hello, We are using the OakD with SDK 1.14.

Is there a way(either by saving or by setting the last co-ordinates before tracking loss) to correct the camera pose. We are seeing huge jumps, sometimes back to 0,0 when the SpecAI reports a tracking loss.

Thank you!

oseiskar commented 1 year ago

Hello. Currently we do not have this relocalization feature (after tracking loss) in the SDK and there are no immediate plans to implement it, unfortunately.

gseqBE commented 1 year ago

@oseiskar Could you explaing what happens to the pose, once tacking recovers from a loss? If I can understand the recovery model, I can manage it on the host side. Thank you.

oseiskar commented 1 year ago

We do not specify/guarantee what exactly happens in this case. It is implementation specific and subject to change between SDK versions. In practice, the SDK currently tries to restart from a "last good known position", but this may have large errors depending on how the tracking fails and what happens just prior to that. To be on the safe side, I would recommend to handle each contiguous sequence of poses in TRACKING states (after startup or a LOST state) as if the initial position and heading were arbitrary/random.