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SpectacularAI / sdk-examples

Spectacular AI SDK examples
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Clarification on the oak d wide pro output #81

Closed shannonwarren closed 11 months ago

shannonwarren commented 1 year ago

HI Team, thanks for the sdk and the examples. Super helpful !!!

I had a query regarding the vio pose output. Correct me if I'm wrong but the output position (xyz) from the vio sensor is in the camera optical frame, which I assume comes from some feature based matching and the orientation (quat) data is the imu frame from an imu? I came across this page which says something similar (https://discuss.luxonis.com/d/1044-about-oak-d-pro-w-imu-coordinate-system)

Additionally, I print out the vio_pipeline.imuToCameraLeft for my camera and it's a zero matrix. The README says that older unsupported models needs us to manually set up the imuToCameraLeft matrix. Is there a list of the unsupported models?

pose_msg.pose.orientation.x = obj['orientation']['x'] pose_msg.pose.orientation.y = obj['orientation']['y'] pose_msg.pose.orientation.z = obj['orientation']['z'] pose_msg.pose.orientation.w = obj['orientation']['w']

Bercon commented 1 year ago

You will see this warning when starting the cameras if the model isn't supported unrecoginzed OAK board name ... you may need to manually set IMU-to-camera extrinsics (configuration.imuToCameraLeft)

The default output is the optical frame of the left camera. You can switch it to IMU if you wish with internal parameter: outputCameraPose: False