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Files with hardware descriptions for depthai boards
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oak-d-pro-poe config doesn't match spec #93

Closed khuechuong closed 3 months ago

khuechuong commented 4 months ago

So I saw the board config here: https://github.com/luxonis/depthai-boards/blob/main/boards/OAK-D-PRO-POE.json

{
    "board_config":
    {
        "name": "OAK-D-PRO-POE",
        "revision": "R3M1E3",
        "cameras":{
            "CAM_A": {
                "name": "rgb",
                "hfov": 68.7938,
                "type": "color"
            },
            "CAM_B": {
                "name": "left",
                "hfov": 71.86,
                "type": "mono",
                "extrinsics": {
                    "to_cam": "CAM_C",
                    "specTranslation": {
                        "x": -7.5,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            },
            "CAM_C": {
                "name": "right",
                "hfov": 71.86,
                "type": "mono",
                "extrinsics": {
                    "to_cam": "CAM_A",
                    "specTranslation": {
                        "x": 3.75,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            }
        },
        "stereo_config":{
            "left_cam": "CAM_B",
            "right_cam": "CAM_C"
        },
        "imuExtrinsics":
        {   
            "sensors":{ 
                "BNO": {
                    "name" : "BNO086",
                    "extrinsics": {
                        "to_cam": "CAM_B",
                        "specTranslation": {
                            "x": 7.75,
                            "y": -0.2,
                            "z": 2.0264
                            },
                        "rotation":{
                            "r": 180,
                            "p": 0,
                            "y": 90
                            }
                    }
                },
                "BMI": {
                    "name" : "BMI270",
                    "extrinsics": {
                        "to_cam": "CAM_B",
                        "specTranslation": {
                            "x": 8.5475,
                            "y": -0.2,
                            "z": 1.646
                            },
                        "rotation":{
                            "r": 180,
                            "p": 0,
                            "y": 270
                            }
                    }
                }
            }
        }
    }
}

however, from what I see here: https://docs.luxonis.com/hardware/products/OAK-D%20Pro%20PoE

the mono/depth cam hfov is 80 but the config say 71.86. Is there a mistake?

Also, is the imu calibration good? Or will we have to calibrate it too? IF so, what library?

MaticTonin commented 4 months ago

Hi. Yes, it is a mistake and will be fixed right away. For now, we do not have IMU calibration in place, only the values of where the sensor is positioned relative to CAM_B. So those are the values written in the imuExtrinsics.