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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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[QQ] Oak D Lite IMU to base camera frame transform ? #331

Open hidmic opened 1 year ago

hidmic commented 1 year ago

I have an Oak D Lite in my hands (awesome device BTW!), and this one has an IMU I'm trying to use. However, I have the impression its orientation does not match that of the regular Oak D. Instead of a +90 degree pitch, I see -90 degree yaw followed by +90 degree roll (intrinsic rotations). Almost as if it was mounted on the other side of the board and rotated.

Am I missing something here?

saching13 commented 1 year ago

No. Orientations are different for different device. we will be updating the IMU extrinsics for all the devices in TF's soon.

asimonov commented 9 months ago

@saching13

I am using urdf for Luxonis OAK-D Pro with my Luxonis Oak-D pro W device.

I am also running OpenVINS with it. OpenVINS reports position/rotation of the IMU in the world frame.

It looks like TF coming from URDF is not matching what OpenVINS reports. Is this correct? Can you tell how I can know orientation of IMU inside my Luxonis Oak-D Pro W without opening it? Is it in documentation somewhere?

saching13 commented 9 months ago

We will have an update on this within next 2 weeks. For now to get the correct orientation. when the node is publishing the IMU values. Plot them in plotjuggler or foxglove to see which axis gets value when placed on one of the sides of the device. do this for 3 sides to know which one represents which axis.

WIP update of position and orientation can be found here