Transformation IMU to camera for OAK-D SR

chzl

Hi,
I would like to run ORB-SLAM3 with my OAK-D SR. For that, I need to get the homogeneous transform between the IMU and the camera B. I checked the calibration parameters :
from pathlib import Path import depthai as dai device = dai.Device(dai.UsbSpeed.HIGH) calibData = device.readCalibration() print(calibData.getImuToCameraExtrinsics(dai.CameraBoardSocket.CAM_B))

I get
[[1.0, 0.0, 0.0, 1.0175000429153442],
[0.0, 1.0, 0.0, 0.1712999939918518],
[0.0, 0.0, 1.0, 0.0],
[0.0, 0.0, 0.0, 1.0]]

But the result seems surprising to me, with an x-translation of 1 m.
Could you confirm this ?

Thanks a lot for your time and consideration !
Claire

OskarSonc

Hey chzl - those translations are in centimetres by default, not metres.

chzl

Thanks for your quick answer, that makes more sense !