OAK-D Pro PoE Origin

dlerner

Hello,

I'm looking for the camera's reference system origin to find our best guess at hand-eye calibration. I have the CAD model of the part but cannot seem to find any documentation on this.

erik

Hi dlerner ,
We don't have any demos yet for hand-eye calibration, but we do have urdf models here. Would that help?
Thanks, Erik

dlerner

Hi erik ,

A URDF is what I need but we have our own very specific method for exporting them. I can make the URDF from scratch but am a little unsure how to parse the xacro file and get the origin and coordinate system to make the correct transform. All I need is the exact placement of the origin and I can do the rest. For my first pass, I assumed that the camera origin is on the glass window and at the center of the middle camera. Is this correct?

Thanks for your help!

PaulWilson

erik Hi Erik, that link doesn't work. I there another location for URDF models?

Paul

erik

Hi dlerner ,
I believe the origin is actually from the sensor itself, not from the frontglass of the OAK. Might be easiest to find those coordinates from the step files on our github. I hope this helps!
Thanks, Erik

dlerner

Hello,

I have the CAD files as shown above but am still unsure where the "sensor" is. Is it directly mounted to the PCB? Which camera is used for the origin? What direction are the x, y, and z axes?

Luxonis-Adam

Hi, currently in our ROS driver we have URDF set up so that optical frames are set on the glass, and that might change a little bit in the future. To see all the frames that we have set up you can run, for example stereo_inertial_node from depthai_examples package and display frames in Rviz. As for the axes, we use two conventions, since some libraries have different standards for them. Below is a screenshot from Rviz

dlerner

Luxonis-Adam
Hello Adam and thanks for the help!

Unfortunately, I am not using a linux machine and cannot install ROS/Rviz. Would you be able to take a look at my coordinate system screenshot above and tell me if it's correct?

Thanks!
Dani Lerner

Luxonis-Adam

Hi @dlerner it should be fine if you are doing hand-eye calibration anyway, I'd personally put it on a sensor itself (the silicon), not the glass.
Thanks,
Adam

jakaskerl

Hi PaulWilson
https://github.com/luxonis/depthai-ros/tree/humble/depthai_descriptions/urdf

PaulWilson

jakaskerl Thank you!