Hi everyone,
I have been trying to run 'SpectacularAI' on OAK-D-LITE device, for a while now.
Now I'm receiving the following warning/error: -
Spectacular AI SDK: WARN: unrecoginzed OAK board name 'OAK-D-LITE'
you may need to manually set IMU-to-camera extrinsics (configuration.imuToCameraLeft)
From SpectacularAI documentation, it is not clear how to manually set "IMU-to-camera" matrix.
SpectacularAI - https://www.spectacularai.com/
SpectacularAI Documentation - https://github.com/SpectacularAI/sdk-examples/tree/main/python/oak
Unsupported OAK-D models
Some (less common) OAK models require setting certain parameters manually. Namely, the IMU-to-camera matrix may need to be changed if the device model was not recognized by the SDK. For example, For example:
vio_pipeline = spectacularAI.depthai.Pipeline(pipeline)
# manual IMU-to-camera matrix configuration
vio_pipeline.imuToCameraLeft = [
[0, 1, 0, 0],
[1, 0, 0, 0],
[0, 0,-1, 0],
[0, 0, 0, 1]
]
Can anybody help in setting/tuning "manual IMU-to-camera matrix configuration" for OAK-D-LITE ?
