IMU to CameraLeft calibration matrix for OAK-D-LITE camera

SridharPalla

I'm trying to run SpectacularAI software. It says 'OAK-D-LITE' camera is not recognized. Seems like only 'OAK-D' camera is recognized by this software.

Following is the warning I have encountered while running the software:
Spectacular AI SDK: WARN: unrecoginzed OAK board name 'OAK-D-LITE'
you may need to manually set IMU-to-camera extrinsics (configuration.imuToCameraLeft)

Can anybody help in providing or calculating this 'IMU-to-camera' 4X4 matrix?

jakaskerl

Hi SridharPalla
Sorry, not sure if I replied to your previous post, but I did ask the team regarding the calibration. Since D-Lite is pre-configured, I really didn't want to ask you to do the calibration yourself. One of our guys is currently doing the calibration of all devices' IMU-Cam calibrations. I will send you the matrix when I get my hands on the calibration files.
Should be a day or two, i think.

Thanks,
Jaka

SridharPalla

Thank you for the reply.

Please provide, these three matrices, and please add to the documentation of the OAK-D-LITE camera for any future references for somebody else.

imu to leftcamera
imu to rightcamera
imu to colarcamera.

I only need, 'imu to left camera' but for the sake of others, I'm asking here for all possible matrices.

Thank you for your kind favour

SridharPalla

@jakaskerl any update on this please??

DaniloPejovic

Hey, I am working on getting IMU flashed into oak d lite cameras. You seem to need a 4x4 matrix - I can assume that is regular transformation matrix?

In that case that matrix should be (unless I made a mistake in my calculations):

| 0 -1 0 0.368 |
| -1 0 0 0.2 |
| 0 0 -1 0.0541 |
| 0 0 0 1 |

Translaiton values are as follows:

x: 0.368
y: 0.2
z: 0.0541

and rotation:

Roll: 180
Pitch: 0
Yaw: 270

Let me know if those values work for you as I am not sure what exact transformation spec ai needs (out internal ones or ones to optical frame or to some 3rd frame)