Dear ROS Experts, We are prototyping a custom/modular camera with OAK FFC 4P + 3 x OAK FFC AR0234 (2 most left/right sensor are for stereo pair, the middle is used as RGB) + 1 x OAK FFC 477 for RGB (not used at the moment). Position of the OAK FFC 4P (with IMU included) compared to the imaging sensors : [upl-image-preview url=https://discuss.luxonis.com/assets/files/2023-11-27/1701057685-150174-image.png] Position of the IMU (which is near btw the middle AR0234 and the un-used IMX477) to the right imaging sensor : [upl-image-preview url=https://discuss.luxonis.com/assets/files/2023-11-27/1701057729-72819-image.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2023-11-27/1701057752-434605-image.png] We would like to know how to correctly create and add the CAD model/URDF description of our camera prototype for the accurate camera transforms (regarding the IMU and the most left/right imaging sensor for the stereo pair). Could you provide some advice, please ? Best Regards, Khang

How to add CAD model/URDF description for custom/modular stereo camera ?

l4es

Dear ROS Experts,

We are prototyping a custom/modular camera with OAK FFC 4P + 3 x OAK FFC AR0234 (2 most left/right sensor are for stereo pair, the middle is used as RGB) + 1 x OAK FFC 477 for RGB (not used at the moment).

Position of the OAK FFC 4P (with IMU included) compared to the imaging sensors :

Position of the IMU (which is near btw the middle AR0234 and the un-used IMX477) to the right imaging sensor :

We would like to know how to correctly create and add the CAD model/URDF description of our camera prototype for the accurate camera transforms (regarding the IMU and the most left/right imaging sensor for the stereo pair). Could you provide some advice, please ?

Best Regards,
Khang

jakaskerl

cc @Luxonis-Adam

Luxonis-Adam

Hi,
Regarding frames, you can look up the current URDFs for OAKs. There is also a possibility to publish TFs based directly on the camera calibration (although it hasn't been tested with FFC 4P yet), more information can be found here

l4es

Hi Luxonis-Adam ,

Thanks for your reply.

Compared to existing CAD models, how can I ensure that the necessary transforms are extracted from my custom CAD model (STL), please ? Is there any rules to follow when designing the CAD of our custom camera (which is effectively the enclosure (with 3 different frames : Front, Inner, Back for mounting the OAK FFC modules), and so are the CAD models of OAK-D-PRO, OAK-D-PRO-W. etc).

Thanks in advance and best regards,
Khang