Can Oak-D Pro W works like a GoPro while still be able to localize map?

Genozen

Hi, I just got the Oak-D pro W and am exploring the feasibility if I can strap on a person while performing SLAM. When running the Rtabmap example, the tracking seems to quickly drift. Are there any initial suggestions as to where to go about this? I saw a video that the RAE has pretty robust tracking when a user picks up and shakes the robot… I was wondering if I can get to similar level of tracking with Oak-D Pro W (OV9782)?
https://www.youtube.com/watch?v=HMQnjOf3n4A

Luxonis-Adam

Hi,
regarding RAE SLAM, the demo you posted is using a SLAM solution from SpectacularAI, you can refer to their Github repository for OAK examples.
Current rtabmap ROS example is a basic implementation for now used as an example to showcase how to setup a camera in the ROS ecosystem. In the non-ROS version library you can find a version that integrates camera on a lower level which seems to improve performance, although for that you need to rebuild library with that integration enabled.

Genozen

Luxonis-Adam Thank you so much for the prompt reply.

I've dabbled with the ROS rtabmap, but not so with the non-ROS version. Could you give a little more guidance on how I can run the Oak-D Pro W with Rtabmap (plug-n-play?).

I see a Luxonis guide featuring Oak-D with Rtabmap + SuperPoint which looks very interesting, but I'm not sure if there's also a guide to follow? https://docs.luxonis.com/en/latest/pages/slam_oak/

Luxonis-Adam

Hi, to get OAK support in C++ RTABMap you need to build it with specific flags, you can refer to this Dockerfile for build instructions. After building the library, you can find rtabmap binary to run in rtabmap/build/bin/