VIO on OAK device

akioh

I have an OAK-FFC 3P and a camera. I would like to know if it is possible to run a VIO algorithm on the OAK-FFC 3P using this hardware. If possible, could you provide any related documentation?

jakaskerl

akioh
It is possible, if your 3P has onboard IMU. We have some examples for ros -https://docs.luxonis.com/software/ros/vio-slam/ We will be adding some non-ROS functionality to host nodes on the depthai V3 when it releases mid November.

Thanks,
Jaka

akioh

jakaskerl

Thank you for your reply. I looked at the VIO and SLAM pages. Is it possible to do what I want using Robotics Vision Core 3?

akioh

now I m trying this page contents.https://spectacularai.github.io/docs/sdk/wrappers/oak.html

jakaskerl

akioh
It's possible AFAIK, but I would suggest using RVC4 for this task since the IMUs are much better than on 2 and 3.

Thanks,
Jaka

akioh

jakaskerl

Thanks for your recommendation. By the way, how to use RVC4. Is this ? luxonis/depthai-python

akioh

I am using the OAK-FFC 3P, which is designed for RVC2. I believe it doesn't have a CPU, so I assume RVC3 and RVC4 are not compatible with it. Is my understanding correct?

jakaskerl

akioh
RVC4 no, but the SOM on the ffc-3p is a SOM/SOM pro (not entirely sure), which are RVC2 systems, but you could theoretically swap it out for a SOM-MAX which is RVC3 system since it has the same pinout. This works on FFC-4p and should as well on the 3p. Though I wouldn't recommend the RVC3 anyway since it has some issues.

Thanks,
Jaka

akioh

jakaskerl

Thanks . which one should I use?

OAK-SoM MAX (6x 2-lane MIPI, default configuration)
OAK-SoM-MAX-1 (4x 2-lane MIPI, 1x 4-lane MIPI)
OAK-SoM-MAX-2 (2x 2-lane MIPI, 2x 4-lane MIPI)

jakaskerl

akioh
Neither since they are all pretty much deprecated in favor of the series 4 devices and the myriad (no pun intended) of issues with intel's firmware.

Thanks,
Jaka