OAK-D-S2 ROS2 URDF Origin

sgstreet

I have an OAK-D-S2 mounted on my robot using the M4 mounting holes. I have the a CAD model with the mounting location of the camera relative to my robot's base_link. I'm trying to determine the values of xacro parameters: cam_pos_x, cam_pos_y, cam_pos_z, cam_roll, cam_pitch cam_yaw relative to my mounting location. I have reviewed the ROS2 Driver documentation and the depthai_description urdf's, but I am confused about where the URDF origin of the oak link is located relative to the mounting holes on the back of the OAK-D-S2 enclosure. Can you provide to guidance?

jakaskerl

sgstreet
cc @Luxonis-Adam

Thanks,
Jaka

Luxonis-Adam

Hi, currently the origin is set to 'rgb' sensor, we plan on modifying the TF tree structure and adding housing as a reference frame in ROS2 Kilted release

sgstreet

Great. In the mean time, can you provide the location of the RGB sensor optical center referenced to some place on PCB? Also, very helpful would be the Left and Right optical centers referenced to the same location. This will allow me to calculate the needed information accurately.

Thanks Stephen

jakaskerl

sgstreet
They are referenced to the same location. There are extrinsics available in the calibration file. If you need specifically the PCB reference, then I guess IMU_to_CAM transformation could work.

Thanks,
Jaka

sgstreet

As apparent below from calibration_dump, there is no transform from the IMU to any camera sensor.

"imuExtrinsics": {

    "rotationMatrix": [

        [

            0\.0,

            0\.0,

            0\.0

        ],

        [

            0\.0,

            0\.0,

            0\.0

        ],

        [

            0\.0,

            0\.0,

            0\.0

        ]

    ],

    "specTranslation": {

        "x": 0.0,

        "y": 0.0,

        "z": 0.0

    },

    "toCameraSocket": -1,

    "translation": {

        "x": 0.0,

        "y": 0.0,

        "z": 0.0

    }

},

sgstreet

@Luxonis-Adam I need a real number here, this should be an easy ask, so I'm confused by @jakaskerl responses. Pick any camera sensor and provide a 3D location of the optical center relative to some origin on the PCB. I have loaded both and PCB Step and Enclosure Steps in the Fusion360 and can calculate the remaining transforms from the PCB Origin Location and the 3D optical locations. I just purchased a OAK-D-Pro-W and hope not have to return is for lack of basic data about the Luxonis cameras.

sgstreet

Any support for this issue?

sgstreet

Help!