OAK-D SR POE optical frames

Tomlogan

Hi,

I will use a OAK-D SR POE and I want to create the gazebo twin of this camera. I didn't find in any documentation the optical frames to reproduce inside gazebo.

Can you provide a documentation about that ? Also what origin do you recommend from it ?

OskarSonc

cc @Luxonis-Adam

Luxonis-Adam

Hi, you can find the URDF file here, although if you have a camera you can take the values published from the calibration for more accurate results. The origin has been historically the CAM_A (in this case the ToF sensor) and our STL model reflects that, in the future we will update that to be the housing of the camera.