OAK-1 W OV9782: Physical position of the origin of the xyz frame and paras

ckz

Hi,

I am a person using OAK-1 W OV9782 doing a simulation project. I am currently blocked by the physical frame of this camera. Where the origin of the coordinate system for the OAK-1 W OV9782 located? Is it on the sensor, center of the board, the lens or the flat glass surface? Can anyone help me to draw the xyz frame on 3d model? Thanks!

Also I am wondering the intrinsic parameters of the camera. Maybe the default is enough. These parameters helps me to build the same angle of view (The same scene as that of a real camera). It will be a great help for me!

Thanks again in advance for the information.
CKZ

OskarSonc

Hey ckz - The “simulation” frame you usually want is the camera optical frame. Put the origin at the pinhole/optical center. For axes, be aware there are two common conventions: ROS “optical frame” is X right, Y down, Z forward, while DepthAI “spatial” coords are typically X right, Y up, Z forward. Pick one and stay consistent in your 3D model.

For intrinsics, don’t guess defaults - read them from the device EEPROM using the calibration_reader / Calibration Reader example. You can also you this calculator then:
https://fov.luxonis.com/

Thanks,
Oskar

ckz

OskarSonc
Great! Thanks for your answer! Let me try the methods you provide and after it works I will reply to this discussion again and share the pipeline!

Thanks again!