Camera Frame Point on Oak1-W

Avi

I am looking for the transformation from the origin of the step file of the Oak1 to its camera frame point so that I can properly define a pinhole camera model in sim. Is this available? Also, a urdf of the oak1 may also be helpful.

SasoTamse

Hi Avi - An OAK-1 model and URDF/Xacro are available in the official DepthAI ROS repository:

https://github.com/luxonis/depthai-ros/tree/kilted/depthai_descriptions/urdf

The OAK-1 mesh is here:

https://github.com/luxonis/depthai-ros/blob/kilted/depthai_descriptions/urdf/models/OAK-1.stl

In this model, the camera optical center and model origin have the same position (xyz="0 0 0"). Only the frame orientation is changed to follow the ROS optical-frame convention.

Best regards,
Sašo

Avi

Thank you! Do you have the camera optical center on a step file? Currently, I am using the step file provided online to place it in cad, but it seems to have a different origin than the stl.

SasoTamse

Avi

The STEP and ROS STL files use different export origins. Unfortunately, we do not currently provide a STEP file with the camera optical center defined as its origin.

As a workaround, you can import both files into CAD, align them using the enclosure geometry, and then use the STL origin as the camera optical center.