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IMU board fix for original OAK-D

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matlabbe
2023-05-29 17:02:53 -07:00
parent 8d6c809c3c
commit 5b1c9e7233
1 changed files with 3 additions and 4 deletions
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7
corelib/src/camera/CameraDepthAI.cpp
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@@ -277,9 +277,9 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
// matrix[1][0], matrix[1][1], matrix[1][2], matrix[1][3], // matrix[1][0], matrix[1][1], matrix[1][2], matrix[1][3],
// matrix[2][0], matrix[2][1], matrix[2][2], matrix[2][3]); // matrix[2][0], matrix[2][1], matrix[2][2], matrix[2][3]);
auto eeprom = calibHandler.getEepromData(); auto eeprom = calibHandler.getEepromData();
if(eeprom.boardName == "OAK-D") if(eeprom.boardName == "OAK-D" ||
eeprom.boardName == "BW1098OBC")
{ {
// Hard-coded: x->down, y->left, z->forward
imuLocalTransform_ = Transform( imuLocalTransform_ = Transform(
0, -1, 0, 0.0525, 0, -1, 0, 0.0525,
1, 0, 0, 0.0137, 1, 0, 0, 0.0137,
@@ -287,7 +287,6 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
} }
else if(eeprom.boardName == "DM9098") else if(eeprom.boardName == "DM9098")
{ {
// Hard-coded: x->down, y->right, z->backward
imuLocalTransform_ = Transform( imuLocalTransform_ = Transform(
0, 1, 0, 0.0754, 0, 1, 0, 0.0754,
1, 0, 0, 0.0026, 1, 0, 0, 0.0026,
@@ -295,7 +294,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
} }
else else
{ {
UWARN("Unknown boardName! Disabling IMU!"); UWARN("Unknown boardName (%s)! Disabling IMU!", eeprom.boardName.c_str());
imuPublished_ = false; imuPublished_ = false;
} }
} }