add extrinsics example

luxonis · Jan 27, 2025 · 0b25a81 · 0b25a81
1 parent 8eac045
commit 0b25a81
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Showing 3 changed files with 31 additions and 2 deletions.
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "460451aa7290501ea9ce26301b9e421dbd67033d")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "5c28512d649be4a8b6b359858d385ff5c228c61e")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -289,6 +289,8 @@ dai_add_example(warp_mesh Warp/warp_mesh.cpp ON OFF)
 # IMU
 dai_add_example(imu_gyroscope_accelerometer IMU/imu_gyroscope_accelerometer.cpp ON OFF)
 dai_add_example(imu_rotation_vector IMU/imu_rotation_vector.cpp ON OFF)
+dai_add_example(imu_extrinsics IMU/imu_extrinsics.cpp ON OFF)
+dai_add_example(imu_firmware_update IMU/imu_firmware_update.cpp ON OFF)
 
 # mixed
 dai_add_example(mono_depth_mobilenetssd mixed/mono_depth_mobilenetssd.cpp ON OFF)
@@ -432,4 +434,4 @@ target_compile_definitions(cast_diff PRIVATE BLOB_PATH="${diff_model}")
 dai_add_example(spatial_tiny_yolo_tof_v3 SpatialDetection/spatial_tiny_yolo_tof.cpp OFF OFF)
 dai_add_example(spatial_tiny_yolo_tof_v4 SpatialDetection/spatial_tiny_yolo_tof.cpp OFF OFF)
 target_compile_definitions(spatial_tiny_yolo_tof_v3 PRIVATE BLOB_PATH="${tiny_yolo_v3_blob}")
-target_compile_definitions(spatial_tiny_yolo_tof_v4 PRIVATE BLOB_PATH="${tiny_yolo_v4_blob}")
+target_compile_definitions(spatial_tiny_yolo_tof_v4 PRIVATE BLOB_PATH="${tiny_yolo_v4_blob}")
diff --git a/examples/IMU/imu_extrinsics.cpp b/examples/IMU/imu_extrinsics.cpp
@@ -0,0 +1,27 @@
+#include <cstdio>
+#include <iostream>
+
+#include "utility.hpp"
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+    using namespace std;
+    using namespace std::chrono;
+
+
+
+    // Pipeline is defined, now we can connect to the device
+    dai::Device d;
+
+    auto imuExtr = d.readCalibration().getImuToCameraExtrinsics(dai::CameraBoardSocket::CAM_B, true);
+
+    for(auto& row : imuExtr) {
+        for(auto& val : row) {
+            cout << val << " ";
+        }
+        cout << endl;
+    }
+    return 0;
+}