oak

Spectacular AI C++ SDK for OAK-D

You can find the non-commercial C++ SDK for OAK-D from https://github.com/SpectacularAI/sdk/releases.

For commercial licenses and version for other OS and CPU architectures, contact us at https://www.spectacularai.com/#contact.

Linux

Quick start

1. Unpack the SDK archive

2. Install the system dependencies

   sudo apt install zlib libstdc++ libusb-1.0-0-dev
   

3. Attach your OAK-D device to a USB3 port, using a USB3 cable

4. (optional smoke test) Run the JSONL example:

   cd bin
   ./vio_jsonl
   # Now you should see rapidly flowing JSONL text
   # press Ctrl+C to exit
   

5. Run the Python example (in the bin directory)

   pip install matplotlib # install dependencies
   python vio_visu.py
   

6. Move the OAK-D around, avoid pointing at blank walls or covering the cameras. The plotted trajectory should follow the movement of the device.

Installation as a library

1. Install the system dependencies as instructed in "Quick start"

2. Select where you want the library installed, e.g.,

   export MY_INSTALL_PREFIX=~/.local
   # or: export MY_INSTALL_PREFIX=`pwd`/installed
   

3. Run make PREFIX=$MY_INSTALL_PREFIX install (or sudo make install)

4. Make sure you have CMake and Git (sudo apt install cmake git)

5. Build the example using CMake

   make PREFIX=$MY_INSTALL_PREFIX examples
   

Running on specific hardware

Jetson

Running on Jetson (Nano) requires some additional steps in order to get the SDK working. Luxonis has more detailed at https://docs.luxonis.com/projects/api/en/latest/install/#jetson, but below are the minimum required steps.

Open a terminal window and run the following commands:

sudo apt update && sudo apt upgrade
sudo reboot now

Change the size of your SWAP. These instructions come from the Getting Started with AI on Jetson from Nvidia:

# Disable ZRAM:
sudo systemctl disable nvzramconfig

# Create 4GB swap file
sudo fallocate -l 4G /mnt/4GB.swap
sudo chmod 600 /mnt/4GB.swap
sudo mkswap /mnt/4GB.swap

(Optional) If you have an issue with the final command, you can try the following:

sudo vi /etc/fstab

# Add this line at the bottom of the file
/mnt/4GB.swap swap swap defaults 0 0

# Reboot
sudo reboot now

Windows

Quick start

1. Unpack the SDK archive

2. Attach your OAK-D device to a USB3 port, using a USB3 cable

3. (optional smoke test) Run the JSONL example:

   cd bin
   ./vio_jsonl.exe
   # Now you should see rapidly flowing JSONL text
   # press Ctrl+C to exit
   

4. Run the Python example (in the bin directory)

   pip install matplotlib # install dependencies
   python vio_visu.py
   

5. Move the OAK-D around, avoid pointing at blank walls or covering the cameras. The plotted trajectory should follow the movement of the device.

Using as a library

You need to install following tools if you don't already have them:

• Install Git for Windows https://git-scm.com
• Install Visual Studio Community 2019 https://visualstudio.microsoft.com/vs/community/
  • When launching, install dependencies for "Desktop Development with C++"
• Install CMake https://cmake.org/
• Install Python https://www.python.org/downloads/

Now you are all set to use the VIO plugin. Let's compile the example to see it works:

cd examples
mkdir target
cd target

To properly pass arguments to cmake in PowerShell we need a bit more elaborate command, depending on the shell you are using pick A) or B). A) In PowerShell: Start-Process cmake -ArgumentList "-G ""Visual Studio 16 2019"" -A x64 -DspectacularAI_depthaiPlugin_DIR=..\lib\cmake\spectacularAI -Ddepthai_DIR=..\lib\cmake\depthai .." -NoNewWindow

B) In Git Bash or similar: cmake -G "Visual Studio 16 2019" -A x64 -DspectacularAI_depthaiPlugin_DIR=../lib/cmake/spectacularAI -Ddepthai_DIR=../lib/cmake/depthai ..

Then execute the build:

cmake --build . --config Release -- -m

Finally running the vio_jsonl.exe should give you the pose of the OAK-D device in real time:

cd Release
./vio_jsonl.exe

Example output:

{"orientation":{"w":0.7068698348716513,"x":0.02283470213352065,"y":-0.011350438374188287,"z":0.7068838521820336},"position":{"x":-0.016812673347013137,"y":-0.0231306465130168,"z":-0.0013136235444364183},"time":61088.131537828,"velocity":{"x":-3.936320861854323e-06,"y":-1.8569468854259723e-06,"z":0.00031940298071614516}}

License information

See share/doc/spectacularAI_depthaiPlugin/LICENSE for copyright notices that must be included in all software using this SDK.