See https://spectacularai.github.io/docs/sdk/wrappers/oak.html for instructions and API documentation

• Minimal example. Prints 6-DoF poses as JSON text: python vio_jsonl.py

• Basic visualization. Interactive 3D plot / draw in the air with the device: python vio_visu.py

• 3D pen. Draw in the air: cover the OAK-D color camera to activate the ink. python pen_3d.py

• 3D mapping. Build and visualize 3D point cloud of the environment in real-time. mapping_visu.py

• 3D mapping with Augmented Reality. Show 3D mesh or point cloud on top of camera view, using OpenGL. mapping_ar.py

• 3D Mapping with ROS Integration. Runs Spectacular AI VIO and publishes pose information and keyframes over ROS topics. mapping_ros.py

• Advanced Spatial AI example. Spectacular AI VIO + Tiny YOLO object detection. See depthai_combination.py for additional dependencies that also need to be installed.

• Mixed reality. In less than 130 lines of Python, with the good old OpenGL functions like glTranslatef used for rendering. Also requires PyOpenGL_accelerate to be installed, see mixed_reality.py for details.

• GNSS-VIO example, reads external GNSS from standard input vio_gnss.py (see also these instructions)

• April Tag example: Visualize detected April Tags python april_tag.py path/to/tags.json. See: https://spectacularai.github.io/docs/pdf/april_tag_instructions.pdf

• Remote visualization over SSH. Can be achieved by combining the vio_jsonl.py and vio_visu.py scripts as follows:

   ssh user@example.org 'python -u /full/path/to/vio_jsonl.py' | python -u vio_visu.py --file=-
  

  Here user@example.org represents a machine (e.g., Raspberry Pi) that is connected to the OAK-D, but is not necessarily attached to a monitor. The above command can then be executed on a laptop/desktop machine, which then shows the trajectory of the OAK-D remotely (like in this video).