SDK & Algorithm¶

Carina SDK¶

📎 Forum: Carina SDK Release Posts | Firmware | XR Versions

Version History¶

Version	Release Date	Key Updates	Forum Link
v2.5.13	2026-04-16	Ubuntu 22.04 support; JCX_DRIVER_TYPE_A1088_4_VGA fix; All MD modules support	View
v2.3.2	2026-03-02	macOS support, 2088 chip, mono initialization fix	View
v1.40.404	2025-12-12	FT68 module support, filter optimization	View
v1.39.292	2025-08-04	Hot-plug optimization	View
v1.0.16	2024-11-25	VST toggle	View

Supported Platforms¶

Windows (X64)
Ubuntu 18.04 / 20.04 / 22.04 (X86_64, aarch64)
Android (arm64-v8a, armeabi-v7a)
macOS (since v2.3.2)
Module solutions: MD_FT68, MD_FT63, MD_FT62, MD_FT60, MD_FT51, A1088

Configuration (custom_config.yaml)¶

Basic Config¶

slam_off: false
is_6dof: true
histogram_method: none
orb_database_path: ./database.bin
video_see_through: off
mapping_mode: false

Local Map Config¶

mapping_mode: true
save_map: true
rtc_mode: on
load_map: true
map_save_path: D:\\dataset\\wh\\yyss_map

Frame Rate Settings¶

open_camera: on
ChipPoint.fps: 30      # 15/20/25/30/40/50/60
Camera.fps: 30
Imu.fps: 1000          # 200/250/500/1000

Exposure Settings¶

auto_exposure: false
exposure_time: 5       # 0.01-8ms (manual)
exposure_gain: 2       # 1-5x (manual)

Data Recording¶

save_data: true
save_trajectory: true
data_saved_path: ./output

Prediction Settings¶

imu_predict_max_ts: 0.02
predict_only_rotation: 0
predict_position_scale: 0.5

Mapping Mode¶

Local Mapping¶

A1088/FT60 chip:

std::string custom_config =
    "mapping_mode: true\n"
    "rtc_mode: on\n"
    "save_map: true\n"
    "load_map: true\n"
    "map_save_path: /home/***/map\n";
carina_a1088_init("", custom_config, "./database.bin");

Cloud Mapping¶

std::string custom_config =
    "cloud_mapping: true\n"
    "server.address: 192.168.0.126:50080\n";
carina_a1088_init("", custom_config, "./database.bin");

6DoF Pose Data Structure¶

Index	Description
0-2	Rotation matrix row0
3-5	Rotation matrix row1
6-8	Rotation matrix row2
9-11	Unused
12,13,14	Translation x, y, z

Data Collection¶

SDK Data Collection¶

save_data: true
save_trajectory: true
data_saved_path: ./output

ROS Node¶

Supports A1088, FT60/FT51 on Ubuntu 20.04 / ROS / OpenCV 4.2

roscore
source carina_ros_demo/setup.bash
roslaunch carina_ros_demo carina_ft60_demo.launch

Topics:

ft60/left/right/image_raw
slam/path
slam/pose

SLAM Algorithm¶

Coordinate System¶

IMU coordinate system as the main reference
Z-axis aligned with gravity upward
X, Y axes determined via Gram-Schmidt orthogonalization
World coordinate system initialized at startup

Calibration Process¶

Collect 6-face IMU static data (2+ seconds each)
Send imu0.csv for IMU calibration
Camera model: pinhole-fov / radtan / equi (FOV recommended)
Resolution 640x480 @ 30Hz, IMU @ 1000Hz
Write calibration data using the verification tool

Data Verification Tool¶

Before calibration: verify IMU and image data
After calibration: check image, IMU, pose frame rate, A1088 feature points