IMU rotation vector support

hg111

Hello,

I'm trying to get output from the IMU rotation vector on our OAK-D PRO W (recently purchased and listed as supported,.) When trying to run the IMU Rotation Vector example ( https://github.com/luxonis/depthai-python/blob/main/examples/IMU/imu_rotation_vector.py ) I get:

Traceback (most recent call last):
File "imu_rotation_vector.py", line 31, in <module>
with dai.Device(pipeline) as device:
RuntimeError: IMU(0) - IMU invalid settings!: ROTATION_VECTOR output is unsupported. BMI270 supports only ACCELEROMETER_RAW and/or GYROSCOPE_RAW outputs.

Any idea?

erik

Hi hg111 ,
That's because you have BMI IMU, which is 6axis and only supports ACCELEROMETER_RAW and GYROSCOPE_RAW (docs here). I believe our new batches of Pro devices will include the 9axis IMU (BNO) which will have rotation vector support as well. Thoughts?
Thanks, Erik

deepGio

Hi Erik,

I purchased an OAK-D Pro AF just a couple of days ago. It is a great product and very well documented! But I'm having the same issue as hg111 . It officially comes with 9-axis BNO sensor, ( https://github.com/luxonis/depthai-hardware/blob/master/DM9098_OAK-D-Pro/Datasheet/OAK-D-Pro_Datasheet.pdf [Section 7] and distributor technical sheet https://www.mouser.it/datasheet/2/1139/Luxonis_4_13_2022_OAK_D_Pro_AF_Datasheet_4_12_22-2939269.pdf the same) but when i tried to get ROTATION_VECTOR it throws the same error, because BMI270 supports only ACC and GYR raw data. (So I realized there is a BMI instead!). I need accurate orientation estimation and 9-axis still remains essential. Am I correct or missed something? If yes I suggest clarifying or correcting the technical sheets. Which oak-d models do have BMI inside at the time of writing? I am still in return period so maybe I can choose another model.

Thanks, Gio

hg111

Hi Erik,
You mentioned that next batch will have BMO support, yet the FAQ docs says:

**Can I Use an IMU With DepthAI?
Yes, all of our System on Modules have support for the BNO086 (and BNO080/BNO085) IMU. See documentation on IMU here.**

I mean, is the FAQ answer was incorrect and in fact Luxonis don't support yet the 9-axis BNO085/BMO086 ???

or if the FAQ is correct, why the device we have, OAK-D-PRO W, only supports 6DoF like you say, yet it is listed on the supposedly supported devices in your docs "OAK-D Pro (All varients): ?

and in that case, when will the next batch of 9-axis pro will be available ? or do you have any available that we can switch right away? The IMU is next on our development roadmap..

Thank you for all your help so far!

erik

Hi hg111 ,
FAQ isn't incorrect per se - our OAK SOMs do have support for IMU (both BNO and BMI), but that doesn't mean it's on the PCB. Our depthai supports both 9axis and 6aixs IMU, but not all cameras have the 9axis IMU onboard. The next batch of Pro versions should come with the BNO onboard, will try to get ETA asap. Sorry again for the inconvenience.
Kind regards, Erik

erik

Hi deepGio ,
Could you please send an email to support@luxonis.com? We apologize for the inconvenience and we will get it sorted asap.
Thanks, Erik

deepGio

Hi erik ,
Thank you very much for the support. Sent an email.

Gio