IMU (x,y,z)

SamiUddin

Hi I have successfully run this code:

from depthai_sdk import OakCamera
from depthai_sdk.classes import IMUPacket

with OakCamera() as oak:
imu = oak.create_imu()
imu.config_imu(report_rate=400, batch_report_threshold=5)

def callback(packet: IMUPacket):
    print(packet)

oak.callback(imu.out.main, callback=callback)
oak.start(blocking=True)

how can I print individual (x,y,z ) values of gyro meter, accelerometer and magnetometer in terminal.!?

erik

SamiUddin I hope this helps:

def callback(packet: IMUPacket):
     for d in packet.data:
        gyro: dai.IMUReportGyroscope = d.gyroscope
        accel: dai.IMUReportAccelerometer = d.acceleroMeter
        mag: dai.IMUReportMagneticField = d.magneticField
        print(accel.x, accel.y, accel.z)


with OakCamera() as oak:
    imu = oak.create_imu()
    imu.config_imu(report_rate=10, batch_report_threshold=2)
    print(oak.device.getConnectedIMU())
    oak.callback(imu, callback=callback)
    oak.start(blocking=True)

SamiUddin

Thank You so much erik!

SamiUddin

Code Reference: https://docs-old.luxonis.com/projects/sdk/en/latest/samples/IMUComponent/sdk_imu/#source-code

from depthai_sdk import OakCamera
from depthai_sdk.classes import IMUPacket

with OakCamera() as oak:
imu = oak.create_imu()
imu.config_imu(report_rate=400, batch_report_threshold=5)

def callback(packet: IMUPacket):
    print(packet)

oak.callback(imu.out.main, callback=callback)
oak.start(blocking=True)

In above code where to define LINEAR_ACCELERATION.

Kind Regards!

@erik

erik

@SamiUddin

imu.config_imu(sensors=[dai.IMUSensor.LINEAR_ACCELERATION], report_rate=400, batch_report_threshold=5)

SamiUddin

erik Thanks and Regards!

SamiUddin

@erik And How can get the detection/nnData in the same callback!? I tried it by arg the [imu, nn] in oak.visualize but Its always confuse in my packets.

erik

Hi @SamiUddin ,
You can use oak.callback, as visualize doesn't support imu -

    def callback(self,
                 output: Union[List, Callable, Component],
                 callback: Callable,
                 main_thread=False
                 ) -> CallbackPacketHandler:
        """
        Create a callback for the component output(s). This handles output streaming (OAK->Host) and message syncing.

        Args:
            output: Component output(s) to be visualized. If component is passed, SDK will visualize its default output.
            callback: Handler function to which the Packet will be sent.
            main_thread: Whether to run the callback in the main thread. If False, it will call the callback in a separate thread, so some functions (eg. cv2.imshow) won't work.
        """

Example here:
luxonis/depthaiblob/main/depthai_sdk/examples/mixed/packet_queue.py

AugustinLetourneur

Hi, Is it possible to read the data from the magnetometer in the terminal? I have the impression that it has not been defined. Would you know how to find out the magnetometer data ?

IMU Packet: ['Accelerometer [m/s²]: (x: 0.08, y: -0.34, z: -9.89), Gyroscope [rad/s]: (x: -0.00, y: 0.00, z: -0.01))', 'Accelerometer [m/s²]: (x: 0.05, y: -0.35, z: -9.92), Gyroscope [rad/s]: (x: 0.00, y: -0.01, z: 0.00))', 'Accelerometer [m/s²]: (x: 0.07, y: -0.34, z: -9.91), Gyroscope [rad/s]: (x: -0.01, y: -0.00, z: -0.01))', 'Accelerometer [m/s²]: (x: 0.06, y: -0.34, z: -9.90), Gyroscope [rad/s]: (x: -0.01, y: 0.00, z: -0.01))', 'Accelerometer [m/s²]: (x: 0.06, y: -0.35, z: -9.91), Gyroscope [rad/s]: (x: -0.01, y: 0.00, z: 0.00))']

jakaskerl

Hi @AugustinLetourneur
How does you current code look?

AugustinLetourneur

It's a simple code like the code in the conversation above, my goal is really to understand how I can get the data from the magnetometer because I only receive zeros from this sensor value. I think it is not defined.

from depthai_sdk import OakCamera
from depthai_sdk.classes import IMUPacket
from time import sleep

with OakCamera() as oak:
imu = oak.create_imu()
imu.config_imu(report_rate=400, batch_report_threshold=5)

def callback(packet: IMUPacket):
print(packet)
sleep(1)

oak.callback(imu.out.main, callback=callback)
oak.start(blocking=True)

# from depthai_sdk import OakCamera
# from depthai_sdk.classes import IMUPacket

# def callback(packet: IMUPacket):
# for d in packet.data:
# gyro: dai.IMUReportGyroscope = d.gyroscope
# accel: dai.IMUReportAccelerometer = d.acceleroMeter
# mag: dai.IMUReportMagneticField = d.magneticField
# print(gyro.x, gyro.y, gyro.z)
# print(accel.x, accel.y, accel.z)
# print(mag.x, mag.y, mag.z)

# with OakCamera() as oak:
# imu = oak.create_imu()
# imu.config_imu(report_rate=10, batch_report_threshold=2)
# print(oak.device.getConnectedIMU())
# oak.callback(imu, callback=callback)
# oak.start(blocking=True)

jakaskerl

Hi @AugustinLetourneur
As you have written below:

from depthai_sdk import OakCamera
import depthai as dai
from depthai_sdk.classes import IMUPacket
from time import sleep

with OakCamera() as oak:
    imu = oak.create_imu()
    imu.config_imu(sensors=[dai.IMUSensor.MAGNETOMETER_CALIBRATED], report_rate=400, batch_report_threshold=5)

    def callback(packet: IMUPacket):
        for d in packet.data:
            gyro: dai.IMUReportGyroscope = d.gyroscope
            accel: dai.IMUReportAccelerometer = d.acceleroMeter
            mag: dai.IMUReportMagneticField = d.magneticField
            print(mag.x, mag.y, mag.z)

    oak.callback(imu, callback=callback)
    oak.start(blocking=True)

Printing the packet won't work since the packet's defined __str__ method will only print GYRO and ACC.

Keep in mind you need BNO IMU for this to work; you will be notified if you have BMI.

Thanks,
Jaka

AugustinLetourneur

jakaskerl thank you very much for your quick response, it works very well !

Regards