Hi yuri_durodie
Get imu type:
import cv2 import depthai as dai import time import math device = dai.Device() imuType = device.getConnectedIMU() imuFirmwareVersion = device.getIMUFirmwareVersion() print(f"IMU type: {imuType}, firmware version: {imuFirmwareVersion}")
You should be able to find the orientation of imu from github fabrication drawings. The orientation is not the same for both IMUs AFAIK. https://docs.luxonis.com/projects/api/en/latest/references/python/#depthai.CalibrationHandler.getCameraToImuExtrinsics can help perhaps.
The projection matrix in the rgb.yaml file is typically used in stereo vision systems to map points from 3D space to 2D image space. The camera matrix, which includes fx, fy, cx, and cy, is used to calibrate a single (monocular) camera. Usually, for monocular camera calibration, you'd use the camera matrix parameters (fx, fy, cx, cy) rather than the projection matrix. https://docs.luxonis.com/projects/api/en/latest/references/python/#depthai.CalibrationHandler.getCameraIntrinsics should help you with that.
Check the calibration of the camera to get the distortion coefficients in case they are not the same. https://docs.luxonis.com/projects/api/en/latest/references/python/#depthai.CalibrationHandler.getCameraToImuExtrinsics
Not sure about noise parameters, perhaps you should check the manufacturers (Bosch for BMI270 and Hillcrest Labs for BNO085) for these specific noise parameters. Also cc @erik
Thanks
Jaka