OAK-D-POE IMU firmware update

Wwiley42 · Sep 13, 2023

Sure thing:

chris@ducktape:~/luxonis/depthai-core/build/examples$ ./calibration_reader

Intrinsics from defaultIntrinsics function:

[[803.136414, 0.000000, 625.873047]

[0.000000, 803.136414, 383.817932]

[0.000000, 0.000000, 1.000000]]

Width: 1280

Height: 800

Stereo baseline distance: 7.5 cm

Mono FOV from camera specs: 127, calculated FOV: 76.7597

Intrinsics from getCameraIntrinsics function full resolution:

[[803.136414, 0.000000, 625.873047]

[0.000000, 803.136414, 383.817932]

[0.000000, 0.000000, 1.000000]]

Intrinsics from getCameraIntrinsics function 1280 x 720:

[[803.136414, 0.000000, 625.873047]

[0.000000, 803.136414, 343.817932]

[0.000000, 0.000000, 1.000000]]

Intrinsics from getCameraIntrinsics function 720 x 450:

[[451.764221, 0.000000, 352.053589]

[0.000000, 451.764221, 215.897583]

[0.000000, 0.000000, 1.000000]]

Intrinsics from getCameraIntrinsics function 600 x 1280:

[[376.470184, 0.000000, 293.377991]

[0.000000, 376.470184, 632.414673]

[0.000000, 0.000000, 1.000000]]

Extrinsics from left->right test:

[[0.999888, -0.001639, -0.014843, -7.530102]

[0.001628, 0.999998, -0.000762, 0.008896]

[0.014845, 0.000738, 0.999890, -0.036407]

[0.000000, 0.000000, 0.000000, 1.000000]]

Extrinsics from right->left test:

[[0.999888, 0.001628, 0.014845, 7.529788]

[-0.001639, 0.999998, 0.000738, -0.021213]

[-0.014843, -0.000762, 0.999890, -0.075363]

[0.000000, 0.000000, 0.000000, 1.000000]]

Extrinsics from right->rgb test:

[[0.999917, -0.012274, 0.004014, 3.761132]

[0.012271, 0.999924, 0.000853, 0.018591]

[-0.004024, -0.000803, 0.999992, 0.005408]

[0.000000, 0.000000, 0.000000, 1.000000]]

Extrinsics from rgb->right test:

[[0.999917, 0.012271, -0.004024, -3.761025]

[-0.012274, 0.999924, -0.000803, 0.027579]

[0.004014, 0.000853, 0.999992, -0.020522]

[0.000000, 0.000000, 0.000000, 1.000000]]

Extrinsics from left->rgb test:

[[0.999845, -0.013900, -0.010831, -3.769501]

[0.013902, 0.999903, 0.000097, 0.033606]

[0.010828, -0.000248, 0.999941, 0.024847]

[0.000000, 0.000000, 0.000000, 1.000000]]

erik · Sep 14, 2023

wiley42 There should be a json that was generated, in the same folder as the script. Could you share that instead?

Wwiley42 · Sep 14, 2023

There's not, and inspecting the C++ source shows that the program doesn't generate any such thing. calibration_dump does produce json, but it doesn't write it to a file, spewing it instead to stdout:

chris@ducktape:~/luxonis/depthai-core/build/examples$ ./calibration_dump

Is EEPROM available: 1

User calibration: {

"batchName": "Maxwell",

"batchTime": 1679454967,

"boardConf": "nIR-C11M00-00",

"boardCustom": "",

"boardName": "DM2088",

"boardOptions": 1,

"boardRev": "R1M1E3",

"cameraData": [

    [

        2,

        {

            "cameraType": 0,

            "distortionCoeff": [

                -8.498824119567871,

                92\.4317398071289,

                0\.0008898610831238329,

                -0.0007077997433952987,

                -62.4412727355957,

                -8.553261756896973,

                91\.91093444824219,

                -61.22358322143555,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0

            ],

            "extrinsics": {

                "rotationMatrix": [

                    [

                        0\.9999166131019592,

                        -0.012273929081857204,

                        0\.004014317411929369

                    ],

                    [

                        0\.012270601466298103,

                        0\.99992436170578,

                        0\.000852663884870708

                    ],

                    [

                        -0.004024479538202286,

                        -0.0008033346384763718,

                        0\.9999915957450867

                    ]

                ],

                "specTranslation": {

                    "x": 3.75,

                    "y": 0.0,

                    "z": 0.0

                },

                "toCameraSocket": 0,

                "translation": {

                    "x": 3.761131763458252,

                    "y": 0.018591009080410004,

                    "z": 0.005407598800957203

                }

            },

            "height": 800,

            "intrinsicMatrix": [

                [

                    803\.1364135742188,

                    0\.0,

                    625\.873046875

                ],

                [

                    0\.0,

                    803\.1364135742188,

                    383\.81793212890625

                ],

                [

                    0\.0,

                    0\.0,

                    1\.0

                ]

            ],

            "lensPosition": 0,

            "specHfovDeg": 127.0,

            "width": 1280

        }

    ],

    [

        1,

        {

            "cameraType": 0,

            "distortionCoeff": [

                -9.712899208068848,

                104\.44512939453125,

                -0.0016125091351568699,

                -0.00023091270122677088,

                -62.223045349121094,

                -9.761884689331055,

                103\.8309555053711,

                -60.873443603515625,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0

            ],

            "extrinsics": {

                "rotationMatrix": [

                    [

                        0\.9998884797096252,

                        -0.0016393698751926422,

                        -0.014843457378447056

                    ],

                    [

                        0\.0016282369615510106,

                        0\.9999983906745911,

                        -0.000762075069360435

                    ],

                    [

                        0\.01484468299895525,

                        0\.0007378214504569769,

                        0\.9998895525932312

                    ]

                ],

                "specTranslation": {

                    "x": -7.5,

                    "y": 0.0,

                    "z": 0.0

                },

                "toCameraSocket": 2,

                "translation": {

                    "x": -7.530102252960205,

                    "y": 0.008895577862858772,

                    "z": -0.036406513303518295

                }

            },

            "height": 800,

            "intrinsicMatrix": [

                [

                    808\.0626220703125,

                    0\.0,

                    631\.9598999023438

                ],

                [

                    0\.0,

                    808\.0626220703125,

                    390\.564208984375

                ],

                [

                    0\.0,

                    0\.0,

                    1\.0

                ]

            ],

            "lensPosition": 0,

            "specHfovDeg": 127.0,

            "width": 1280

        }

    ],

    [

        0,

        {

            "cameraType": 0,

            "distortionCoeff": [

                -8.887694358825684,

                103\.3043441772461,

                -0.0003829839115496725,

                -0.0007910369895398617,

                -24.844051361083984,

                -8.933725357055664,

                102\.52317810058594,

                -23.31254005432129,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0

            ],

            "extrinsics": {

                "rotationMatrix": [

                    [

                        0\.0,

                        0\.0,

                        0\.0

                    ],

                    [

                        0\.0,

                        0\.0,

                        0\.0

                    ],

                    [

                        0\.0,

                        0\.0,

                        0\.0

                    ]

                ],

                "specTranslation": {

                    "x": -0.0,

                    "y": -0.0,

                    "z": -0.0

                },

                "toCameraSocket": -1,

                "translation": {

                    "x": 0.0,

                    "y": 0.0,

                    "z": 0.0

                }

            },

            "height": 800,

            "intrinsicMatrix": [

                [

                    805\.3521118164063,

                    0\.0,

                    600\.638671875

                ],

                [

                    0\.0,

                    805\.3521118164063,

                    393\.9454650878906

                ],

                [

                    0\.0,

                    0\.0,

                    1\.0

                ]

            ],

            "lensPosition": 0,

            "specHfovDeg": 108.0,

            "width": 1280

        }

    ]

],

"hardwareConf": "F1-FV00-BC000",

"imuExtrinsics": {

    "rotationMatrix": [

        [

            0\.0,

            0\.0,

            0\.0

        ],

        [

            0\.0,

            0\.0,

            0\.0

        ],

        [

            0\.0,

            0\.0,

            0\.0

        ]

    ],

    "specTranslation": {

        "x": 0.0,

        "y": 0.0,

        "z": 0.0

    },

    "toCameraSocket": -1,

    "translation": {

        "x": 0.0,

        "y": 0.0,

        "z": 0.0

    }

},

"miscellaneousData": [],

"productName": "OAK-D-POE-C22",

"stereoRectificationData": {

    "leftCameraSocket": 1,

    "rectifiedRotationLeft": [

        [

            0\.9999459385871887,

            -0.0028171015437692404,

            -0.010008170269429684

        ],

        [

            0\.0028132847510278225,

            0\.9999959468841553,

            -0.00039542774902656674

        ],

        [

            0\.010009244084358215,

            0\.00036725052632391453,

            0\.9999498128890991

        ]

    ],

    "rectifiedRotationRight": [

        [

            0\.9999876022338867,

            -0.0011813209857791662,

            0\.004834737163037062

        ],

        [

            0\.0011794771999120712,

            0\.9999992251396179,

            0\.0003841967263724655

        ],

        [

            -0.004835186991840601,

            -0.00037848949432373047,

            0\.9999882578849792

        ]

    ],

    "rightCameraSocket": 2

},

"version": 7

}

Factory calibration: {

"batchName": "Maxwell",

"batchTime": 1679454967,

"boardConf": "nIR-C11M00-00",

"boardCustom": "",

"boardName": "DM2088",

"boardOptions": 1,

"boardRev": "R1M1E3",

"cameraData": [

    [

        2,

        {

            "cameraType": 0,

            "distortionCoeff": [

                -8.498824119567871,

                92\.4317398071289,

                0\.0008898610831238329,

                -0.0007077997433952987,

                -62.4412727355957,

                -8.553261756896973,

                91\.91093444824219,

                -61.22358322143555,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0

            ],

            "extrinsics": {

                "rotationMatrix": [

                    [

                        0\.9999166131019592,

                        -0.012273929081857204,

                        0\.004014317411929369

                    ],

                    [

                        0\.012270601466298103,

                        0\.99992436170578,

                        0\.000852663884870708

                    ],

                    [

                        -0.004024479538202286,

                        -0.0008033346384763718,

                        0\.9999915957450867

                    ]

                ],

                "specTranslation": {

                    "x": 3.75,

                    "y": 0.0,

                    "z": 0.0

                },

                "toCameraSocket": 0,

                "translation": {

                    "x": 3.761131763458252,

                    "y": 0.018591009080410004,

                    "z": 0.005407598800957203

                }

            },

            "height": 800,

            "intrinsicMatrix": [

                [

                    803\.1364135742188,

                    0\.0,

                    625\.873046875

                ],

                [

                    0\.0,

                    803\.1364135742188,

                    383\.81793212890625

                ],

                [

                    0\.0,

                    0\.0,

                    1\.0

                ]

            ],

            "lensPosition": 0,

            "specHfovDeg": 127.0,

            "width": 1280

        }

    ],

    [

        1,

        {

            "cameraType": 0,

            "distortionCoeff": [

                -9.712899208068848,

                104\.44512939453125,

                -0.0016125091351568699,

                -0.00023091270122677088,

                -62.223045349121094,

                -9.761884689331055,

                103\.8309555053711,

                -60.873443603515625,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0

            ],

            "extrinsics": {

                "rotationMatrix": [

                    [

                        0\.9998884797096252,

                        -0.0016393698751926422,

                        -0.014843457378447056

                    ],

                    [

                        0\.0016282369615510106,

                        0\.9999983906745911,

                        -0.000762075069360435

                    ],

                    [

                        0\.01484468299895525,

                        0\.0007378214504569769,

                        0\.9998895525932312

                    ]

                ],

                "specTranslation": {

                    "x": -7.5,

                    "y": 0.0,

                    "z": 0.0

                },

                "toCameraSocket": 2,

                "translation": {

                    "x": -7.530102252960205,

                    "y": 0.008895577862858772,

                    "z": -0.036406513303518295

                }

            },

            "height": 800,

            "intrinsicMatrix": [

                [

                    808\.0626220703125,

                    0\.0,

                    631\.9598999023438

                ],

                [

                    0\.0,

                    808\.0626220703125,

                    390\.564208984375

                ],

                [

                    0\.0,

                    0\.0,

                    1\.0

                ]

            ],

            "lensPosition": 0,

            "specHfovDeg": 127.0,

            "width": 1280

        }

    ],

    [

        0,

        {

            "cameraType": 0,

            "distortionCoeff": [

                -8.887694358825684,

                103\.3043441772461,

                -0.0003829839115496725,

                -0.0007910369895398617,

                -24.844051361083984,

                -8.933725357055664,

                102\.52317810058594,

                -23.31254005432129,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0,

                0\.0

            ],

            "extrinsics": {

                "rotationMatrix": [

                    [

                        0\.0,

                        0\.0,

                        0\.0

                    ],

                    [

                        0\.0,

                        0\.0,

                        0\.0

                    ],

                    [

                        0\.0,

                        0\.0,

                        0\.0

                    ]

                ],

                "specTranslation": {

                    "x": -0.0,

                    "y": -0.0,

                    "z": -0.0

                },

                "toCameraSocket": -1,

                "translation": {

                    "x": 0.0,

                    "y": 0.0,

                    "z": 0.0

                }

            },

            "height": 800,

            "intrinsicMatrix": [

                [

                    805\.3521118164063,

                    0\.0,

                    600\.638671875

                ],

                [

                    0\.0,

                    805\.3521118164063,

                    393\.9454650878906

                ],

                [

                    0\.0,

                    0\.0,

                    1\.0

                ]

            ],

            "lensPosition": 0,

            "specHfovDeg": 108.0,

            "width": 1280

        }

    ]

],

"hardwareConf": "F1-FV00-BC000",

"imuExtrinsics": {

    "rotationMatrix": [

        [

            0\.0,

            0\.0,

            0\.0

        ],

        [

            0\.0,

            0\.0,

            0\.0

        ],

        [

            0\.0,

            0\.0,

            0\.0

        ]

    ],

    "specTranslation": {

        "x": 0.0,

        "y": 0.0,

        "z": 0.0

    },

    "toCameraSocket": -1,

    "translation": {

        "x": 0.0,

        "y": 0.0,

        "z": 0.0

    }

},

"miscellaneousData": [],

"productName": "OAK-D-POE-C22",

"stereoRectificationData": {

    "leftCameraSocket": 1,

    "rectifiedRotationLeft": [

        [

            0\.9999459385871887,

            -0.0028171015437692404,

            -0.010008170269429684

        ],

        [

            0\.0028132847510278225,

            0\.9999959468841553,

            -0.00039542774902656674

        ],

        [

            0\.010009244084358215,

            0\.00036725052632391453,

            0\.9999498128890991

        ]

    ],

    "rectifiedRotationRight": [

        [

            0\.9999876022338867,

            -0.0011813209857791662,

            0\.004834737163037062

        ],

        [

            0\.0011794771999120712,

            0\.9999992251396179,

            0\.0003841967263724655

        ],

        [

            -0.004835186991840601,

            -0.00037848949432373047,

            0\.9999882578849792

        ]

    ],

    "rightCameraSocket": 2

},

"version": 7

}

User calibration raw: 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Factory calibration raw: 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Wwiley42 · Sep 15, 2023

A quick follow up:

Popped the camera open and confirmed the presence of what looks like a BNO085 (markings read 701/AC/260), although the layout of the board is quite different from that shown on the docs website.

Just for grins, installed all of the python tooling in order to run the device manager, performed a factory reset and, while there, updated the bootloader from 0.22 to 0.24.

Behavior remains unchanged

erik · Sep 18, 2023

Hi wiley42 ,
Could you try latest develop version of depthai as well? So on depthai-python repo, checkout to develop and run examples/install_requirements.py, which should install latest develop depthai library (with latest FW).

Wwiley42 · Sep 18, 2023

erik

Hey Erik,

Building the develop branch of the depthai-python repo results in Python tools that successfully talk to the IMU (which return IMU of BNO086, firmware 3.9.9). 2.22.0 of depthi-core still fails miserably.

One thing that we did realize over the weekend is that earlier testing was done using the rolling shutter version, not the 9782 version that we use in production. I don't have one of those handy, but I did ask someone who has one to build and run 2.22.0 on the rolling shutter; I'll report what he finds.

I really appreciate your help on this one. Obviously a python solution doesn't help us; should I be pulling the develop branch for depthai-core, or should I hang fire for the moment?

Wwiley42 · Sep 19, 2023

Hey Erik,

Another random data point: After further investigation, the existing 2.22.0 release (and all prior ones) works fine with the default IMX378 camera, but units with the OV9782 camera all fail.

erik · Sep 19, 2023

Hi wiley42 ,
For C++, were you also on latest develop branch when building the example? As it's 1:1 with python api, firmware should be the same, so I don;t understand how python could work and c++ wouldn't.
WRT OV9782 - is this still the imu issue, or are is there some other issue you are referencing?

Wwiley42 · Sep 20, 2023

erik

Hi Erik,

No, for C++ it's still the 2.22.0 release branch; there was a faint hope that once tickled by the Python dev branch that the IMUs would work, but no such luck. I'll pull the dev C++ branch in the morning, but we'll be dead in the water with respect to the IMUs until whatever change is in dev migrates to release; we can't have non-release code migrating out into the field.

Yes, this is still the IMU issue. The OV9782 cameras that we had you folks mint out a zillion of are the ones that have IMUs that don't work, but on a lark I had one of the IMX378 rolling shutter cameras that we used during evaluation pulled off the shelf, and the IMU on it works perfectly on 2.22.0.

erik · Sep 20, 2023

Hi wiley42 ,
I believe we actually plan to release a new version (so 2.23) this/next week, which would include the IMU fixes update. The difference between the two is hardware revision - there was some tiny change on HW side, which changed some IMU comms lines, so we had to add FW changes accordingly. It unfortunately looks like we have shipped the new units before releasing newest version of the firmware for it though.

Wwiley42 · Sep 20, 2023

erik

I expected it was something like that, and I'm grateful that there's a new release coming soon. As expected, the develop branch of depthai-core works fine (which I'd expect, since I suspect the Python stuff that was demonstrated earlier is just a wrapper around depthai-core).

Thank you again for your constantly amazing support, and for once again reassuring me that I'm not entirely crazy

Wwiley42 · Oct 5, 2023

Hi erik

Looks like 2.23.0 dropped a few hours ago, so I'll have a go at building against that.

On a semi-related topic, it looks like the BNO086 on these cameras are mounted in the default orientation, unlike the earlier OAK-D-POEs, and that there's no FRS record being applied to them (i.e., X -> North, Y -> West, Z -> up). At least that's what the artwork and my results suggest, but again, checking my sanity

erik · Oct 5, 2023

Hi wiley42 , Great, let us know how it goes! Yes, your results seem correct

diablodale · Apr 1, 2024

erik is this the cause of luxonis/depthai-core987 which luxonis/depthai-core375 did not fix?

erik · Apr 2, 2024

@diablodale I believe it was just that axis were mixed up, which was fixed by that PR. Could you provide more info about data being wrong in the Github Issue?
Thanks, Erik

diablodale · Apr 2, 2024

As I wrote above, full details are in the github issue. Click the link and follow the links.