I was finally able to pop the stack and dust off IMU related work from earlier in the year. Rebuilding under depthai 2.22.0 and firing up the existing code, I'm greeted with: terminate called after throwing an instance of 'std::runtime_error' what(): IMU(0) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 1, 321 Aborted (core dumped) And the camera soft bricking itself. Okay, fair enough, the message tells me what to do, so I insert the relevant call and get: [14442C10B148E7D600] [192.168.88.124] [5.183] [IMU(0)] [warning] IMU 'enableFirmwareUpdate' is deprecated! Use 'device.startIMUFirmwareUpdate' terminate called after throwing an instance of 'std::runtime_error' what(): IMU(0) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 1, 321 Aborted (core dumped) Which is mildly amusing, given that it tells me to use the call it just told me was deprecated. Fair enough, make the change to the non-deprecated call and the problem persists. So, taking a different tact, I try this little snippet: auto imuType = device.getConnectedIMU(); auto imuFirmwareVersion = device.getIMUFirmwareVersion(); auto embeddedIMUFirmwareVersion = device.getEmbeddedIMUFirmwareVersion(); std::cout

Hi @"wiley42"#p11982 Likely the connection is severed somewhere or there is an IMU missing from the device. cc @"erik"#175 for confirmation Thanks, Jaka

Unlikely. We have a truckload of these things and they're all behaving the same way.

Hi @"wiley42"#p12018 , Have you tried to [factory reset](https://docs.luxonis.com/projects/api/en/latest/components/bootloader/#danger-zone) the OAK-D-POE?

Hi Erik, No, but the behavior is happening with fresh-out-of-the-box units; it's not local to just one camera.

Hi @"wiley42"#p12025 , Could you run [calibration reader](https://docs.luxonis.com/projects/api/en/latest/samples/calibration/calibration_reader/#calibration-reader) and share the json here? We will look into this asap.

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]]

@"wiley42"#p12032 There should be a json that was generated, in the same folder as the script. Could you share that instead?

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: [7,0,170,85,3,0,0,0,0,68,77,50,48,56,56,0,0,0,0,0,0,0,0,0,0,82,49,77,49,69,51,0,0,0,0,117,252,127,63,31,159,56,187,79,249,35,188,22,95,56,59,188,255,127,63,106,81,207,185,208,253,35,60,136,139,192,57,182,252,127,63,48,255,127,63,142,214,154,186,183,108,158,59,176,152,154,58,243,255,127,63,3,110,201,57,125,112,158,187,0,112,198,185,59,255,127,63,1,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,32,3,0,5,0,2,4,74,68,0,0,0,0,111,253,29,68,0,0,0,0,2,4,74,68,56,72,195,67,0,0,0,0,0,0,0,0,0,0,128,63,9,104,27,193,232,227,208,66,212,90,211,186,40,33,114,185,102,228,120,194,174,48,28,193,115,169,207,66,104,126,115,194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,254,66,0,1,177,248,127,63,32,224,214,186,249,49,115,188,145,106,213,58,229,255,127,63,254,197,71,186,29,55,115,60,92,106,65,58,195,248,127,63,153,246,240,192,194,190,17,60,255,30,21,189,0,0,240,192,0,0,0,0,0,0,0,0,2,32,3,0,5,0,187,200,72,68,0,0,0,0,224,119,28,68,0,0,0,0,187,200,72,68,178,232,191,67,0,0,0,0,0,0,0,0,0,0,128,63,47,251,7,193,13,221,184,66,145,69,105,58,163,139,57,186,221,195,121,194,41,218,8,193,102,210,183,66,243,228,116,194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,254,66,0,2,137,250,127,63,151,24,73,188,137,138,131,59,162,10,73,60,11,251,127,63,78,133,95,58,200,223,131,187,224,150,82,186,115,255,127,63,98,182,112,64,44,76,152,60,58,50,177,59,0,0,112,64,0,0,0,0,0,0,0,0,0,32,3,0,5,0,137,86,73,68,0,0,0,0,224,40,22,68,0,0,0,0,137,86,73,68,5,249,196,67,0,0,0,0,0,0,0,0,0,0,128,63,255,51,14,193,211,155,206,66,59,203,200,185,152,93,79,186,158,192,198,193,138,240,14,193,222,11,205,66,21,128,186,193,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,216,66,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,79,65,75,45,68,45,80,79,69,45,67,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,110,73,82,45,67,49,49,77,48,48,45,48,48,0,0,0,70,49,45,70,86,48,48,45,66,67,48,48,48,0,0,0,77,97,120,119,101,108,108,0,0,0,0,0,0,0,0,0,247,114,26,100,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255] Factory calibration raw: [7,0,170,85,3,0,0,0,0,68,77,50,48,56,56,0,0,0,0,0,0,0,0,0,0,82,49,77,49,69,51,0,0,0,0,117,252,127,63,31,159,56,187,79,249,35,188,22,95,56,59,188,255,127,63,106,81,207,185,208,253,35,60,136,139,192,57,182,252,127,63,48,255,127,63,142,214,154,186,183,108,158,59,176,152,154,58,243,255,127,63,3,110,201,57,125,112,158,187,0,112,198,185,59,255,127,63,1,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,32,3,0,5,0,2,4,74,68,0,0,0,0,111,253,29,68,0,0,0,0,2,4,74,68,56,72,195,67,0,0,0,0,0,0,0,0,0,0,128,63,9,104,27,193,232,227,208,66,212,90,211,186,40,33,114,185,102,228,120,194,174,48,28,193,115,169,207,66,104,126,115,194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,254,66,0,1,177,248,127,63,32,224,214,186,249,49,115,188,145,106,213,58,229,255,127,63,254,197,71,186,29,55,115,60,92,106,65,58,195,248,127,63,153,246,240,192,194,190,17,60,255,30,21,189,0,0,240,192,0,0,0,0,0,0,0,0,2,32,3,0,5,0,187,200,72,68,0,0,0,0,224,119,28,68,0,0,0,0,187,200,72,68,178,232,191,67,0,0,0,0,0,0,0,0,0,0,128,63,47,251,7,193,13,221,184,66,145,69,105,58,163,139,57,186,221,195,121,194,41,218,8,193,102,210,183,66,243,228,116,194,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,254,66,0,2,137,250,127,63,151,24,73,188,137,138,131,59,162,10,73,60,11,251,127,63,78,133,95,58,200,223,131,187,224,150,82,186,115,255,127,63,98,182,112,64,44,76,152,60,58,50,177,59,0,0,112,64,0,0,0,0,0,0,0,0,0,32,3,0,5,0,137,86,73,68,0,0,0,0,224,40,22,68,0,0,0,0,137,86,73,68,5,249,196,67,0,0,0,0,0,0,0,0,0,0,128,63,255,51,14,193,211,155,206,66,59,203,200,185,152,93,79,186,158,192,198,193,138,240,14,193,222,11,205,66,21,128,186,193,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,216,66,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,79,65,75,45,68,45,80,79,69,45,67,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,110,73,82,45,67,49,49,77,48,48,45,48,48,0,0,0,70,49,45,70,86,48,48,45,66,67,48,48,48,0,0,0,77,97,120,119,101,108,108,0,0,0,0,0,0,0,0,0,247,114,26,100,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255,255]

OAK-D-POE IMU firmware update

wiley42

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

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).

wiley42

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?

wiley42

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

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?

wiley42

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

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.

wiley42

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 😉

wiley42

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

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

diablodale

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

erik

@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

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

« Previous Page