OAK-D-POE IMU firmware update

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 << "IMU type: " << imuType << " firmware version: " << imuFirmwareVersion < " embedded firmware version: " << embeddedIMUFirmwareVersion << std::endl;

Which yields:
IMU type: NONE firmware version: 0.0.0 embedded firmware version: 0.0.0

Which isn't precisely encouraging. In desperation, track down and build the imu_firmware_update tool, build it, run it…and nothing changes.

Basically, everything that I try in order to interact with the IMU on the Oak-D-POE produces no results and leaves the device soft bricked.

How am I screwing this one up?

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

Hi Erik,

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

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]]

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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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

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?

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 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

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

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