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, 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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 :(

Hi @"wiley42"#p12091 , 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).

OAK-D-POE IMU firmware update

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.

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