`Hi. Im using this code:
#!/usr/bin/env python3
import cv2
import depthai as dai
import time
import numpy as np
import csv
# Create pipeline
pipeline = dai.Pipeline()
# Define sources and outputs
imu = pipeline.create(dai.node.IMU)
xlinkOut = pipeline.create(dai.node.XLinkOut)
xlinkOut.setStreamName("imu")
# enable ACCELEROMETER_RAW at 500 hz rate
imu.enableIMUSensor(dai.IMUSensor.LINEAR_ACCELERATION, 500)
# enable GYROSCOPE_RAW at 400 hz rate
imu.enableIMUSensor(dai.IMUSensor.GYROSCOPE_CALIBRATED, 400)
# it's recommended to set both setBatchReportThreshold and setMaxBatchReports to 20 when integrating in a pipeline with a lot of input/output connections
# above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
imu.setBatchReportThreshold(1)
# maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
# if lower or equal to batchReportThreshold then the sending is always blocking on device
# useful to reduce device's CPU load and number of lost packets, if CPU load is high on device side due to multiple nodes
imu.setMaxBatchReports(10)
# Link plugins IMU -> XLINK
imu.out.link(xlinkOut.input)
# Function to write data to CSV
def write_to_csv(data, filename='imu_data.csv'):
with open(filename, mode='a', newline='') as file:
writer = csv.writer(file)
writer.writerow(data)
# Write CSV header
write_to_csv(['Timestamp (ms)', 'Delta t (ms)', 'Accel X (m/s2)', 'Accel Y (m/s2)', 'Accel Z (m/s2)', 'Velocity X (km/h)', 'Velocity Y (km/h)', 'Velocity Z (km/h)'])
# Pipeline is defined, now we can connect to the device
with dai.Device(pipeline) as device:
def timeDeltaToMilliS(delta) -> float:
return delta.total_seconds() \* 1000
# Output queue for imu bulk packets
imuQueue = device.getOutputQueue(name="imu", maxSize=50, blocking=False)
baseTs = None
velocity = np.array([0.0, 0.0, 0.0])
lastTs = None
while True:
imuData = imuQueue.get() # blocking call, will wait until new data has arrived
imuPackets = imuData.packets
for imuPacket in imuPackets:
acceleroValues = imuPacket.acceleroMeter
acceleroTs = acceleroValues.getTimestampDevice()
if baseTs is None:
baseTs = acceleroTs
acceleroTs = timeDeltaToMilliS(acceleroTs - baseTs)
# Calculate time difference
currentTs = acceleroTs / 1000.0 # convert to seconds
if lastTs is not None:
dt = currentTs - lastTs
# Read acceleration
acceleration = np.array([acceleroValues.x, acceleroValues.y, acceleroValues.z])
# Integrate acceleration to get velocity
velocity += acceleration \* dt
# Convert velocity to km/h
velocity_kmh = velocity \* 3.6
imuF = "{:.1f}"
print(f"Delta t: {imuF.format(dt \* 1000)} ms")
print(f"Accelerometer [m/s^2]: x: {imuF.format(acceleroValues.x)} y: {imuF.format(acceleroValues.y)} z: {imuF.format(acceleroValues.z)}")
print(f"Velocity [km/h]: x: {imuF.format(velocity_kmh[0])} y: {imuF.format(velocity_kmh[1])} z: {imuF.format(velocity_kmh[2])}")
# Write data to CSV
write_to_csv([currentTs \* 1000, dt \* 1000, acceleroValues.x, acceleroValues.y, acceleroValues.z, velocity_kmh[0], velocity_kmh[1], velocity_kmh[2]])
lastTs = currentTs
if cv2.waitKey(1) == ord('q'):
break\`
And this is part of the data collected:
Timestamp (ms),Delta t (ms),Accel X (m/s2),Accel Y (m/s2),Accel Z (m/s2),Velocity X (km/h),Velocity Y (km/h),Velocity Z (km/h)
7.3629999999999995,7.3629999999999995,1.41015625,0.0234375,-0.0625,0.037378729687499994,0.0006212531249999999,-0.001656675
9.718,2.3549999999999995,1.453125,0.015625,-0.44140625,0.0496983234375,0.0007537218749999999,-0.005398917187499999
12.235,2.5170000000000003,0.42578125,-0.21484375,-0.609375,0.0535564125,-0.0011930203125000002,-0.0109205859375
14.815999999999999,2.581,0.31640625,-0.19921875,-0.546875,0.0564963328125,-0.00304408125,-0.0160019296875
17.194999999999997,2.3789999999999956,-1.046875,-0.09765625,-0.87890625,0.047530476562500014,-0.0038804484374999984,-0.02352923437499999
19.754,2.5590000000000055,-1.5625,0.015625,0.18359375,0.033136101562499985,-0.003736504687499998,-0.021837895312499984
22.226,2.4719999999999986,-1.4921875,0.0234375,0.19921875,0.019856826562499992,-0.003527929687499998,-0.020065007812499983
24.621000000000002,2.3950000000000014,-1.2734375,0.04296875,0.1015625,0.008877248437499987,-0.003157453124999998,-0.019189335937499982
28.909,4.287999999999997,0.27734375,-0.0859375,0.58203125,0.013158548437499985,-0.0044840531249999965,-0.010204635937499991
31.405,2.4960000000000053,1.203125,0.1171875,-0.1796875,0.023969348437500006,-0.003431053124999994,-0.011819235937499993
37.138999999999996,5.733999999999996,1.52734375,0.10546875,-0.29296875,0.05549738906249998,-0.0012539249999999958,-0.017866814062499993
54.576,17.437,-1.12109375,0.078125,0.0,-0.014877253125000026,0.003650231250000005,-0.017866814062499993
64.731,10.154999999999998,1.28125,0.109375,0.05859375,0.03196268437499997,0.007648762500000004,-0.015724743749999992
78.067,13.336,-0.9453125,0.07421875,0.2109375,-0.013421390625000034,0.011211975000000004,-0.005597718749999991
89.89800000000001,11.831000000000008,1.26171875,-0.01953125,-0.19140625,0.040317229687500004,0.010380107812500003,-0.013750017187499996
99.652,9.754,-1.20703125,-0.0390625,-0.03125,-0.002066948437499989,0.009008451562500004,-0.014847342187499998
113.319,13.666999999999998,1.5625,0.09375,-0.30078125,0.0748099265625,0.013621064062500002,-0.029646140624999994
121.965,8.646,-0.33984375,-0.14453125,-0.6640625,0.0642320859375,0.009122442187500003,-0.050315484375
129.46699999999998,7.501999999999967,-1.515625,0.0859375,-0.04296875,0.023299298437500178,0.011443373437499993,-0.05147594999999999
136.97799999999998,7.511000000000018,1.0859375,0.06640625,0.33984375,0.05266261406250025,0.013238971874999996,-0.042286710937499965
144.459,7.481000000000016,0.73046875,-0.0078125,-0.06640625,0.0723353062500003,0.013028568749999997,-0.044075137499999965
160.09,15.631000000000006,-0.0234375,-0.046875,0.62109375,0.0710164406250003,0.010390837499999996,-0.009125198437499954
171.66400000000002,11.574000000000002,0.578125,-0.19921875,-0.3125,0.09510482812500029,0.0020901093749999943,-0.022145948437499955
179.61599999999999,7.951999999999987,-1.48046875,0.01171875,0.1640625,0.05272315312500036,0.002425584374999994,-0.017449298437499962
191.409,11.792999999999997,1.421875,0.05859375,0.01953125,0.11308857187500036,0.0049131703124999935,-0.016620103124999966
192.086,0.6770000000000109,1.421875,0.05859375,0.01953125,0.11655396562500041,0.005055974999999995,-0.016572501562499963
209.376,17.29,-1.48828125,0.01171875,0.2578125,0.02391738750000041,0.005785396874999994,-0.0005252203124999636
221.906,12.529999999999985,1.55859375,0.13671875,0.0546875,0.09422243437500033,0.011952506249999988,0.0019416234375000336
238.209,16.30300000000001,-0.78125,0.05859375,0.16015625,0.0483702468750003,0.01539142031249999,0.011341321875000039
256.839,18.62999999999998,-0.38671875,-0.16015625,-0.58984375,0.022433793750000323,0.004650060937500002,-0.02821831874999992
274.304,17.465000000000007,1.81640625,0.05859375,-0.17578125,0.1366385203125004,0.008334084375000004,-0.039270389062499925
289.566,15.261999999999997,-1.44921875,0.05859375,-0.0625,0.05701380468750041,0.011553412500000002,-0.04270433906249993
296.78900000000004,7.2230000000000345,1.3671875,0.046875,0.1875,0.0925645078125006,0.012772293750000009,-0.0378288140624999
316.753,19.96399999999998,-1.3359375,0.09765625,0.1015625,-0.003449854687499325,0.019790887500000003,-0.03052947656249991
339.51,22.756999999999973,-1.8515625,0.01953125,0.2734375,-0.15513948281249915,0.0213909890625,-0.008128054687499938
359.321,19.81100000000002,-0.47265625,-0.2109375,0.1015625,-0.18884913749999918,0.006347010937499982,-0.0008846578124999297
374.20799999999997,14.886999999999983,-0.23046875,0.046875,-0.234375,-0.20120069531249915,0.00885919218749998,-0.013445564062499917
379.108,4.9000000000000155,2.09375,0.078125,0.1484375,-0.16426694531249902,0.010237317187499984,-0.010827126562499907
386.581,7.473000000000008,-1.0,-0.02734375,0.3984375,-0.19116974531249906,0.009501693749999984,-0.0001080421874998969
403.961,17.380000000000006,2.1875,0.02734375,-0.81640625,-0.05430224531249899,0.011212537499999986,-0.051188948437499916
421.554,17.592999999999968,-1.36328125,0.0546875,0.9453125,-0.14064539062499884,0.01467615937499998,0.008682229687499975
439.448,17.89400000000002,-1.48828125,-0.05859375,-0.0625,-0.23651808749999897,0.010901643749999976,0.00465607968749997
452.866,13.417999999999985,3.04296875,0.171875,-1.26953125,-0.08952809062499911,0.01920403124999997,-0.05666837343749997
468.518,15.652,-1.39453125,0.15234375,0.42578125,-0.16810602187499912,0.027788174999999967,-0.03267679218749996
476.21599999999995,7.697999999999983,2.58203125,0.21875,-0.96875,-0.09655070624999929,0.03385034999999996,-0.059523567187499904
494.28,18.064000000000025,-2.140625,0.14453125,1.81640625,-0.23575640624999947,0.04324927499999997,0.05859805781250026
503.908,9.628000000000025,3.078125,0.11328125,-1.515625,-0.1290661312499992,0.047175693749999977,0.006065282812500121
511.344,7.435999999999998,-1.74609375,-0.23046875,-0.88671875,-0.17580836249999918,0.04100613749999998,-0.017671823437499873
531.3919999999999,20.047999999999956,1.65625,-0.01171875,-1.0078125,-0.056272162499999424,0.040160362499999984,-0.0904084734374997
597.305,65.913,0.30078125,0.10546875,-0.46484375,0.01509925781250057,0.06518670468749999,-0.2007097593749997
647.981,50.67600000000005,0.609375,0.0078125,-0.75390625,0.12626973281250067,0.06661196718749998,-0.33824759062499987
658.712,10.730999999999934,2.015625,-0.3671875,-2.0390625,0.2041365515625002,0.052426926562500066,-0.4170198374999994
673.918,15.206000000000053,-0.58984375,0.0625,-0.171875,0.17184756093750012,0.05584827656250008,-0.4264285499999994
694.723,20.804999999999964,-0.58984375,0.15234375,2.76171875,0.1276694437500002,0.06725851875000005,-0.21958133906249977
711.073,16.349999999999977,-1.5,-0.328125,-0.9453125,0.03937944375000033,0.047945081250000084,-0.27522243281249975
723.533,12.460000000000026,-0.03125,0.15234375,-0.41796875,0.03797769375000033,0.0547786125000001,-0.29397083906249977
733.524,9.990999999999971,2.96484375,0.0859375,-1.9453125,0.14461600781250003,0.05786957812500009,-0.3639390609374996
746.26,12.73600000000008,-1.3359375,0.2578125,0.39453125,0.08336380781249964,0.06969017812500017,-0.3458499609374995
753.544,7.283999999999957,2.734375,-0.0390625,-1.2734375,0.15506568281249922,0.06866586562500018,-0.3792425484374993
760.985,7.441000000000031,1.91796875,-0.14453125,0.36328125,0.20644346249999942,0.06479422031250016,-0.3695111156249993
772.745,11.759999999999993,0.2890625,0.08203125,-0.0859375,0.21868121249999942,0.06826709531250016,-0.3731493656249993
778.3919999999999,5.646999999999958,1.8984375,0.015625,-1.0,0.25727492812499914,0.06858473906250015,-0.3934785656249991
795.9209999999999,17.529000000000018,-3.234375,0.1015625,0.79296875,0.05317163437499892,0.07499377968750016,-0.34343874843749905
807.79,11.869000000000018,1.8359375,-0.203125,1.03125,0.13161830624999907,0.06631457343750015,-0.299375085937499
819.5519999999999,11.76199999999994,-2.48828125,0.09375,0.46484375,0.026256515624999605,0.07028424843750013,-0.27969211406249916
843.433,23.881000000000043,-3.05078125,0.12109375,0.75390625,-0.23602402968750083,0.08069487187500014,-0.21487758749999902
850.829,7.395999999999958,1.10546875,-0.078125,-0.203125,-0.20659026093750102,0.07861474687500015,-0.22028591249999901
858.428,7.599000000000022,1.98828125,-0.21484375,1.10546875,-0.15219804375000084,0.07273739531250013,-0.19004426718749892
878.398,19.97000000000004,1.484375,0.02734375,-0.76171875,-0.04548335625000062,0.07470319218750014,-0.24480575156249904
886.02,7.622000000000018,-0.078125,-0.26953125,-1.22265625,-0.047627043750000625,0.06730747031250012,-0.27835446093749916
903.433,17.41300000000001,1.140625,-0.0234375,-0.13671875,0.02387508749999942,0.06583824843750011,-0.28692492187499913
920.848,17.414999999999957,-1.67578125,0.10546875,3.40234375,-0.08118634218750033,0.0724505062500001,-0.07361838281249965
936.812,15.963999999999977,-0.171875,-0.0390625,-0.90625,-0.09106406718750032,0.0702055687500001,-0.12570093281249958
955.748,18.936000000000064,0.875,0.0,-0.08203125,-0.03141566718750012,0.0702055687500001,-0.13129297031249962
963.6289999999999,7.880999999999916,1.66015625,-0.26953125,-0.76171875,0.01568562187499938,0.06255853593750019,-0.15290414999999938
975.7679999999999,12.13900000000001,-0.28515625,0.046875,0.01953125,0.0032241796874993662,0.0646069921875002,-0.15205062656249937
991.317,15.549000000000035,-1.609375,0.046875,-0.9296875,-0.08686283906250084,0.0672308859375002,-0.20409118593749948
1015.6400000000001,24.323000000000093,0.22265625,0.0078125,0.71875,-0.06736643437500077,0.0679149703125002,-0.14115542343749923
1034.039,18.39899999999983,2.453125,0.0,-1.76953125,0.09511973437499774,0.0679149703125002,-0.25836280312499815
1043.08,9.041000000000077,-1.359375,-0.10546875,-0.78515625,0.05087534062499737,0.06448221562500017,-0.2839177546874984
1053.598,10.518000000000027,0.8046875,-0.01171875,1.19921875,0.08134467187499744,0.06403848750000017,-0.23850957656249827
1060.4560000000001,6.858000000000031,2.828125,-0.01171875,0.5,0.15116768437499775,0.06374916562500017,-0.2261651765624982
1069.37,8.913999999999866,-2.01953125,-0.125,-0.046875,0.08636011874999872,0.05973786562500023,-0.2276694140624982
1078.0590000000002,8.689000000000169,-0.859375,0.3515625,0.328125,0.05947852499999819,0.07073488125000044,-0.21740553281249797
1100.688,22.629000000000012,-1.37890625,0.19921875,1.41796875,-0.052853245312501865,0.08696411718750044,-0.10189155937499791
1116.377,15.688999999999842,-0.34765625,-0.2578125,-0.765625,-0.07248900937500168,0.0724027640625006,-0.14513436562499749
1122.9530000000002,6.576000000000359,-2.0859375,-0.01171875,-0.515625,-0.12187065937500438,0.07212533906250058,-0.15734106562499817
1133.193,10.239999999999583,1.33984375,-0.078125,0.8671875,-0.0724786593750064,0.0692453390625007,-0.12537306562499947
1147.934,14.741000000000115,-2.5078125,0.0078125,0.77734375,-0.20556225000000744,0.0696599296875007,-0.08412129843749913
1157.883,9.948999999999986,0.10546875,0.07421875,0.03125,-0.20178473906250743,0.0723181781250007,-0.08300203593749914
1167.249,9.365999999999985,0.1796875,-0.1953125,-0.77734375,-0.19572610781250743,0.06573270937500071,-0.1092122015624991
1180.39,13.14100000000007,-0.421875,0.21875,1.40625,-0.21568400156250755,0.07608124687500077,-0.04268588906249875
1197.7930000000001,17.403000000000056,-1.0546875,-0.15234375,-0.11328125,-0.2817610171875078,0.06653678906250073,-0.04978304999999877
1217.501,19.707999999999835,-0.21875,-0.14453125,-0.66015625,-0.2972810671875077,0.05628247031250082,-0.09662034374999838
1232.778,15.276999999999985,-0.40234375,0.16015625,1.1953125,-0.31940884687500765,0.06509061562500082,-0.030881503124998433
1245.1970000000001,12.41900000000018,-1.015625,-0.2421875,0.36328125,-0.3648158156250083,0.05426280000000065,-0.014639779687498198
1262.575,17.377999999999894,2.14453125,0.0625,-1.00390625,-0.23065222500000915,0.05817285000000064,-0.07744495781249781
1272.086,9.511000000000047,-1.9453125,-0.00390625,-0.515625,-0.2972589468750095,0.05803910156250064,-0.0950997515624979
1285.155,13.068999999999997,1.1875,-0.00390625,0.69140625,-0.24138897187500946,0.05785531875000064,-0.06257019374999791
1295.698,10.542999999999969,-0.8515625,-0.12890625,0.390625,-0.2737098562500094,0.052962707812500655,-0.04774409999999795
1311.107,15.409000000000006,2.0390625,0.04296875,-0.91796875,-0.1605981656250093,0.05534628750000065,-0.09866602968749798
1322.545,11.43800000000006,0.18359375,-0.30859375,-0.796875,-0.15303836250000927,0.04263938437500059,-0.13147879218749814
1332.675,10.129999999999972,-0.44140625,0.1484375,1.78125,-0.16913556562500923,0.04805260312500057,-0.06652016718749831
1346.958,14.283000000000046,-0.9765625,-0.2890625,0.1640625,-0.2193492375000094,0.03318935625000053,-0.058084270312498285
1357.845,10.886999999999869,-2.0703125,0.29296875,0.69921875,-0.3004914093750084,0.04467173906250039,-0.030679649999998615
1373.612,15.767000000000087,-2.1953125,-0.0234375,-0.7578125,-0.4250999812500091,0.04334139843750038,-0.07369399687499885
1382.679,9.066999999999936,-1.07421875,0.25390625,0.3671875,-0.4601637703125088,0.05162920312500032,-0.061708556249998936
1393.0739999999998,10.394999999999932,2.11328125,-0.015625,0.32421875,-0.38108055937500934,0.05104448437500033,-0.04957564218749901
1402.414,9.340000000000126,-2.30859375,0.109375,0.66796875,-0.4587047156250104,0.054722109375000376,-0.027115860937498713
1420.389,17.974999999999852,0.3125,-0.29296875,-1.03515625,-0.4384828406250106,0.03576410156250053,-0.09410082187499816
1440.01,19.62100000000011,3.45703125,0.1015625,-1.4765625,-0.19429336406250922,0.04293802968750057,-0.19839869999999876
1444.884,4.874000000000045,2.0,-0.13671875,-0.91015625,-0.1592005640625089,0.04053910781250055,-0.21436866562499893
1467.433,22.54899999999993,2.9375,0.03515625,-1.88671875,0.07925511093749038,0.04339296562500054,-0.3675257015624985
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