• DepthAI-v2ROS

  • How to synchronize rectified left and right frames ?

@erik Thanks for your help!!! the lib dependency is not longer a issue now.
After adding imu.enableFirmwareUpdate(True) line into rtabmap_vio_slam.py and re-running it, I receive the following error message:
Does that means I need to calibrate the IMU and camera again? or is there any factor calibrated matrix I can use for SLAM?
python3 rtabmap_vio_slam.py

[1844301041693CF500] [3.6] [1.682] [IMU(2)] [warning] IMU 'enableFirmwareUpdate' is deprecated! Use 'device.startIMUFirmwareUpdate'

[1844301041693CF500] [3.6] [1.710] [IMU(2)] [warning] Performing IMU firmware update, do NOT disconnect the device.

[1844301041693CF500] [3.6] [1.832] [IMU(2)] [warning] IMU firmware update status: 0%

[2024-07-30 15:59:45.717] [ThreadedNode] [error] Node threw exception, stopping the node. Exception message: IMU calibration data is not available on device yet.

Hi @erik

Yes, based on the spec, I should have BNO086 on my OAK-D Pro and OAK-D Pro W.

If there’s extra step I need to initialize my IMU, please kindly let me know.

I really appreciate your help on this issue.

sincerely,

Michael

@jakaskerl @erik Does depthai API or SDK have a script to calibrate IMU? How do I calculate the IMU extrinsics of the OAK FFC 3P? Will the slam work without IMU?

@ShivamSharma I don't think so, this is very much in WIP so we haven't done many tests/evaluations.