getCameraToImuExtrinsics do not work

ChobitsTai

On a recently boughted OAK-D Lite, getCameraToImuExtrinsics() exit with std::runtime_error and a message "IMU calibration data is not available on device yet.". I can get IMU acc & gyro data.

jakaskerl

ChobitsTai
Make sure you use the latest depthai version.
It's also possible your device does not have an IMU (if it's from an older batch).
We will replace the device in that case. Could you open the device and check?

Thanks,
Jaka

ChobitsTai

jakaskerl

Thank you for replying

Make sure you use the latest depthai version.

Yes

t's also possible your device does not have an IMU

My device do have an IMU (BMI270). I can read IMU data.

By the way. I just saw luxonis/depthai-coreissues/155. Maybe it is related?

jakaskerl

ChobitsTai
OK good. Add the imu extrinsics from here luxonis/depthai-boardsblob/main/boards/OAK-D-LITE.json to the calibration and flash it to the device.

Thanks,
Jaka

ChobitsTai

jakaskerl

Thank you very much for helping. I will try it

ChobitsTai

jakaskerl

Add the imu extrinsics from here luxonis/depthai-boardsblob/main/boards/OAK-D-LITE.json to the calibration and flash it to the device.

Did you mean

use flashCalibration2() to flash OAK-D-Lite.json to the device
or
use readCalibration2() to read current calibration data, and add imu extrinsics, then flash it

Thank you very much

jakaskerl

ChobitsTai
use readCalibration2() to read current calibration data, and add imu extrinsics, then load the calibration first to make sure it works before flashing it.

Thanks,
Jaka

ChobitsTai

jakaskerl

Thank you very much. I will try it

ChobitsTai

Hi @jakaskerl Your solution works well. Thank you very much

erik

Thanks for confirming @ChobitsTai !

marsfan

Sorry to bump this thread, but looking at the IMU extrinsic json file that is saved when I use readCalibration2().eepromToJsonFile(filepath), it seems to be in a bit different format than the JSON files that are output using the readCalibration2() function. Is there a guide on how to flash this data?

jakaskerl

marsfan
The file should be the exact same since it reads from the same memory address.. But it is different from the board configs found here luxonis/depthai-boardsblob/main/boards/OAK-D-LITE.json.

Guides are here. Just swap the IMU extrinsic part and load it back to check the validity.

Thanks,
Jaka