OAK-D SR PoE ToF : IMU calibration data is not available on device yet

WENPAGNAGDJUSTINNABI

Hello,

When using an OAK-D SR PoE ToF camera, I get the following error:
[2025-08-25] [ThreadedNode] [error] Node threw exception, stopping the node. Exception message: IMU calibration data is not available on device yet.
Has anyone encountered this issue or knows how to solve it?
Thanks in advance for your help.

OskarSonc

Hey @WENPAGNAGDJUSTINNABI
That error means your code is trying to read IMU calibration, but either the device has no IMU or the calibration blob isn’t loaded yet.

The OAK-D SR PoE does not include an IMU by default, so this error may occur if your pipeline/app tries to access IMU data or initialize an IMU node when the hardware doesn’t support it.
Quick check:

import depthai as dai
with dai.Device() as dev:
    print("IMU:", dev.getConnectedIMU())  # IMUType.NONE => no IMU

Thanks
Oskar

WENPAGNAGDJUSTINNABI

OskarSonc
import depthai as dai

with dai.Device() as dev:

print("IMU:", dev.getConnectedIMU())

IMU: BNO086

jakaskerl

WENPAGNAGDJUSTINNABI
Which version of depthai and which script?

Thanks,
Jaka

WENPAGNAGDJUSTINNABI

jakaskerl
Hello

This is the dephai v3 and for the script I want to test the example provided RVC2 --> RTab Map VIO SLAM

import time

import depthai as dai

from rerun_node import RerunNode

# Create pipeline

with dai.Pipeline() as p:

fps = 30

width = 640

height = 400

# Define sources and outputs

left = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=fps)

right = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C, sensorFps=fps)

imu = p.create(dai.node.IMU)

stereo = p.create(dai.node.StereoDepth)

featureTracker = p.create(dai.node.FeatureTracker)

odom = p.create(dai.node.RTABMapVIO)

slam = p.create(dai.node.RTABMapSLAM)

params = {"RGBD/CreateOccupancyGrid": "true",

          "Grid/3D": "true",

          "Rtabmap/SaveWMState": "true"}

slam.setParams(params)

rerunViewer = RerunNode()

imu.enableIMUSensor([dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 200)

imu.setBatchReportThreshold(1)

imu.setMaxBatchReports(10)

featureTracker.setHardwareResources(1,2)

featureTracker.initialConfig.setCornerDetector(dai.FeatureTrackerConfig.CornerDetector.Type.HARRIS)

featureTracker.initialConfig.setNumTargetFeatures(1000)

featureTracker.initialConfig.setMotionEstimator(False)

featureTracker.initialConfig.FeatureMaintainer.minimumDistanceBetweenFeatures = 49

stereo.setExtendedDisparity(False)

stereo.setLeftRightCheck(True)

stereo.setRectifyEdgeFillColor(0)

stereo.enableDistortionCorrection(True)

stereo.initialConfig.setLeftRightCheckThreshold(10)

stereo.setDepthAlign(dai.CameraBoardSocket.CAM_B)

# Linking

left.requestOutput((width, height)).link(stereo.left)

right.requestOutput((width, height)).link(stereo.right)

featureTracker.passthroughInputImage.link(odom.rect)

stereo.rectifiedLeft.link(featureTracker.inputImage)

stereo.depth.link(odom.depth)

imu.out.link(odom.imu)

featureTracker.outputFeatures.link(odom.features)

odom.transform.link(slam.odom)

odom.passthroughRect.link(slam.rect)

odom.passthroughDepth.link(slam.depth)

slam.transform.link(rerunViewer.inputTrans)

slam.passthroughRect.link(rerunViewer.inputImg)

slam.occupancyGridMap.link(rerunViewer.inputGrid)

slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)

slam.groundPCL.link(rerunViewer.inputGroundPCL)

p.start()

while p.isRunning():

    time.sleep(1)