I found it confusing when transforming the coordinate system of IMU, using the imu.py script in depthai.
When running the 'Luxonis/depthai: IMUComponent/imu.py' the visualizer graph miss labels the Y and Z axis's acceleration by swapping their colors. When the axis are excited according to the datasheet orientation, the bug can be seen clearly. However the gyroscope values are consistent with the datasheet. Therefore the colors should be miss matched with the legend.
I also tested the raw data output with the 'Luxonis/depthai-python: imu_gyroscope_accelerometer.py' script and the readings were correct according to the datasheet.
I have labeled the coordinate systems from both programs, along with the imu.py graph with positive rotation of the camera along the Y axis, but acceleration shows in green(Z axis).