T
Tony_neol

  • Apr 27, 2023
  • Joined Feb 20, 2023
  • 0 best answers
  • 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).

    image

  • erik I have used the imu_gyroscope_accelerometer.py to measure the ACCELEROMETER_RAW data from the OAK-D, and observed a left handed orientation as follows:

  • Hey, I can confirm your observation. This is become a problem for me during calibration using Kalibr. Have you found the reason for the change in coordinate systems between the datasheet and readings? Looking forward to an update from anyone.

    • erik replied to this.