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luxonis / depthai-boards

Files with hardware descriptions for depthai boards
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OAK-D-LR imuExtrinsics not merged #86

Open dylan-gonzalez opened 4 months ago

dylan-gonzalez commented 4 months ago

How come the adding_IMU_tmp branch hasn't been merged? It has the commit that adds the imuExtrinsics, which I need to use to define the tf camera_link -> imu_link for the oak-d-lr here. Just curious as to why it hasn't been merged.

Also, how do I know what IMU my OAK-D-LR has? In the depthai hardware docs, it says that it has a BNO085, but on the shop page it says it has a BNO086.

themarpe commented 4 months ago

@dylan-gonzalez its WIP, we are working on adding the spec extrinsics directly to FW, with this branch supplementing it from "at calibration time".

Also, how do I know what IMU my OAK-D-LR has? In the depthai hardware docs, it says that it has a BNO085, but on the shop page it says it has a BNO086.

These two IMUs differ only in FW version. BNO086 should be same as BNO085 with updated FW. We update the FW, so should be treated as BNO086

dylan-gonzalez commented 4 months ago

Do you have covariance values for the BNO086? When I run the depthai_ros_driver, the covariance values are all zeros.

themarpe commented 4 months ago

@Serafadam do we have those available?

Serafadam commented 4 months ago

Hi, unfortunately currently those values are not provided in the datasheets and firmware, though they should be added after the IMU calibration process updates.

dylan-gonzalez commented 4 months ago

When will that be?

dylan-gonzalez commented 3 months ago

So is it safe to use these extrinsics (which are for the BNO084) for the BNO086 in the OAK-D-LR?

themarpe commented 3 months ago

@Serafadam do you mind verifying? Also is OAK-D-LR now also included?