| Parameter | Value |
|---|---|
| Sensor | OV7251 |
dai.CameraBoardSocket |
CAM_B CAM_C |
| Type | Monochrome |
| DFOV / HFOV / VFOV | 86° / 73° / 58° |
| Size | 1/7.5 |
| Shutter | Global |
| Focus | Fixed |
| Parameter | Value |
|---|---|
| Sensor | IMX214 |
dai.CameraBoardSocket |
CAM_A |
| Type | Color |
| DFOV / HFOV / VFOV | 81° / 69° / 54° |
| Size | 1/3.06 |
| Shutter | Rolling |
| Focus | Fixed |
BMI270 IMU:
- Accelerometer:
- ODR: 25Hz, 50Hz, 100Hz, 200Hz, 250Hz
- Noise
$mG/\sqrt{Hz}$ : 0.16 - Noise mG-RMS: 1.51
- Gyroscope:
- ODR: 25Hz, 50Hz, 100Hz, 200Hz, 250Hz
- Noise
$dps/\sqrt{Hz}$ : 0.010 - Noise dps-RMS: 0.09
Note that BMI270 "rounds down" the input frequency to the next available frequency. For example, if you set the frequency to 99 it will round it to 50Hz. Additionally, the current max frequency of ~250 Hz is set when the input is >400Hz.
python3 -m venv venvs/oak
changeenv oak
pip install -U pip setuptools
pip install depthai
pip install opencv-contrib-python
For an IMU (Inertial Measurement Unit), when the z-axis is oriented upward (aligned with the direction opposite to gravity), the acceleration due to gravity is typically read as +1G. Here’s why:
- IMUs measure acceleration, including the effect of gravity. The standard convention is that the accelerometer outputs a positive value when the acceleration is in the same direction as the axis.
- When the z-axis is pointing upward, gravity acts downward (opposite to the z-axis direction). However, the accelerometer measures the reaction to gravity as an upward acceleration of the sensor itself (Newton’s third law in play: the normal force or constraint keeping the IMU stationary against gravity).
- By common convention, when the z-axis is up and the IMU is stationary, the accelerometer will read +1G along the z-axis, indicating an acceleration of approximately +9.81 m/s² (the standard gravitational acceleration).
If the z-axis were pointing downward (aligned with gravity), the reading would be -1G, or -9.81 m/s², because the acceleration due to gravity would be in the negative direction of the axis.
So, with the z-axis up, you should expect +1G. Note that this assumes a typical IMU configuration—some specific devices or software might flip the sign based on their coordinate system, but the standard convention follows this logic.
pip install opencv-contrib-python
pip install depthai-viewer
protoc --python_out=../msgs AllMsgs.proto
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