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Add device monotonic timestamp to IMU reports #510

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Merged
merged 5 commits into from
Feb 22, 2022
Merged

Add device monotonic timestamp to IMU reports #510

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7ea333a
Add device monotonic timestamp to IMU reports
Feb 19, 2022
ac3fd23
Add python bindings
Feb 19, 2022
47ec10a
Merge remote-tracking branch 'origin/develop' into HEAD
Feb 22, 2022
f58d6b1
Modify IMU example: GYRO at 400 hz to avoid spikes
Feb 22, 2022
a661e86
Merge remote-tracking branch 'origin/develop' into HEAD
Feb 22, 2022
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2 changes: 1 addition & 1 deletion depthai-core
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Submodule depthai-core updated 3 files
+1 −1 cmake/Depthai/DepthaiDeviceSideConfig.cmake
+5 −2 examples/IMU/imu_gyroscope_accelerometer.cpp
+1 −1 shared/depthai-shared
7 changes: 5 additions & 2 deletions examples/IMU/imu_gyroscope_accelerometer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,11 @@

xlinkOut.setStreamName("imu")

# enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 500 hz rate
imu.enableIMUSensor([dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 500)
# enable ACCELEROMETER_RAW at 500 hz rate
imu.enableIMUSensor(dai.IMUSensor.ACCELEROMETER_RAW, 500)
# enable GYROSCOPE_RAW at 400 hz rate
imu.enableIMUSensor(dai.IMUSensor.GYROSCOPE_RAW, 400)
# it's recommended to set both setBatchReportThreshold and setMaxBatchReports to 20 when integrating in a pipeline with a lot of input/output connections
# above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
imu.setBatchReportThreshold(1)
# maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
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1 change: 1 addition & 0 deletions src/DatatypeBindings.cpp
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Expand Up @@ -503,6 +503,7 @@ void DatatypeBindings::bind(pybind11::module& m, void* pCallstack){
.def_readwrite("sequence", &IMUReport::sequence)
.def_readwrite("accuracy", &IMUReport::accuracy)
.def_readwrite("timestamp", &IMUReport::timestamp)
.def_readwrite("tsDevice", &IMUReport::tsDevice)
;


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