Merge pull request #510 from luxonis/imu_device_ts

SzabolcsGergely · web-flow · commit 52268622f371 · 2022-02-22T20:03:23.000+02:00
Add device monotonic timestamp to IMU reports
diff --git a/depthai-core b/depthai-core
@@ -1 +1 @@
-Subproject commit e03be4c7b43307b148fd1e4da4306e7166ded2a4
+Subproject commit 3a2961de709faf44313d7af4f62314ad063acdec
diff --git a/examples/IMU/imu_gyroscope_accelerometer.py b/examples/IMU/imu_gyroscope_accelerometer.py
@@ -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
diff --git a/src/DatatypeBindings.cpp b/src/DatatypeBindings.cpp
@@ -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)
         ;
 
 

Original file line number	Diff line number	Diff line change
`@@ -503,6 +503,7 @@ void DatatypeBindings::bind(pybind11::module& m, void* pCallstack){`
`503`	`503`	`.def_readwrite("sequence", &IMUReport::sequence)`
`504`	`504`	`.def_readwrite("accuracy", &IMUReport::accuracy)`
`505`	`505`	`.def_readwrite("timestamp", &IMUReport::timestamp)`
	`506`	`+ .def_readwrite("tsDevice", &IMUReport::tsDevice)`
`506`	`507`	`;`
`507`	`508`
`508`	`509`