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Merge pull request #333 from luxonis/imu_docs
Added IMU node and IMUData message docs
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‎docs/source/components/messages/imu_data.rst‎

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IMUData
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=======
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IMU data message is created by the :ref:`IMU` node.
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Reference
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#########
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.. tabs::
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.. tab:: Python
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.. autoclass:: depthai.IMUData
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:members:
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:inherited-members:
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:noindex:
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.. tab:: C++
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.. doxygenclass:: dai::IMUData
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:project: depthai-core
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:members:
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:private-members:
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:undoc-members:
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.. include:: ../../includes/footer-short.rst

‎docs/source/components/nodes/imu.rst‎

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IMU
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===
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IMU (`intertial measurement unit <https://en.wikipedia.org/wiki/Inertial_measurement_unit>`__) node can be used to receive data from the IMU chip on the device.
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Our DepthAI devices use `BNO085 <https://www.ceva-dsp.com/product/bno080-085/>`__ 9-axis sensor (`datasheet here <https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf>`__)
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that supports sensor fusion on the (IMU) chip itself. The IMU chip is connected to the Myriad X (VPU) over SPI (we have integrated
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`this driver <https://github.com/hcrest/bno080-driver>`__ to the DepthAI).
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How to place it
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###############
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.. tabs::
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.. code-tab:: py
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pipeline = dai.Pipeline()
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imu = pipeline.create(dai.node.IMU)
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.. code-tab:: c++
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dai::Pipeline pipeline;
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auto imu = pipeline.create<dai::node::IMU>();
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Inputs and Outputs
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##################
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.. code-block::
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┌──────────────┐
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│ │
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│ │ out
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│ IMU ├─────────►
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│ │
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│ │
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└──────────────┘
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**Message types**
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- :code:`out` - :ref:`IMUData`
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Maximum frequencies
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###################
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Maximum output frequencies are 500 Hz raw accelerometer, 1000 Hz raw gyroscope values individually, and 500 Hz combined (synced) output.
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You can obtain the combined (synced) 500 Hz output with :code:`imu.enableIMUSensor([dai.IMUSensor.RAW_ACCELEROMETER, dai.IMUSensor.RAW_GYROSCOPE], 500)`.
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Usage
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#####
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.. tabs::
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.. code-tab:: py
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pipeline = dai.Pipeline()
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imu = pipeline.create(dai.node.IMU)
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# enable RAW_ACCELEROMETER and RAW_GYROSCOPE at 100 hz rate
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imu.enableIMUSensor([dai.IMUSensor.RAW_ACCELEROMETER, dai.IMUSensor.RAW_GYROSCOPE], 100)
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# above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
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imu.setBatchReportThreshold(1)
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# 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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# if lower or equal to batchReportThreshold then the sending is always blocking on device
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# useful to reduce device's CPU load and number of lost packets, if CPU load is high on device side due to multiple nodes
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imu.setMaxBatchReports(10)
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.. code-tab:: c++
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dai::Pipeline pipeline;
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auto imu = pipeline.create<dai::node::IMU>();
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// enable RAW_ACCELEROMETER and RAW_GYROSCOPE at 100 hz rate
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imu->enableIMUSensor({dai::IMUSensor::RAW_ACCELEROMETER, dai::IMUSensor::RAW_GYROSCOPE}, 100);
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// above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
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imu->setBatchReportThreshold(1);
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// 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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// if lower or equal to batchReportThreshold then the sending is always blocking on device
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// useful to reduce device's CPU load and number of lost packets, if CPU load is high on device side due to multiple nodes
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imu->setMaxBatchReports(10);
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IMU sensors
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###########
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When enabling the IMU sensors (:code:`imu.enableIMUSensor()`), you can select between the following sensors:
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- :code:`ACCELEROMETER_RAW`
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- :code:`ACCELEROMETER`
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- :code:`LINEAR_ACCELERATION`
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- :code:`GRAVITY`
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- :code:`GYROSCOPE_RAW`
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- :code:`GYROSCOPE_CALIBRATED`
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- :code:`GYROSCOPE_UNCALIBRATED`
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- :code:`MAGNETOMETER_RAW`
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- :code:`MAGNETOMETER_CALIBRATED`
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- :code:`MAGNETOMETER_UNCALIBRATED`
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- :code:`ROTATION_VECTOR`
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- :code:`GAME_ROTATION_VECTOR`
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- :code:`GEOMAGNETIC_ROTATION_VECTOR`
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- :code:`ARVR_STABILIZED_ROTATION_VECTOR`
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- :code:`ARVR_STABILIZED_GAME_ROTATION_VECTOR`
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Here are **descriptions of all sensors**:
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.. autoclass:: depthai.IMUSensor
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:noindex:
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Examples of functionality
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#########################
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- :ref:`IMU Accelerometer & Gyroscope`
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- :ref:`IMU Rotation Vector`
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Reference
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#########
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.. tabs::
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.. tab:: Python
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.. autoclass:: depthai.node.IMU
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:members:
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:inherited-members:
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:noindex:
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.. tab:: C++
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.. doxygenclass:: dai::node::IMU
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:project: depthai-core
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:members:
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:private-members:
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:undoc-members:
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.. include:: ../../includes/footer-short.rst

‎docs/source/samples/imu_accelerometer_gyroscope.rst‎

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Demo
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####
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Example script output
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.. code-block::
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~/depthai-python/examples$ python3 imu_gyroscope_accelerometer.py
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Accelerometer timestamp: 0.000 ms
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Accelerometer [m/s^2]: x: -0.162806 y: 6.445191 z: 3.189077
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Gyroscope timestamp: 1.642 ms
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Gyroscope [rad/s]: x: -0.040480 y: 0.088417 z: -0.168312
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Accelerometer timestamp: 2.073 ms
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Accelerometer [m/s^2]: x: -0.229843 y: 6.263232 z: 3.572149
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Gyroscope timestamp: 3.663 ms
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Gyroscope [rad/s]: x: -0.072438 y: 0.115049 z: -0.350472
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Setup
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#####

‎docs/source/samples/imu_rotation_vector.rst‎

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Demo
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####
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Example script output
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.. code-block::
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~/depthai-python/examples$ python3 imu_rotation_vector.py
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Rotation vector timestamp: 0.000 ms
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Quaternion: i: 0.089355 j: 0.355103 k: 0.034058 real: 0.929932
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Accuracy (rad): 3.141602
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Rotation vector timestamp: 3.601 ms
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Quaternion: i: 0.088928 j: 0.354004 k: 0.036560 real: 0.930298
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Accuracy (rad): 3.141602
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Rotation vector timestamp: 6.231 ms
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Quaternion: i: 0.094604 j: 0.344543 k: 0.040955 real: 0.933105
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Accuracy (rad): 3.141602
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Setup
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#####

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