Here I collect small scripts that may help you understand Luxonis camera's IMU a bit better.

0. Read the manual first:

Liuxonis » Nodes » IMU

1. Know your hardware:

There are 2 IMU options for Luxonis cameras. Bosch BMI270 and Bosch BNO085. I have the one with BMI270.

Easiest way to check the installed IMU version is to ask it for GYROSCOPE_CALIBRATED data. BNO085 will work. BMI270 will rise an error:

    RuntimeError: IMU(0) - IMU invalid settings!: 
    GYROSCOPE_CALIBRATED output is unsupported. 
    BMI270 supports only ACCELEROMETER_RAW and/or GYROSCOPE_RAW outputs.

2. Understand Camera axis directions:

OAK-D IMU Coordinate system. Camera look at you:

  CW rotation around any axis gives Positive Gyro Values
    Imagine looking from a positive point on the axis and turing the entity right.
            X
            |
            |
            *--------Y  
             \ 
              \ 
               Z

Rotate 3D cube with IMU.

That's a good idea to check that your axis mapping is correct. Let's use AHRS and Ursina for visualization.

cd 3D_Cube_AHRS
conda create --name 3D_Cube_AHRS python=3.10 pip
conda activate 3D_Cube_AHRS
pip install -r requirements.txt
python main.py

Live plot OAK-D IMU Data with MatplotLib.

That's a good idea to check that your axis mapping is correct. Let's use AHRS and Ursina for visualization.

cd Live_Plot_IMU
conda create --name Live_Plot_IMU python=3.10 pip
conda activate Live_Plot_IMU
pip install -r requirements.txt
python main.py # Don't forget to connect your camera