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OnionIoT / tau-lidar-server

Python package for Tau Lidar Camera application
MIT License
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Color range mismatch between point cloud and depth map #23

Closed greenbreakfast closed 3 years ago

greenbreakfast commented 3 years ago

Related issue: https://github.com/OnionIoT/tau-lidar-camera/issues/9

Python Library versions

Run pip list | grep TauLidar in the command-line and paste the output. Include some details on your system as well

TauLidarCamera            0.0.1
TauLidarCommon            0.0.1
TauLidarServer            0.0.2

Running on Mac

Camera Info

If possible, paste the output of camera.info() from Python (after camera has been successfully opened)

ToF camera opened successfully:
    model:      4.0
    firmware:   3.3
    uid:        69.549
    resolution: 160x60
    port:       /dev/cu.usbmodem00000000001A1
    IP address: 127.0.0.1
    URL:  http://127.0.0.1:8081

Describe the bug

The color representing depth is different between the point cloud and depth map. They should follow the same coloring for consistency

Steps to Reproduce

  1. Start the TauLidarServer program
  2. Navigate to the point cloud viewer in the web app
  3. Change the setting of the "Color Range" slider
  4. Observe difference in coloring of point cloud and depth map
  5. Repeat two previous steps

What is expected?

Consistent colors to represent depth in both the depth map and point cloud

What is actually happening?

Screen Shot 2020-11-27 at 4 48 27 PM Screen Shot 2020-11-27 at 4 48 21 PM Screen Shot 2020-11-27 at 4 48 07 PM Screen Shot 2020-11-27 at 4 47 59 PM Screen Shot 2020-11-27 at 4 47 52 PM
greenbreakfast commented 3 years ago

Mismatch in colors was because of BGR pixel ordering in depth map. Fixed in c1cb24ce73367623dbc3056605eae12c504d8e84

greenbreakfast commented 3 years ago

released in v0.0.3