Closed comwise closed 4 years ago
Hey @comwise -- the schema_mask
parameter on the node determines which information is transmit from the camera. By default, this parameter is '10', which corresponds to amplitude and XYZ (also confidence, and extrinsics -- they are always enabled).
Intrinsic calibration is specified by bit 8 (0x100). Please set the schema_mask
parameter when launching the ros node to include this bit.
i.e. for Amplitude, XYZ and Intrinsics, the value is 266: (0x10A)
roslaunch ifm3d camera.launch schema_mask:=266
@theseankelly thanks very much, i get the intrinsic params now
Sure, feel free to reach out if you have any further issues.
i add the following code, but the data is null
hardware firmware version is O3D3XX_Firmware_1.30.5309.swu