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ifm / o3d3xx-ros

IFM Efector O3D3xx ToF Camera ROS Package
Apache License 2.0
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No camera output #23

Open ghost opened 8 years ago

ghost commented 8 years ago

Hi, I'm using a O3D311 and I'm not getting the grayscale image as shown in README.md. The Amplitude image is as shown below. I have updated the camera firmware to latest version. Am I doing something wrong? Or does this camera not support 2D image output?

o3d311

tpanzarella commented 8 years ago

I'm going to assume the O3D311 resembles the O3D303 enough that the info below applies...

It looks like you are looking at the "Raw Amplitude" image which could be difficult to interpret. Turn on the "Amplitude" image (in rviz), which is actually the "Normalized Amplitude" image. This will look more like an image from a grayscale camera as you would expect.

ghost commented 8 years ago

Thank you Tom, but the Amplitude image shows the same thing. I guess I have the wrong camera. Its really hard to find the difference between the 30x and 31x models in datasheet. As recommended, will try to get a 303 model and try it out

GarrettPlace commented 8 years ago

The O3D311 is a stainless steel version of the O3D301 (40 deg opening angle). The 301 and 303 differ only in opening angle. We should see no data difference between all of these articles.

tpanzarella commented 8 years ago

A few other things...

You don't necessarily want to update to the latest firmware, but rather run a supported software stack (i.e., IFM Firmware + libo3d3xx + o3d3xx-ros). The project README files have a matrix that lays this all out.

You may want to play with your imager settings to get a better picture. There are various permutations of number of frequencies, number of exposure, exposure times (short and long), etc. You likely just need to play with those settings to get something usable.

Finally, be mindful of what you are trying to image -- surface material, reflectance properties, distance to it, etc. Take a look at the "Good Bad Pixels" image. This is a binary image that will show you the count (and spatial location) of good vs bad pixels.

ghost commented 8 years ago

Hmm. Ok will give it a go again 2moro. Im hoping its just out of focus. Thanks guys

graugans commented 8 years ago

@aswinhope what scene you are looking at? Your image looks really strange. I recommend mounting the camera looking at the ceiling in ~2m distance in this set-up you can use your hand to check the sharpness of the camera. The recommended way is to double check the camera with the ifm Vision Assistant.

ghost commented 8 years ago

Hi, I wasnt able to view the camera output in ifmVisionAssistant. I chose both 2D and 3D options, but I saw nothing like a grayscale image

ghost commented 8 years ago

Dont know how true this is, but I was just told by an ifm sales person that the 313 cannot view image

GarrettPlace commented 8 years ago

@aswinhope I apologize for the confusion. All articles in the O3D3 series have the ability to view both depth and amplitude data.

Articles ending in a "0" or "2" are considered sensors and work directly with the ifm Vision Assistant. An example is O3D302.

Articles ending in a "1" or "3" are considered cameras. These are designed to be used in conjunction with ROS, Halcon or with the ifm SDK.

I hope this helps.