Driver for o3d3xx cameras

robotika / osgar

Open Source Garden (Autonomous) Robot

MIT License

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Driver for o3d3xx cameras #944

Closed tajgr closed 2 years ago

tajgr commented 2 years ago

Industrial ToF camera e.g.: https://www.ifm.com/cz/cs/product/O3D305 The driver is based on o3d3xx-python: https://github.com/ifm/o3d3xx-python

Just simple implementation.

tajgr commented 2 years ago

Sample log, resolution 352 x 264. There are depth and "amplitude_image" (reflectance) streams. test-o3d3xx-220112_082625.log

tajgr commented 2 years ago

Sample depth image from outdoor (terrace). The distance of the plant is approx. 3 m. Resolution 176 x 132. saveX-0000

tajgr commented 2 years ago

The camera can work in several modes e.g.: under5m_moderate, upto30m_moderate, morethan30m_moderate, etc. The default mode is under5m_moderate. So what happen if an obstacle is further than 5 m? See next picture. chodba-depth-upto5m

The calculation of the distance after 5 m starts again from zero :-). The same situation with mode upto30m_moderate: chodba-depth-upto30