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shadow-robot / argos3d_p100_ros_pkg

ROS package for Bluetechnix Argos P100 ToF camera.
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Publish amplitudes as RGB image #7

Open YiShadow opened 10 years ago

YiShadow commented 10 years ago

For https://github.com/shadow-robot/sr-grasp-stabilisation/issues/167.

YiShadow commented 10 years ago

"The amplitude data delivers a scene similar to a gray-value image of the observed scene. The difference is that an intensity image would represent the world observed without light which is actively emitted by the IR LED of your Nano. The amplitude image shows the world in the way it looks as if there was no background light, but only the IR LED light of your Nano. That means, the amplitude data always delivers you a 2D image of the observed scene even if you turn out the light or operate under weak illumination conditions. So the amplitude data is something similar to a super-robust 2D-image which is not impacted by the ambient light conditions."

https://www.cayim.com/faq
shadow-jenkins commented 10 years ago

That sounds very interesting. Be interested to see how ar_pose handled that image.

On 15 May 2014 16:47, Yi Li notifications@github.com wrote:

"The amplitude data delivers a scene similar to a gray-value image of the observed scene. The difference is that an intensity image would represent the world observed without light which is actively emitted by the IR LED of your Nano. The amplitude image shows the world in the way it looks as if there was no background light, but only the IR LED light of your Nano. That means, the amplitude data always delivers you a 2D image of the observed scene even if you turn out the light or operate under weak illumination conditions. So the amplitude data is something similar to a super-robust 2D-image which is not impacted by the ambient light conditions."

https://www.cayim.com/faq

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YiShadow commented 10 years ago

ORK subscribes to the following topics

topic:/camera/depth_registered/camera_info
topic:/camera/rgb/image_color
topic:/camera/rgb/camera_info
topic:/camera/depth_registered/image_raw

For topic:/camera/depth_registered/image_raw

the encoding = 16UC1
the number of matrix channels = 1
the type of a matrix element = 16UC1
the depth of a matrix element = CV_16U ( 0..65535 )

For topic:/camera/rgb/image_color

the encoding = bgr8
the number of matrix channels = 3
the type of a matrix element = 8UC3
the depth of a matrix element CV_8U ( 0..255 )