Camera config to extract full resolution image

[saikns]

We have a O3D303 sensor mounted on an AGV at a height of 1 m & 45 deg angle facing downwards. The sensor's primary purpose is to detect obstacles in 1.5 m range in-front of the AGV. I am looking for some camera config changes to suit the purpose.

1. How to get full resolution(352 x 264) images from the sensor?
   • Required to detect poles & bollards in the path, more room to filter the output data
2. How to set sensor to use single frequency for TOF?
   • For higher frame acquisition & heating concerns
3. Ideal integration time for a moving platform (< 1 m/s)?

[tpanzarella]

1. How to get full resolution(352 x 264) images from the sensor?

Having the ability to do this will depend on which version of the IFM firmware you are running. The 1.3 - 1.4 series of IFM firmwares has this capability installed. Please see the libo3d3xx README for a software compatibility matrix to ensure the version of libo3d3xx you are running is compatible with your firmware. Starting with the 1.6 series of IFM firmware, I believe you will need to order a 100k pixel imager from IFM explicitly as it cannot just be "turned on". You can get more info from @graugans @cfreundl @GarrettPlace

Assuming you have the proper firmware and the proper version of libo3d3xx installed, and you want to change that via ROS, and the application you want to modify is indexed at 1, you could:

$ echo '{"o3d3xx":{"Apps":[{"Index":"1","Imager":{"Resolution":"1"}}]}}' | roslaunch o3d3xx config.launch

If your firmware does not support the 100k pixel imager, you will something like the following from the config node:

[ INFO] [1473281027.766877493]: status=-9014
[ INFO] [1473281027.767021949]: msg=XMLRPC value out of range

1. How to set sensor to use single frequency for TOF?

Outside of ROS, you could run the o3d3xx-imager-types application to get a listing of supported imager configurations your camera supports. That would look something like:

$ o3d3xx-imager-types 
morethan30m_low
morethan30m_moderate
under5m_high
under5m_low
under5m_moderate
upto30m_high
upto30m_low
upto30m_moderate

Any of the under5m imagers are single frequency. To set these, just like above, you configure it via the JSON dump from the camera. The easiest way to do it via ROS is again through the config node. Assuming your ROS network is up and the camera driver is running (and you want to modify the application at index 1) you can:

$ echo '{"o3d3xx":{"Apps":[{"Index":"1","Imager":{"Type": "under5m_moderate"}}]}}' | roslaunch o3d3xx config.launch

This will enable single frequency / dual exposure for application 1.

1. Ideal integration time for a moving platform (< 1 m/s)?

You would have to tune this specifically for your application. Perhaps the IFM guys have some baseline recommendations, but, from my experience, there is no magical numbers I could give to you. Lots of factors to consider.