Amplitude image scaling

[ifm]

Amplitude image scaling

[akgoins]

We want to use the image and calibration target because we have multiple cameras that we are calibrating and having one calibration target is preferable. If you don't see a need to change the ROS drivers, we will probably make a separate node that will rescale the image for us so we can perform our extrinsic calibration.

Thanks for the XMLRPC warning. We are using the industrial calibration library and storing our results externally so we shouldn't have that problem.

[tpanzarella]

These data are published into the ROS computation graph as the sensor transmits them to us. Specifically, for the O3D the hardware produces amplitude data as uint16. To be clear, what we publish on /amplitude is the normalized amplitude from the camera (normalized on the camera-side, before we get the pixels). We also publish /raw_amplitude which is named in an obvious way.

FWIW, we do our extrinsic calibrations using the point cloud data and targets with geometric properties we can exploit rather than treating the sensor as a traditional machine vision camera. YMMV.

Also, a word of caution, do not store your extrinsic calibration on the camera via the XMLRPC interface. We compute our "ROS coord frame" inline as we are parsing the pixel byte buffer and assume the extrinsics as stored on the camera are 0,0,0,0,0,0 -- that is, we transform directly from the optical frame to our right-handed coord frame (consistent with ROS). This happens at the driver level.

I hope the above info helps.