how can get camera o3d303 intrinsic params

[comwise]

i add the following code， but the data is null

  //
  // publish intrinsics
  //
  ifm3d::Intrinsics intrinsics_msg;
  intrinsics_msg.header = optical_head;
  try
    {
      if(intrinsics.size() >= 16) {
        intrinsics_msg.fx       = intrinsics.at(0);
        intrinsics_msg.fy       = intrinsics.at(1);
        intrinsics_msg.mx       = intrinsics.at(2);
        intrinsics_msg.my       = intrinsics.at(3);
        intrinsics_msg.alpha    = intrinsics.at(4);
        intrinsics_msg.k1       = intrinsics.at(5);
        intrinsics_msg.k2       = intrinsics.at(6);
        intrinsics_msg.k3       = intrinsics.at(8);
        intrinsics_msg.k4       = intrinsics.at(9);
        intrinsics_msg.k5       = intrinsics.at(7);
        intrinsics_msg.trans_x  = intrinsics.at(10);
        intrinsics_msg.trans_y  = intrinsics.at(11);
        intrinsics_msg.trans_z  = intrinsics.at(12);
        intrinsics_msg.rot_x    = intrinsics.at(13);
        intrinsics_msg.rot_y    = intrinsics.at(14);
        intrinsics_msg.rot_z    = intrinsics.at(15);
      }
    }
  catch (const std::exception& ex)
    {
      ROS_WARN_STREAM("fetching intrinsics exception: " << ex.what());
    }
  this->intrinsics_pub_.publish(intrinsics_msg);

hardware firmware version is O3D3XX_Firmware_1.30.5309.swu

[theseankelly]

Hey @comwise -- the schema_mask parameter on the node determines which information is transmit from the camera. By default, this parameter is '10', which corresponds to amplitude and XYZ (also confidence, and extrinsics -- they are always enabled).

Intrinsic calibration is specified by bit 8 (0x100). Please set the schema_mask parameter when launching the ros node to include this bit.

i.e. for Amplitude, XYZ and Intrinsics, the value is 266: (0x10A)

roslaunch ifm3d camera.launch schema_mask:=266

[comwise]

@theseankelly thanks very much， i get the intrinsic params now

[theseankelly]

Sure, feel free to reach out if you have any further issues.