O3R Colored Pointcloud

This package allows user to visualize 3D colored pointcloud using ifm O3R camera system.

Supported hardware

Name	Type
OVP800	Video Processing Unit (VPU)
O3R225	3D camera

Requirements

ROS 2 distribution: Humble
ifm3d library ( version = v1.3.3 )
ifm3d-ros2 wrapper ( version = v1.1.0 )

Further instructions to install

ROS2 Humble: https://docs.ros.org/en/humble/Installation.html
ifm packages: https://api.ifm3d.com/stable/content/installation_instructions/install_linux_binary.html
Github Action file available for reference in the repository.

Camera connections

O3Rxxx has 2 outputs, 2D-Image and 3D-Data.

When using 1 Camera, connect it to the following ports:

Port Name	Camera Output
Port 0	2D-Image
Port 2	3D-Data

When using 2 Cameras, connect it to the following ports:

Port Name	Camera 1 Output	Camera 2 Output
Port 0	2D-Image	------------
Port 2	3D-Data	------------
------------	------------	------------
Port 1	------------	2D-Image
Port 3	------------	3D-Data

Rest of the configuration is set to default as provided by ifm and also available on their website. There is a config folder which has required parameters pre-configured.

Building package

Clone this repository to ros_ws/src. (Preferable in the same location as ifm3d-ros2 package)

Open ros_ws in termanal and run the following:

rosdep update
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble

Build ROS (2) package: o3r_color_pcl_ros2 and source it

colcon build --packages-select o3r_color_pcl_ros2
source install/setup.bash

There are following launch files available to test:

Check the example launch files to modify as per requirements.

Name	Description	Command	Cloud output topics
example_o3r_2d_and_3d_launch	Example file to run 1 camera.	`ros2 launch o3r_color_pcl_ros2 example_o3r_2d_and_3d_launch.py`	Cloud published on '/pcl/colored'
example_two_o3r_heads_launch	Example file to run 2 cameras.	`ros2 launch o3r_color_pcl_ros2 example_two_o3r_heads_launch.py`	Left cloud published on '/pcl/left_camera_cloud' & Right cloud published on '/pcl/right_camera_cloud'

Use RVIZ2 to visualize the colored pointcloud. Make sure to set correct Fixed Frame and Color Transform as RGBF32.

Available Launch file parameters

Param Name	Default value	Options	Description
uncompressed	false	true, false	Flag to enable subscription to uncompressed image
timer_period	0.5	double value	Colored pointcloud stream speed.

Tips

When running two cameras, use the following static transforms to visualise.

Replace (distance_from_mid_point_between_cameras) and (height_from_ground):

Please be aware of camera's coordinate system. Refer this.

ros2 run tf2_ros static_transform_publisher --frame-id base_link --child-frame-id right_camera_3d_optical_link --y -(distance_from_mid_point_between_cameras) --z (height_from_ground)

ros2 run tf2_ros static_transform_publisher --frame-id base_link --child-frame-id left_camera_3d_optical_link --y (distance_from_mid_point_between_cameras) --z (height_from_ground)

sam-tj / O3R_Color_PLC_ROS2