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100k Pixels

NOTE: As of this writing (8/17/15), running your O3D303 at 100k pixels is currently unsupported by the sensor vendor. Experiment with this modality at your own risk.

The 0.06.39 version of the IFM firmware for the O3D303 introduced the capability to acquire images at (approximately) 100k pixels. Specifically, the images are 264 x 352 vs. the standard 132 x 176. More is not always better but none-the-less it is nice to have options and we want to support this 100k pixel capability. Once the 100k pixel configuration is officially supported by IFM, you will be able to turn on/off this capability through our standard JSON configuration using the o3d3xx-config tool. We expect this to be a boolean switch on the imager configuration called Output100K. However, as it stands today, you have to sort of backdoor your way into unlocking this feature. This document explains how to do it.

First, lets look at a comparision of the two resolutions by looking at a point cloud snapshot taken in my office.

Here is the standard 132 x 176 point cloud: 23k

Here is the same scene at 264 x 352: 100k

If the above step up in resolution motivates you to investigate this feature further, read-on for step-by-step instructions to enable it.

First, as a prerequisite, you need to be sure your camera is running (at least) the 0.06.39 version of the IFM firmware. You can check that with:

$ o3d3xx-dump | grep -i 'ifm_software'
    "IFM_Software": "0.06.39",

If your output does not look like the above, you should use IFM's Vision Assistant to update the firmware on your camera. You can get the proper firmware from our firmware directory. Be sure to check the checksum before flashing your sensor.

Now, assuming your firmware is up to date, next, you need to create a new application with the 100k pixel feature enabled. To do this you can use the following:

$ o3d3xx-ifm-import -f 100k.o3d3xxapp -a

The 100k.o3d3xxapp file is provided with our source distribution in the test/data directory. The -a flag indicates that this is importing an application and not a full camera configuration.

Next, you should list the applications on your camera to see that it is there:

$ o3d3xx-ls
* [1] id=1746030257, name=Sample Application, description=
  [2] id=476707713, name=100K Pixel Sample Application, description=

We can see the 100k application at index 2 as noted by the o3d3xx-ls output. Now, we want to mark that as the active application:

$ echo '{"o3d3xx":{"Device":{"ActiveApplication":"2"}}}' | o3d3xx-config

Now, check that the 100k application is active:

$ o3d3xx-ls
  [1] id=1746030257, name=Sample Application, description=
* [2] id=476707713, name=100K Pixel Sample Application, description=

At this point, you are good to go. You can further configure the application using the standard o3d3xx-dump and o3d3xx-config tools. For example, the images above were taken using the dual frequency dual exposure imager whereas the default 100k application (as supplied) configures the imager for single frequency dual exposure. The correct settings will be dictated by the requirements of your application.