pr2_camera_synchronizer/Reviews
Package proposal
Basic Functionality
This package will be a centralized place to select the triggering mode of the robot's cameras and texture projector. Functionality includes:
- Receiving requests for a particular triggering mode.
Programming the TriggerControllers to trigger the cameras and the projector.
- Programming the head and forearm WGE100 cameras for the selected mode of operation.
- Disabling the projector when the Prosilica Camera is exposing.
Modes of Operation
- No projector. Triggering is still generated, and necessarily used to synchronize the head cameras.
- Slow projector. The projector is pulsed at 1x frame rate. Cameras can be in phase or out of phase with the projector.
- Fast projector. The projector is pulsed at 2x frame rate (possibly with unequal spacing between pulses). Cameras can be in phase or out of phase with the projector.
- Slow alternated projector. The projector is pulsed at 1x frame rate. Cameras can be in phase or out of phase with the projector. The projected pulse is shifted every second frame so that in-phase cameras only see it every second frame. Cameras with a suitable imager can have different settings every second frame.
- Fast alternated projector. The projector is pulsed at 2x frame rate (possibly with unequal spacing between pulses). Cameras can be in phase or out of phase with the projector. The projected pulse is shifted every second frame so that in-phase cameras only see it every second frame. Cameras with a suitable imager can have different settings every second frame.
Open Questions
- How to handle the Prosilica Camera blanking. (ROS Interface?)
- What ROS interface to use?
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