Generating and Uploading Projector Patterns

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tengfoonglam edited this page Sep 28, 2021 · 3 revisions

To take into account projector lens distortion, we pre-distort the patterns before uploading them onto the Lightcrafter 4500.

Generate the new patterns using the new projector.xml generated during the calibration procedure. Generated patterns can be found in the core/sl_sensor_codec/patterns folder
roslaunch sl_sensor_codec genertate_patterns.launch
Launch the Lightcrafter 4500 GUI and create a new firmware .bin file as shown in the image below.

upload_pattern

Make sure names of the .bmp images correspond to the correct image indices (index -> image name)

7 -> phase_shift_with_tpu_horizontal_1.bmp
8 -> phase_shift_with_tpu_horizontal_2.bmp
9 -> phase_shift_with_tpu_vertical_1.bmp
10 -> phase_shift_with_tpu_vertical_2.bmp
11 -> two_plus_one_with_tpu_horizontal_1.bmp
12 -> two_plus_one_with_tpu_horizontal_2.bmp
13 -> two_plus_one_with_tpu_vertical_1.bmp
14 -> two_plus_one_with_tpu_vertical_2.bmp

Upload the new firmware onto the projector as documented here