The PR2 has a textured-light projector for better stereo imaging. While this textured light improves the quality of 3D reconstruction from stereo images, it is not desirable to have the projector running for other imagers on PR2. The PR2's projector has a complicated system of controlling its state based on several external triggers.
The projector exposes its interface in two separate ways:
- As a ProjectorCommand/ProjectorState pair
- As a collection of 6 DigitalOut instances
The ProjectorCommand class allows the projector board to be configured for a variety of operational modes.
The ProjectorState class reports on the current status of the projector board.
Definition at line 335 of file hardware_interface.h.