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optor-vis / optor_vi-stereo-v1

optor VI Sensor SDK, ROS pack and IMU calibration program
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Bad Synchronization Issue #4

Open mzahana opened 5 years ago

mzahana commented 5 years ago

Hi.

I was intending to buy the Optor cam for VIO applications. However, after searching for feedback, it seems that it does not implement a good synchronization mechanism. It seems there is no hardware synchronization, please correct me if I am wrong. Also the way the images are stamped seems to be on arrival while ignoring transfer time and other overhead processing. This makes this cam generally unsuitable for VIO use, e.g. with ROVIO.

Do you have comments whether there are workarounds to make this sensor more suitable for VIO applications? Specifically the accurate timestamping and accurate IMU synchronization ?

Thanks.

Razbotics commented 5 years ago

I was working on the project of making optor camera hardware synchronised bu hacking in the trigger pin and modifying the SDK. But now after some operations on the camera board and tracing the pcb connections. I found out that they have designed the pcb to make the trigger pin grounded. So no matter what i do an external trigger signal won't work to trigger the cam....so tough luck...but i have another idea to make it hardware synchronised and it includes the used led strobe out of the the camera which is accesible .