Algorithm (Workflow)

This algorithm is designed to reset and initialize a Vicra camera, which is a type of navigation camera used in various applications. The process involves several steps, each of which is crucial for ensuring the camera is ready for operation.

Input Parameters

There are no direct input parameters for this function. It operates on a global instance of the Vicra class.

Algorithm Steps

1. Close All Serial Devices

The function begins by calling vicra.close_all_serial_devices(). This step ensures that any previously opened serial connections to the camera are closed, preventing conflicts or errors when establishing a new connection.

2. Create Vicra Instance

A global instance of the Vicra class is created using global vicra_global and vicra_global=vicra(). This instance will be used to interact with the camera throughout the function.

3. Open Connection

The vicra_global.open() function is called to search for connected navigation cameras, open the appropriate serial interface, and reset the camera. This step is crucial for establishing communication with the camera.

4. Set Baud Rate

The default baud rate of 9600 is often too slow for many applications. The function vicra_global.set_baudrate(115200) is used to set a higher baud rate of 115200, which is more suitable for faster data transmission. The supported baud rates can be retrieved using vicra.get_supported_baudrates().

5. Initialize Camera

The vicra_global.init() function is called to upload six standard tracker geometries and start the tracking mode. This step is essential for preparing the camera to track objects accurately. A message 'wait 6 seconds...' is printed to indicate the initialization process duration.

Conclusion

This algorithm effectively resets and initializes a Vicra camera by closing existing connections, establishing a new connection, setting an appropriate baud rate, and initializing the camera for tracking. Each step is crucial for ensuring the camera operates correctly and efficiently.