With the IOControl module, the digital GPIOs of the rc_visard can be set and read out. The status of the inputs are read in the middle of the image exposure time and delivered with every image. The outputs can be set to low or high; two additional modes are designed for controlling an external Random Dot Projector:
The ExposureActive mode sets the output high during the exposure time for every image, so that the quality of the depth image is improved for every image.
In the ExposureActiveAlternate mode, the quality of the depth image is improved by the RandomDot Projector without affecting other modules that require images without a visible pattern: The output is set to high during the exposure time of every second image and the stereo matching module uses images where the projector is on, the other modules use images without projected pattern.