# CAM X

## Acquisition

![SpatialExplorer Camera sensor Acquisition rover settings interface](/files/-LTyusEI5NH9MQ5goReF)

Within the Acquisition tab of the Rover Camera sensor settings, there is an option to set the Event Pin of the camera. The Event Pin option assigns a timestamp mechanism to the camera’s strobe (an electric output line signalling when exactly the photo sensor starts being exposed to light). If the Event Pin of the camera is set to “None 0”, exposures will not be registered, resulting in an empty .cam file, making georeferencing of photos impossible. Rovers pre-programmed by Phoenix LiDAR Systems will already have the correct Event Pin set for each camera sensor.

![Event Pin options in SpatialExplorer](/files/-LXzmBjEh5x8X7PuOqiz)

If you are only using a single camera, it is important to ensure that the Event Pin is set to “Primary 1.” You cannot have two cameras connected to the same Event Pin, otherwise the timestamp mechanism has no way of knowing which camera’s sensor is being exposed to light when a signal comes in. Only when one camera’s strobe is connected to both the Event Pin and one or multiple other camera’s trigger line(s), all cameras will expose at exactly the same time and thus, can be set to use the same Event Pin. In this case, only one camera (“master”) can be triggered by time or distance, and the other cameras (“slaves”) follow the master camera. All slave-cameras on the same Event Pin must be set to passive triggering (and must configured to trigger when the master camera triggers).

## Calibration

The Calibration tab contains the camera orientaton and translation values as well as the calibration values for the camera. 

![SpatialExplorer Camera Sensor Calibration rover settings interface](/files/-LXzocoKoX_LeRd_bIzI)

## Processing

Some cameras may allow for RBG colorization in real-time. If your camera allows this, there are two methods for determining which image to use during RGB extraction for points in your cloud.

![SpatialExplorer Camera Sensor Processing rover settings interface](/files/-LXzpza4aI-EfQ_NJNQM)

The "Use photos close to point" method is based on spatial proximity and is influenced by the radius parameter. In general the benefit of using a spatial proximity method is that there are fewer points left uncolored. The drawback is that seam lines between photos are often more apparent.

The  "Use photos exposed just before and after the point" option will select am image to pull RGB values from based on temporal proximity and will only search X images before and after the time of a LiDAR return.


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