The rc_visard comes with several on-board software modules, each of which corresponds to a certain functionality and can be interfaced via its respective node in the REST-API interface.
The rc_visard’s software modules can be divided into
- 3D camera modules
- which acquire stereo image pairs and compute 3D depth information such as disparity,
error, and confidence images, and are also accessible via the rc_visard’s
GigE Vision/GenICam interface,
- Navigation modules
- which provide estimates of rc_visard’s current pose, velocity, and acceleration,
- Detection modules
- which provide a variety of detection functionalities, such as grasp point computation and object detection,
- Configuration modules
- which enable the user to configure the rc_visard for specific applications.