Software modules

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.