rc_visard
1.0
Introduction
Overview
Warranty
Applicable standards
Interfaces
Approvals
Standards
Glossary
Safety
General warnings
Intended use
Hardware specification
Scope of delivery
Technical specification
Environmental and operating conditions
Power-supply specifications
Wiring
Mechanical interface
Coordinate frames
Installation
Installation and configuration
Power up
Network configuration
Automatic configuration (factory default)
Manual configuration
Discovery of
rc_visard
devices
Resetting configuration
Web GUI
The
rc_visard
in a nutshell
Stereo vision
Sensor dynamics
Calibration relative to a robot
Software components
Stereo camera
Image acquisition
Planar rectification
Parameters
Parameter overview
Description of run-time parameters
Services
Stereo matching
Computing disparity images
Computing depth images and point clouds
Confidence and error images
Parameters
Parameter overview
Description of run-time parameters
Services
Sensor dynamics
Coordinate frames for state estimation
Available state estimates
Camera-pose streams (
pose
and
pose_ins
)
Real-time camera-pose streams (
pose_rt
and
pose_rt_ins
)
Real-time dynamics streams (
dynamics
and
dynamics_ins
)
IMU data stream (
imu
)
Services
Visual odometry
Parameters
Parameter overview
Description of run-time parameters
Services
Stereo INS
Parameters
SLAM (optional)
Camera calibration
Self-calibration
Calibration process
Step 1: Calibration settings
Step 2: Verify calibration
Step 3: Performing calibration
Step 4: Storing the calibration result
Parameters
Services
Hand-eye calibration
Calibration interfaces
Sensor mounting
Calibration routine
Step 1: Setting parameters
Step 2: Selecting and reporting robot calibration positions
Step 3: Calculating and saving the calibration transformation
Parameters
Parameter overview
Description of run-time parameters
Services
Interfaces
GigE Vision 2.0/GenICam image interface
Important GenICam parameters
Important standard GenICam features
Custom GenICam features of the
rc_visard
Provided image streams
Image stream conversions
REST-API interface
General API structure
Available resources and requests
Nodes, parameters, and services
Datastreams
System and logs
Data type definitions
Swagger UI
The rc_dynamics interface
Starting/stopping dynamic-state estimation
Configuring data streams
Data-stream protocol
rc_dynamics_api
Maintenance
Lens cleaning
Camera calibration
Updating the firmware
Restoring the previous firmware version
Rebooting the
rc_visard
Updating the software license
Downloading log files
Accessories
Connectivity kit
Wiring
Ethernet connections
Power connections
Power supplies
Spare parts
Troubleshooting
LED colors
Hardware issues
Connectivity issues
Camera-image issues
Depth/Disparity, error, and confidence image issues
Dynamics issues
GigE Vision/GenICam issues
Contact
Support
Downloads
Address
Appendix
Pose formats
XYZABC format
XYZ+quaternion format
rc_visard
Docs
»
Roboception rc_visard User Manual
Roboception rc_visard User Manual
¶
Introduction
Safety
General warnings
Intended use
Hardware specification
Scope of delivery
Technical specification
Environmental and operating conditions
Power-supply specifications
Wiring
Mechanical interface
Coordinate frames
Installation
Installation and configuration
Power up
Network configuration
Discovery of
rc_visard
devices
Web GUI
The
rc_visard
in a nutshell
Stereo vision
Sensor dynamics
Calibration relative to a robot
Software components
Interfaces
GigE Vision 2.0/GenICam image interface
REST-API interface
The rc_dynamics interface
Maintenance
Lens cleaning
Camera calibration
Updating the firmware
Restoring the previous firmware version
Rebooting the
rc_visard
Updating the software license
Downloading log files
Accessories
Connectivity kit
Wiring
Spare parts
Troubleshooting
LED colors
Hardware issues
Connectivity issues
Camera-image issues
Depth/Disparity, error, and confidence image issues
Dynamics issues
GigE Vision/GenICam issues
Contact
Support
Downloads
Address
Appendix
Pose formats
Options
en
Languages
de
en
Downloads
PDF (de)
PDF (en)