rc_visard
1.4
  • 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
      • Self-Calibration
      • Parameters
    • 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
  • Optional software components
    • SLAM
      • Usage
      • Memory limitations
      • Parameters
        • Parameter overview
      • Services
    • IO and Projector Control
      • Parameters
        • Parameter overview
        • Description of run-time parameters
      • Services
    • TagDetect
      • Introduction
        • QR code
        • AprilTag
        • Comparison
      • Tag reading
      • Pose estimation
      • Tag re-identification
      • Interfaces
        • Parameters and status values
        • Services
    • ItemPick
      • Introduction
      • Data types
        • Region of Interest
        • Load Carrier
        • Suction Grasp
        • Item model
      • Interaction with other components
        • Stereo camera and Stereo matching
        • Sensor dynamics
        • IO and Projector Control
        • Hand-eye calibration
      • Parameters and Status Values
      • Services
  • Interfaces
    • GigE Vision 2.0/GenICam image interface
      • Important GenICam parameters
        • Important standard GenICam features
        • Custom GenICam features of the rc_visard
        • Chunk data
      • 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
    • Time synchronization
      • NTP
      • PTP
  • Maintenance
    • 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 »
  • Appendix

AppendixΒΆ

  • Pose formats
    • XYZABC format
    • XYZ+quaternion format
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