rc_visard
1.8
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 and BoxPick
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
SilhouetteMatch
Introduction
Suitable objects
Suitable scene
Base-plane calibration
AprilTag based base-plane calibration
Stereo based base-plane calibration
Manual base-plane calibration
Setting a region of interest
Detection of objects
Interaction with other components
Stereo camera and stereo matching
IO and Projector Control
Hand-eye calibration
Parameters and status values
Parameter overview
Description of run-time parameters
Services
Template Upload
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
KUKA Ethernet KRL Interface
Ethernet connection configuration
Generic XML structure
Return code
Services
Request XML structure
Response XML structure
Parameters
EKI XML configuration files
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
»
Roboception
rc_visard
User Manual
Roboception
rc_visard
User Manual
ΒΆ
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
Optional software components
Interfaces
GigE Vision 2.0/GenICam image interface
REST-API interface
The rc_dynamics interface
KUKA Ethernet KRL Interface
Time synchronization
Maintenance
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
Versions
v1.1
v1.0
v1.3
v1.2
v1.5
v1.4
v1.7
v1.6
v1.8
Downloads
PDF (de)
PDF (en)