rc_visard
21.01
  • 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
    • Software license
    • Power up
    • Discovery of rc_visard devices
      • Resetting configuration
    • Network configuration
      • Host name
      • Automatic configuration (factory default)
      • Manual configuration
  • Measurement principles
    • Stereo vision
    • Sensor dynamics
  • Software components
    • Stereo camera
      • Image acquisition
      • Planar rectification
      • Viewing and downloading images
      • Parameters
        • Parameter overview
        • Description of run-time parameters
      • Status values
      • Services
        • save_parameters
        • reset_defaults
    • Stereo matching
      • Computing disparity images
      • Computing depth images and point clouds
      • Confidence and error images
      • Viewing and downloading images and point clouds
      • Parameters
        • Parameter overview
        • Description of run-time parameters
      • Status values
      • Services
        • acquisition_trigger
        • save_parameters
        • reset_defaults
    • 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)
      • Status values
      • Services
        • start
        • start_slam
        • stop
        • stop_slam
        • restart
        • restart_slam
        • get_cam2imu_transform
    • Visual odometry
      • Parameters
        • Parameter overview
        • Description of run-time parameters
      • Status values
      • Services
        • save_parameters
        • reset_defaults
    • Stereo INS
      • Self-Calibration
      • Parameters
      • Status values
    • Camera calibration
      • Self-calibration
      • Calibration process
        • Step 1: Calibration settings
        • Step 2: Verify calibration
        • Step 3: Performing calibration
        • Monocalibration
        • Stereo calibration
        • Step 4: Storing the calibration result
      • Parameters
      • Services
    • Hand-eye calibration
      • Calibration interfaces
      • Camera 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
        • save_parameters
        • reset_defaults
        • reset_calibration
        • set_pose
        • calibrate
        • set_calibration
        • save_calibration
        • remove_calibration
        • get_calibration
    • IO and Projector Control
      • Parameters
        • Parameter overview
        • Description of run-time parameters
      • Services
        • get_io_values
        • save_parameters
        • reset_defaults
    • TagDetect
      • Introduction
        • QR code
        • AprilTag
        • Comparison
      • Tag reading
      • Pose estimation
      • Tag re-identification
      • Hand-eye calibration
      • Parameters
      • Status values
      • Services
        • start
        • stop
        • restart
        • detect
        • save_parameters
        • reset_defaults
  • Optional software components
    • SLAM
      • Usage
      • Memory limitations
      • Parameters
        • Parameter overview
      • Status values
      • Services
        • reset
        • get_trajectory
        • save_map
        • load_map
        • remove_map
    • ItemPick and BoxPick
      • Introduction
      • Detection of items (BoxPick)
      • Computation of grasps
      • Interaction with other components
        • Stereo camera and Stereo matching
        • Estimation of gravity vector
        • IO and Projector Control
        • Hand-eye calibration
        • CollisionCheck
      • Parameters
        • Parameter overview
        • Description of run-time parameters
      • Status values
      • Services
        • start
        • stop
        • set_region_of_interest
        • get_regions_of_interest
        • delete_regions_of_interest
        • set_load_carrier
        • get_load_carriers
        • delete_load_carriers
        • detect_load_carriers
        • detect_filling_level
        • detect_items (BoxPick only)
        • compute_grasps (for ItemPick)
        • compute_grasps (for BoxPick)
        • save_parameters
        • reset_defaults
    • 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
      • Setting of grasp points
        • Setting grasp points in the Web GUI
        • Setting grasp points via the REST-API
      • Setting the preferred orientation of the TCP
      • Detection of objects
      • Interaction with other components
        • Stereo camera and stereo matching
        • IO and Projector Control
        • Hand-eye calibration
        • CollisionCheck
      • Parameters
        • Parameter overview
        • Description of run-time parameters
      • Status values
      • Services
        • calibrate_base_plane
        • get_base_plane_calibration
        • delete_base_plane_calibration
        • set_region_of_interest_2d
        • get_regions_of_interest_2d
        • delete_regions_of_interest_2d
        • set_load_carrier
        • get_load_carriers
        • delete_load_carriers
        • detect_load_carriers
        • detect_filling_level
        • set_preferred_orientation
        • get_preferred_orientation
        • set_grasp
        • set_all_grasps
        • get_grasps
        • delete_grasps
        • get_symmetric_grasps
        • detect_object
        • save_parameters
        • reset_defaults
      • Template Upload
    • CollisionCheck
      • Introduction
      • Setting a gripper
        • Robot flange radius
        • Creating a gripper via the REST-API
        • Creating a gripper in the Web GUI
        • Calculated TCP position
        • Creating rotationally asymmetric grippers
      • Collision checking
        • Stand-alone collision checking
        • Collision checking within other modules
      • Parameters
        • Parameter overview
        • Description of run-time parameters
      • Status values
      • Services
        • set_gripper
        • get_grippers
        • delete_grippers
        • check_collisions
        • save_parameters
        • reset_defaults
    • Common functionalities
      • Load carrier functionality
        • Introduction
        • Load Carrier
        • Detection of load carriers
        • Detection of filling level
        • Interaction with other components
        • Parameters
        • Services
      • Region of interest functionality
        • Introduction
        • Region of interest
        • Parameters
        • Services
  • Interfaces
    • Web GUI
      • Accessing the Web GUI
      • Exploring the Web GUI
      • Downloading stereo camera images
      • Downloading depth images and point clouds
    • GigE Vision 2.0/GenICam image interface
      • GigE Vision ports
      • Important GenICam parameters
      • Important standard GenICam features
        • Category: ImageFormatControl
        • Category: AcquisitionControl
        • Category: AnalogControl
        • Category: DigitalIOControl
        • Category: TransportLayerControl / PtpControl
        • Category: Scan3dControl
        • Category: ChunkDataControl
      • Custom GenICam features of the rc_visard
        • Category: AcquisitionControl
        • Category: Scan3dControl
        • Category: DepthControl
      • 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
      • rc_dynamics_api
    • KUKA Ethernet KRL Interface
      • Ethernet connection configuration
      • Generic XML structure
        • Return code
      • Services
        • Request XML structure
        • Response XML structure
      • Parameters
      • EKI XML configuration files
      • Example applications
    • Time synchronization
      • NTP
      • PTP
  • 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
      • Conversion from ABC to quaternion
      • Conversion from quaternion to ABC
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