rc_visard
24.07
  • Introduction
    • Overview
    • Warranty
    • Applicable standards
      • Interfaces
      • Approvals
      • Standards
    • Information on disposal
    • 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
    • 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 modules
    • 3D camera modules
      • Camera
        • Rectification
        • Viewing and downloading images
        • Parameters
        • Status values
        • Services
      • Stereo matching
        • Computing disparity images
        • Computing depth images and point clouds
        • Confidence and error images
        • Viewing and downloading images and point clouds
        • Parameters
        • Status values
        • Services
    • Navigation modules
      • Sensor dynamics
        • Coordinate frames for state estimation
        • Available state estimates
        • Status values
        • Services
      • Visual odometry
        • Parameters
        • Status values
        • Services
      • Stereo INS
        • Self-Calibration
        • Parameters
        • Status values
      • SLAM
        • Usage
        • Memory limitations
        • Parameters
        • Status values
        • Services
    • Detection & Measure modules
      • Measure
        • Introduction
        • Measuring Depth
        • Interaction with other modules
        • Parameters
        • Status values
        • Services
        • Return codes
      • LoadCarrier
        • Introduction
        • Detection of load carriers
        • Detection of filling level
        • Interaction with other modules
        • Parameters
        • Status values
        • Services
        • Return codes
      • TagDetect
        • Introduction
        • Tag reading
        • Pose estimation
        • Tag re-identification
        • Hand-eye calibration
        • Parameters
        • Status values
        • Services
        • Return codes
      • ItemPick and BoxPick
        • Introduction
        • Detection of items (BoxPick)
        • Computation of grasps
        • Interaction with other modules
        • Parameters
        • Status values
        • Services
        • Return codes
        • BoxPick Template API
      • SilhouetteMatch
        • Introduction
        • Base-plane calibration
        • Setting a region of interest
        • Setting of grasp points
        • Setting the preferred orientation of the TCP
        • Setting the sorting strategies
        • Detection of objects
        • Interaction with other modules
        • Parameters
        • Status values
        • Services
        • Internal services
        • Return codes
        • Template API
    • Configuration modules
      • Hand-eye calibration
        • Calibration interfaces
        • Camera mounting
        • Calibration routine
        • Parameters
        • Services
      • CollisionCheck
        • Introduction
        • Collision checking
        • Parameters
        • Status values
        • Services
        • Return codes
      • Camera calibration
        • Self-calibration
        • Calibration process
        • Parameters
        • Services
      • IO and Projector Control
        • Parameters
        • Services
    • Database modules
      • LoadCarrierDB
        • Introduction
        • Load carrier definition
        • Load carrier compartments
        • Interaction with other modules
        • Services
        • Return codes
      • RoiDB
        • Introduction
        • Region of interest
        • Interaction with other modules
        • Services
        • Return codes
      • GripperDB
        • Introduction
        • Setting a gripper
        • Services
        • Return codes
        • CAD element API
  • Interfaces
    • Web GUI
      • Accessing the Web GUI
      • Exploring the Web GUI
      • Web GUI access control
      • Downloading 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: DeviceControl
        • Category: AcquisitionControl
        • Category: Scan3dControl
        • Category: DepthControl
      • Chunk data
      • Provided image streams
      • Image stream conversions
    • REST-API interface
      • General API structure
      • Migration from API version 1
      • 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
      • Migration to firmware version 22.01
      • Example applications
      • Troubleshooting
    • gRPC image stream interface
      • gRPC service definition
      • Image stream conversions
      • Example client
    • OPC UA interface
    • Time synchronization
      • NTP
      • PTP
      • Setting time manually
  • Maintenance
    • Lens cleaning
    • Camera calibration
    • Creating and restoring backups of settings
    • 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
      • Rotation matrix and translation vector
        • Conversion from rotation matrix to quaternion
        • Conversion from quaternion to rotation matrix
      • ABB pose format
      • FANUC XYZ-WPR format
        • Conversion from FANUC-WPR to quaternion
        • Conversion from quaternion to FANUC-WPR
      • Franka Emika Pose Format
        • Conversion from transformation matrix to quaternion
        • Conversion from Rotation-XYZ to quaternion
        • Conversion from quaternion and translation to transformation
        • Conversion from quaternion to Rotation-XYZ
        • Pose representation in RaceCom messages and state machines
      • Fruitcore HORST pose format
      • Kawasaki XYZ-OAT format
        • Conversion from Kawasaki-OAT to quaternion
        • Conversion from quaternion to Kawasaki-OAT
      • KUKA XYZ-ABC format
        • Conversion from KUKA-ABC to quaternion
        • Conversion from quaternion to KUKA-ABC
      • Mitsubishi XYZ-ABC format
        • Conversion from Mitsubishi-ABC to quaternion
        • Conversion from quaternion to Mitsubishi-ABC
      • Universal Robots pose format
        • Conversion from angle-axis format to quaternion
        • Conversion from quaternion to angle-axis format
      • Yaskawa Pose Format
        • Conversion from Yaskawa Rx, Ry, Rz to quaternion
        • Conversion from quaternion to Yaskawa Rx, Ry, Rz
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