Software modules¶
The rc_visard comes with several software modules, each of which corresponds to a certain functionality and can be interfaced via its respective node in the REST-API interface or in the Generic Robot Interface.
The rc_visard’s software modules can be divided into
- Camera module
- acquires images and performs planar rectification for using the camera as a measurement device. Images are provided both for further internal processing by other modules and for external use as GenICam image streams.
- Stereo matching module
- which provides 3D depth information such as disparity, error, and confidence images,
- Navigation modules
- which provide estimates of rc_visard’s current pose, velocity, and acceleration,
- Detection & Measure modules
- which provide a variety of detection functionalities, such as grasp point computation and object detection,
- Configuration modules
- which enable the user to perform calibrations and configure the rc_visard for specific applications.
- Database modules
- which enable the user to configure global data available to all other modules, such as load carriers, regions of interest and grippers.