rc_visard
21.07
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 modules
3D camera modules
Stereo camera
Image acquisition
Planar 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 modules
LoadCarrier
Introduction
Load carrier definition
Load carrier compartments
Detection of load carriers
Detection of filling level
Interaction with other modules
Parameters
Services
TagDetect
Introduction
Tag reading
Pose estimation
Tag re-identification
Hand-eye calibration
Parameters
Status values
Services
ItemPick and BoxPick
Introduction
Detection of items (BoxPick)
Computation of grasps
Interaction with other modules
Parameters
Status values
Services
SilhouetteMatch
Introduction
Base-plane calibration
Setting a region of interest
Setting of grasp points
Setting the preferred orientation of the TCP
Setting the grasp sorting strategies
Detection of objects
Interaction with other modules
Parameters
Status values
Services
Template API
Configuration modules
Hand-eye calibration
Calibration interfaces
Camera mounting
Calibration routine
Parameters
Services
Region of interest
Introduction
Region of interest
Parameters
Services
CollisionCheck
Introduction
Setting a gripper
Collision checking
Parameters
Status values
Services
Camera calibration
Self-calibration
Calibration process
Parameters
Services
IO and Projector Control
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
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
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
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