Technical Specs

6 Software components
The rc_visard comes with several on-board software components, which provide camera images, 3D information,
and dynamics state estimates, and allow calibration to be performed. Each software component corresponds to a
node in the REST-API interface (Section 8.2). Fig. 6.1 gives an overview of the relationships between the different
software components and the data they provide via rc_visard’s various interfaces (Section 8).
Stereo Camera
rc_stereocamera
Stereo Camera
rc_stereocamera
Stereo Matching
rc_stereomatching
Stereo Matching
rc_stereomatching
Camera Calibration
rc_cameracalib
Camera Calibration
rc_cameracalib
Hand-Eye Calibration
rc_hand_eye_calibration
Hand-Eye Calibration
rc_hand_eye_calibration
Disparity image,
Confidence image,
Error image
Covered trajectory
Dynamic states
(INS only)
Left image,
Right image
Calibration transformation
between rc_visard and
robot
Left image,
Right image
Sensor Dynamics
rc_dynamics
Sensor Dynamics
rc_dynamics
Visual Odometry
rc_stereovisodo
Visual Odometry
rc_stereovisodo
Stereo INS
rc_stereo_ins
Stereo INS
rc_stereo_ins
SLAM (optional)
rc_slam
SLAM (optional)
rc_slam
Dynamic states
(best-effort, i.e.,
inc. SLAM if avail.)
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Fig. 6.1: Flowchart of the software components with their node names and the most important outputs
Note: Components marked as optional extend the rc_visard’s features. Customers can extend the license to
purchase additional components.
The rc_visard’s on-board software consists of the following components:
• Stereo camera (rc
_
stereocamera, Section 6.1) acquires stereo image pairs and performs planar rectifi-
cation for using the stereo camera as a measurement device. Images are provided both for further
internal processing by other components and for external use as GenICam image streams.
• Stereo matching (rc
_
stereomatching, Section 6.2) uses the rectified stereo image pair to compute 3D
depth information such as disparity, error, and confidence images. These are provided as GenICam
streams, too.
• Sensor dynamics (rc
_
dynamics, Section 6.3.) provides estimates of rc_visard’s dynamic state such as its
pose, velocity, and acceleration. These states are transmitted as continuous data streams via the
rc_dynamics interface. For this purpose, the dynamics component manages and fuses data from the
following individual subcomponents:
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