Technical Specs

The focal length 𝑓 is the distance between the common image plane and the optical centers of the left and right
cameras. It is measured in pixels. The baseline 𝑡 is the distance between the optical centers of the two cameras.
The image width 𝑤 and height ℎ are measured in pixels, too. 𝑠
1
and 𝑠
2
are scale factors ensuring that the third
coordinates of the image points 𝑝
𝑙
and 𝑝
𝑟
are equal to 1.
The rc_visard provides the time-stamped, rectified left and right images over the GenICam interface (see Chunk
data, Section 8.1.1). Live streams of the images are provided with reduced quality in the Web GUI (Section 4.5).
Note: The rc_visard reports a focal length factor via its various interfaces. It relates to the image width for
supporting different image resolutions. The focal length 𝑓 in pixels can be easily obtained by multiplying the
focal length factor by the image width in pixels.
6.1.3 Parameters
The stereo-camera software component is called rc
_
stereocamera and is represented by the Camera tab in the
Web GUI (Section 4.5). The user can change the camera parameters there, or directly via the REST-API (REST-
API interface, Section 8.2) or GigE Vision (GigE Vision 2.0/GenICam image interface, Section 8.1).
Note: Camera parameters cannot be changed via the Web GUI or REST-API if rc_visard is used via GigE
Vision.
Parameter overview
This component offers the following run-time parameters.
Table 6.1.1: The rc
_
stereocamera component’s run-time parameters
Name Type Min Max Default Description
exp
_
auto bool False True True Switching between auto and manual exposure
exp
_
height int32 0 959 0 Height of auto exposure region. 0 for whole
image.
exp
_
max float64 6.6e-05 0.018 0.007 Maximum exposure time in seconds if exp_auto
is true
exp
_
offset
_
x int32 0 1279 0 First column of auto exposure region
exp
_
offset
_
y int32 0 959 0 First row of auto exposure region
exp
_
value float64 6.6e-05 0.018 0.005 Manual exposure time in seconds if exp_auto is
false
exp
_
width int32 0 1279 0 Width of auto exposure region. 0 for whole
image.
fps float64 1.0 25.0 25.0 Frames per second in Hertz
gain
_
value float64 0.0 18.0 0.0 Manual gain value in decibel if exp_auto is false
wb
_
auto bool False True True Switching white balance on and off (only for
color camera)
wb
_
ratio
_
blue float64 0.125 8.0 2.4 Blue to green balance ratio if wb_auto is false
(only for color camera)
wb
_
ratio
_
red float64 0.125 8.0 1.2 Red to green balance ratio if wb_auto is false
(only for color camera)
This component reports the following status values.
6.1. Stereo camera 29