Users Manual

• If the rc_visard is in manual exposure mode, increase the exposure time (see Parameters, Section 6.1.3), or
• switch to auto-exposure mode (see Parameters, Section 6.1.3).
The camera image is too noisy
Large gain factors cause high-amplitude image noise. To decrease the image noise,
• use an additional light source to increase the scene’s light intensity, or
• choose a greater maximal auto-exposure time (see Parameters, Section 6.1.3).
The camera image is out of focus
• Check whether the object is too close to the lens and increase the distance between the object and the lens
if it is.
• Check whether the lenses are dirty and clean them if they are (see Lens cleaning, Section 9.1).
• If none of the above applies, a severe hardware problem might exist. Please contact support (Section 12).
The camera image is blurred
Fast motions in combination with long exposure times can cause blur. To reduce motion blur,
• decrease the motion speed of the rc_visard,
• decrease the motion speed of objects in the field of view of the rc_visard, or
• decrease the exposure time of the cameras (see Parameters, Section 6.1.3).
The camera image is fuzzy
• Check whether the lenses are dirty and clean them if so (see Lens cleaning, Section 9.1).
• If none of the above applies, a severe hardware problem might exist. Please contact support (Section 12).
The camera image frame rate is too low
• Increase the image frame rate as described in Parameters (Section 6.1.3).
• The maximal frame rate of the cameras is 25 Hz.
11.5 Depth/Disparity, error, and confidence image issues
All these guidelines also apply to error and confidence images, because they correspond directly to the disparity
image.
The disparity image is too sparse or empty
• Check whether the camera images are well exposed and sharp. Follow the instructions in Camera-image
issues (Section 11.4) if applicable.
• Check whether the scene has enough texture (see Stereo matching, Section 6.2) and install an external
pattern projector if required.
• Increase the Disparity Range and decrease the Minimum Distance (Section 6.2.4).
• Increase the Maximum Distance (Section 6.2.4).
• Check whether the object is too close to the cameras. Consider the different depth ranges of the rc_visard
variants as specified in the device’s technical specification (Section 3.2.2).
• Decrease the Minimum Confidence (Section 6.2.4).
• Increase the Maximum Depth Error (Section 6.2.4).
• Choose a lesser Disparity Image Quality (Section 6.2.4). Coarser resolution disparity images are generally
less sparse.
• Check the cameras’ calibration and recalibrate if required (see Camera calibration, Section 6.6).
11.5. Depth/Disparity, error, and confidence image issues 181