Users Manual

The disparity images’ frame rate is too low
• Check and increase the frame rate of the camera images (see Parameters, Section 6.1.3). The frame rate of
the disparity image cannot be greater than the frame rate of the camera images.
• Choose a lesser Disparity Image Quality (Section 6.2.4). High-resolution disparity images are only available
at about 3 Hz. Full 25 Hz can only be achieved for low-resolution disparity images as described in the
technical specifications (Section 3.2.1).
• Decrease the Disparity Range and increase the Minimum Distance (Section 6.2.4) as much as possible for
the application.
• Decrease the Median filtering value (Section 6.2.4).
The disparity image does not show close objects
• Check whether the object is too close to the cameras. Consider the depth ranges of the rc_visard variants as
described in the technical specifications (Section 3.2.2).
• Increase the Disparity Range (Section 6.2.4).
• Decrease the Minimum Distance (Section 6.2.4).
The disparity image does not show distant objects
• Increase the Maximum Distance (Section 6.2.4).
• Increase the Maximum Depth Error (Section 6.2.4).
• Decrease the Minimum Confidence (Section 6.2.4).
The disparity image is too noisy
• Increase the Segmentation value (Section 6.2.4).
• Increase the Fill-In value (Section 6.2.4).
• Increase the Median filtering value (Section 6.2.4).
The disparity values or the resulting depth values are too inaccurate
• Decrease the distance between the rc_visard and the scene. Depth-measurement error grows quadratically
with the distance from the cameras.
• Check whether the scene contains repetitive patterns and remove them if it does. They could cause wrong
disparity measurements.
• Check whether the chosen rc_visard variant is correct for the application. Particularly consider the different
depth ranges as described in the technical specifications (Section 3.2.2).
The disparity image is too smooth
• Decrease the Median filtering value (Section 6.2.4).
• Decrease the Fill-In value (Section 6.2.4).
The disparity image does not show small structures
• Decrease the Segmentation value (Section 6.2.4).
• Decrease the Fill-In value (Section 6.2.4).
11.6 Dynamics issues
State estimates are unavailable
• Check in the Web GUI that pose estimation has been switched on (see Parameters, Section 6.4.1).
• Check in the Web GUI that the update rate is about 200 Hz.
• Check the Logs in the Web GUI for errors.
11.6. Dynamics issues 182