Users Manual

8 Interfaces

Four interfaces are provided for conﬁguring and obtaining data from the rc_visard:

1. GigE Vision 2.0/GenICam (Section 8.1)

Images and camera related conﬁguration.

2. REST API (Section 8.2)

API to conﬁgure the rc_visard, query status information, request streams, etc.

3. rc_dynamics streams (Section 8.3)

Real-time streams containing state estimates with poses, velocities, etc. are provided over the rc_dynamics

interface. It sends protobuf -encoded messages via UDP.

4. Ethernet KRL Interface (EKI) (Section 8.4)

API to conﬁgure the rc_visard and do service calls from KUKA KSS robots.

8.1 GigE Vision 2.0/GenICam image interface

Gigabit Ethernet for Machine Vision (“GigE Vision®” for short) is an industrial camera interface standard based

on UDP/IP (see http://www.gigevision.com). The rc_visard is a GigE Vision® version 2.0 device and is hence

compatible with all GigE Vision® 2.0 compliant frameworks and libraries.

GigE Vision® uses GenICam to describe the camera/device features. For more information about this Generic

Interface for Cameras see http://www.genicam.org/.

Via this interface the rc_visard provides features such as

• discovery,

• IP conﬁguration,

• conﬁguration of camera related parameters,

• image grabbing, and

• time synchronization via IEEE 1588-2008 PrecisionTimeProtocol (PTPv2).

Note: The rc_visard supports jumbo frames of up to 9000 bytes. Setting an MTU of 9000 on your GigE Vision

client side is recommended for best performance.

Note: Roboception provides tools and a C++ API with examples for discovery, conﬁguration, and image

streaming via the GigE Vision/GenICam interface. See http://www.roboception.com/download.

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