Software components

The rc_cube comes with several on-board software components, each of which corresponds to a certain functionality and can be interfaced via its respective node in the REST-API interface.

The Stereo camera and the Stereo matching components, which acquire stereo image pairs and compute 3D depth information such as disparity, error, and confidence images, are also accessible via the rc_cube’s GigE Vision/GenICam interface.

The rc_cube’s base software consists of the following components:

• Stereo camera (rc_stereocamera)

  acquires stereo image pairs and performs planar rectification 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)

  uses the rectified stereo image pairs to compute 3D depth information such as disparity, error, and confidence images. These are provided as GenICam streams, too.

• Hand-eye calibration (rc_hand_eye_calibration)

  enables the user to calibrate the camera with respect to a robot, either via the Web GUI or the REST-API.

• IO and Projector Control (rc_iocontrol)

  provides control over the rc_visard’s general purpose inputs and outputs with special modes for controlling an external random dot projector.

• TagDetect (rc_april_tag_detect and rc_qr_code_detect)

  allows the detection of AprilTags and QR codes, as well as the estimation of their poses.