Orbbec module¶
Note
The firmware version of the connected Orbbec camera has to be at least 1.6.00, otherwise the Orbbec cannot be used.
The orbbec module is a base module which is available on every rc_visard NG
and provides disparity, confidence and error images of a connected Orbbec stereo camera.
It only runs in camera pipelines of type orbbec.
Parameters¶
The orbbec module is called rc_orbbec in the REST-API and it is represented by the
Depth Image page in the desired pipeline in the Web GUI,
when an Orbbec camera is connected and running in the corresponding pipeline.
The user can change the orbbec parameters there, or use the REST-API
(REST-API interface).
Parameter overview¶
This module offers the following run-time parameters:
| Name | Type | Min | Max | Default | Description |
|---|---|---|---|---|---|
fill |
int32 | 0 | 4 | 3 | Disparity tolerance for hole filling in pixels |
maxdepth |
float64 | 0.1 | 100.0 | 100.0 | Maximum depth in meters |
mindepth |
float64 | 0.1 | 100.0 | 0.1 | Minimum depth in meters |
seg |
int32 | 0 | 4000 | 200 | Minimum size of valid disparity segments in pixels |
smooth |
bool | false | true | true | Smoothing of disparity image (requires ‘stereo_plus’ license) |
Description of run-time parameters¶
Each run-time parameter is represented by a row on the Web GUI’s Depth Image page. The name in the Web GUI is given in brackets behind the parameter name and the parameters are listed in the order they appear in the Web GUI.
mindepth (Minimum Distance)¶
The minimum distance is the smallest distance from the camera at which measurements should be possible. The minimum distance is given in meters.
Via the REST-API, this parameter can be set as follows.
PUT http://<host>/api/v2/pipelines/<0,1,2,3>/nodes/rc_orbbec/parameters?mindepth=<value>PUT http://<host>/api/v1/nodes/rc_orbbec/parameters?mindepth=<value>
maxdepth (Maximum Distance)¶
The maximum distance is the largest distance from the camera at which measurements should be possible. Pixels with larger distance values are set to invalid in the disparity image. Setting this value to its maximum permits values up to infinity. The maximum distance is given in meters.
Via the REST-API, this parameter can be set as follows.
PUT http://<host>/api/v2/pipelines/<0,1,2,3>/nodes/rc_orbbec/parameters?maxdepth=<value>PUT http://<host>/api/v1/nodes/rc_orbbec/parameters?maxdepth=<value>
smooth (Smoothing)¶
This option activates advanced smoothing of disparity values.
Via the REST-API, this parameter can be set as follows.
PUT http://<host>/api/v2/pipelines/<0,1,2,3>/nodes/rc_orbbec/parameters?smooth=<value>PUT http://<host>/api/v1/nodes/rc_orbbec/parameters?smooth=<value>
fill (Fill-in)¶
This option is used to fill holes in the disparity image by interpolation. The fill-in value is the maximum allowed disparity step on the border of the hole. Larger fill-in values can decrease the number of holes, but the interpolated values can have larger errors. At most 5% of pixels are interpolated. Interpolation of small holes is preferred over interpolation of larger holes. The confidence for the interpolated pixels is set to a low value of 0.5. A fill-in value of 0 switches hole filling off.
Via the REST-API, this parameter can be set as follows.
PUT http://<host>/api/v2/pipelines/<0,1,2,3>/nodes/rc_orbbec/parameters?fill=<value>PUT http://<host>/api/v1/nodes/rc_orbbec/parameters?fill=<value>
seg (Segmentation)¶
The segmentation parameter is used to set the minimum number of pixels that a connected disparity region in the disparity image must fill. Isolated regions that are smaller are set to invalid in the disparity image. The value is related to the high quality disparity image with half resolution and does not have to be scaled when a different quality is chosen. Segmentation is useful for removing erroneous disparities. However, larger values may also remove real objects.
Via the REST-API, this parameter can be set as follows.
PUT http://<host>/api/v2/pipelines/<0,1,2,3>/nodes/rc_orbbec/parameters?seg=<value>PUT http://<host>/api/v1/nodes/rc_orbbec/parameters?seg=<value>
Status values¶
The rc_orbbec module reports the following status values:
| Name | Description |
|---|---|
fps |
Actual frame rate of the disparity, error, and confidence images. This value is shown in the Web GUI below the image preview as FPS (Hz). |
height |
Current height of the disparity, error, and confidence images in pixels. This value is shown in the Web GUI below the image preview as the second number of Resolution (px). |
last_capture_ok |
1 if the last image capture was successful |
last_timestamp_grabbed |
Timestamp of the last depth data acquired |
latency |
Time in seconds between image acquisition and publishing of disparity image. This value is shown in the Web GUI below the image preview as Latency (s). |
mindepth |
Actual minimum working distance in meters. This value is shown in the Web GUI below the image preview as Minimum Distance (m). |
maxdepth |
Actual maximum working distance in meters. This value is shown in the Web GUI below the image preview as Maximum Distance (m). |
width |
Current width of the disparity, error, and confidence images in pixels. This value is shown in the Web GUI below the image preview as the first number of Resolution (px). |
Services of the rc_orbbec module¶
The rc_orbbec module offers the following services.
reset_defaults¶
Restores and applies the default values for this module’s parameters (“factory reset”).
Details
This service can be called as follows.
PUT http://<host>/api/v2/pipelines/<0,1,2,3>/nodes/rc_orbbec/services/reset_defaultsPUT http://<host>/api/v1/nodes/rc_orbbec/services/reset_defaultsThis service has no arguments.The definition for the response with corresponding datatypes is:
{ "name": "reset_defaults", "response": { "return_code": { "message": "string", "value": "int16" } } }