Roboception rc viscore User instructions

Roboception GmbH | April 2022
rc_viscore 3D Stereo Sensor
ASSEMBLY AND OPERATING MANUAL

Revisions
This product may be modified without notice, when necessary, due to product improvements, modifications, or
changes in specifications. If such modification is made, the manual will also be revised; see revision information.
DOCUMENTATION REVISION Rev 1.0, Apr 27, 2022
Manufacturer
Roboception GmbH
Kaflerstrasse 2
81241 Munich
Germany
CUSTOMER SUPPORT:support roboception.de | [phone] (09:00-17:00 CET)
Please read the operating manual in full and keep it with the product.
COPYRIGHT
This manual and the product it describes are protected by copyright. Unless permitted by German intellectual
property and related rights legislation, any use and circulation of this content requires the prior consent of the
individual owner of the rights. This manual and the product it describes, therefore, may not be reproduced in
whole or in part, whether for sale or not, without prior written consent.
Information provided in this document is believed to be accurate and reliable. However, no responsibility is as-
sumed.
Differences may exist between the manual and the product if the product has been modified after the manual’s
edition date. The information contained in this document is subject to change without notice.
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Contents
Contents
1Introduction 3
1.1 Overview ............................................... 4
1.2 Warranty ............................................... 5
1.3 Applicable standards ........................................ 6
1.4 Electronical and safety standards ................................. 6
1.5 Environmental regulation ..................................... 6
1.6 Available certificates ........................................ 7
1.7 Information on disposal ...................................... 7
2 Safety 8
2.1 General warnings .......................................... 8
2.2 Intended use ............................................. 9
3 Hardware specification 10
3.1 Scope of delivery .......................................... 10
3.2 Technical specification ....................................... 11
3.3 Environmental and operating conditions ............................. 13
3.4 Power-supply specifications .................................... 13
3.5 Wiring ................................................. 14
3.6 Coordinate frames ......................................... 15
4Installation 16
4.1 Mounting ............................................... 16
4.2 Power-up ............................................... 17
4.3 Connecting .............................................. 17
4.4 Adjust focus ............................................. 18
4.5 Calibration .............................................. 20
5 Maintenance 21
5.1 Lens cleaning ............................................ 21
5.2 Change of Working Range ..................................... 21
6 Accessories 22
6.1 Power connections ......................................... 22
6.2 Power supplies ........................................... 22
6.3 Spare parts .............................................. 22
6.4 SGM®Producer and rc_cube .................................... 22
7 Troubleshooting 24
7.1 Hardware issues ........................................... 24
7.2 Sparse depth images ........................................ 24
8 Contact 26
8.1 Support ................................................ 26
8.2 Address ................................................ 26
Index 27
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1Introduction
Indications in the manual
To prevent damage to the equipment and ensure the user’s safety, this manual indicates each precau-
tion related to safety with Warning. Supplementary information is provided as a Note.
Warning: Warnings in this manual indicate procedures and actions that must be observed to avoid
danger of injury to the operator/user, or damage to the equipment. Software-related warnings in-
dicate procedures that must be observed to avoid malfunctions or unexpected behavior of the soft-
ware.
Note: Notes are used in this manual to indicate supplementary relevant information.
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1.1. Overview
1.1 Overview
The rc_viscore is a high-resolution IP54-protected 3D stereo sensor with an integrated rc_randomdot
pattern projector. The rc_viscore provides 12MP camera images and –in combination with an rc_cube or
the SGM®producer –depth, confidence and error images. The integrated rc_randomdot projector allows
for dense depth images even in weakly textured scenes and the high resolution permits the detection
of small parts with high accuracy.
In combination with the rc_cube, the rc_viscore provides the data for object detection and grasp compu-
tation applications, e.g. in industrial automation and logistics applications.
Supplementary information is provided in
•rc_cube:https://doc.rc-cube.com
•rc_randomdot:https://doc.rc-randomdot.com
•SGM®producer: https://roboception.com/product/sgmproducer
Fig. 1.1: The Roboception rc_viscore
The terms “sensor”,“camera”and “rc_viscore”used throughout the manual all refer to the Roboception
rc_viscore stereo camera.
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1.2. Warranty
1.2 Warranty
Any changes or modifications to the hard- and software not expressly approved by Roboception could
void the user’s warranty and guarantee rights.
Warning: The rc_viscore utilizes complex hardware technology that may behave in a way not in-
tended by the user. The purchaser must design its application to ensure that any failure of the
rc_viscore does not cause personal injury, property damage, or other losses.
Warning: Do not attempt to take apart, open, service, or modify the rc_viscore. Doing so could
present the risk of electric shock or other hazard. Any evidence of any attempt to open and/or
modify the device, including any peeling, puncturing, or removal of any of the labels, will void the
Limited Warranty.
Warning: CAUTION: to comply with the European CE requirement, all signal cables used to connect
this device must be shielded and the device must be grounded. Operation with incorrect cables may
result in interference with other devices or undesired effects of the product.
Note: This product may not be treated as household waste. By ensuring this product is disposed
of correctly, you will help to protect the environment. For more detailed information about the
recycling of this product, please contact your local authority, your waste disposal service provider,
or the product’s supplier.
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1.3. Applicable standards
1.3 Applicable standards
1.3.1 Approvals
The rc_viscore has received the following approvals:
EC Declaration of Conformity
IP54 ingress protection according IEC standard 60529
ROHS compliant according to EU directive 2011/65/EU
WEEE compliant according to EU directive 2012/19/EC
1.4 Electronical and safety standards
The rc_viscore has been designed to be in compliance with 2014/30/EU and 2011/65/EU. The rc_viscore
consists of the rc_randomdot and two industrial vision cameras.
The rc_randomdot has been tested based on the following harmonized standards:
•EN 61000-6-4:2007 + A1:2011 : Interference Emission
•EN 61000-6-2:2005 : Interference Immunity
•EN 62471:2008 / IEC 62471:2008 : Photobiological safety of lamps and lamp systems
The industrial cameras have been tested based on the following harmonized standards:
•EN 61000-6-4:2007 + A1:2011 : Interference Emission
•EN 61000-6-2:2005 : Interference Immunity
1.5 Environmental regulation
1.5.1 EU RoHS Directive
All components of the rc_viscore, including the rc_randomdot, the industrial cameras, cabling, and struc-
ture comply with the provisions in EU RoHS 2 Directive 2011/65/EU on the restriction of the use of
certain hazardous substances in electrical and electronic equipment. Items that are exempted in the
RoHS Directive are excluded from these standards.
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1.6. Available certificates
1.5.2 REACH Regulation
All components of the rc_viscore, including the rc_randomdot, the industrial cameras, cabling, and struc-
ture comply with REACH Regulation 1907/2006/CE. These products are not classified as hazardous.
We hereby certify that these products do not contain any Substance of Very High Concern (SVHC) in
amounts >0.1% (w/w).
1.6 Available certificates
Copies of the various certificates can be downloaded from https://roboception.com/support/.
1.7 Information on disposal
1. Disposal of Waste Electrical & Electronic Equipment
This symbol on the product(s) and / or accompanying documents means that used electrical and
electronic products should not be mixed with general household waste. For proper treatment, re-
covery and recycling, please contact your supplier or the manufacturer. Disposing of this product
correctly will help save valuable resources and prevent any potential negative effects on human
health and the environment, which could otherwise arise from inappropriate waste handling.
2. Removal of batteries
If the products contain batteries and accumulators that can be removed from the product without
destruction, these must be removed before disposal and disposed of separately as batteries.
The following batteries or accumulators are contained in the rc_viscore: None
3. Options for returning old equipment
Owners of old devices can return them to the manufacturer to ensure proper disposal.
Please contact support (Section 8) about returning the device for disposal.
4. Data protection
End users of Electrical & Electronic Equipment are responsible for deleting personal data on the
waste equipment to be disposed of.
5. WEEE registration number
Roboception is registered under the registration number DE 33323989 at the stiftung elektro-
altgeräte register, Nordostpark 72, 90411 Nuremberg, Germany, as a producer of electrical and/or
electronic equipment.
6. Collection and recovery quotas
According to the WEEE Directive, EU member states are obliged to collect data on waste electrical
and electronic equipment and to transmit this data to the European Commission. Further infor-
mation can be found on the German Ministry for the Environment website.
Information on Disposal outside the European Union
This symbol is valid only in the European Union. If you wish to discard this product please contact your
local authorities or dealer and ask for the correct method of disposal.
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2 Safety
Warning: The operator must have read and understood all of the instructions in this manual before
handling the rc_viscore product.
Warning: If operating the rc_viscore with the rc_cube product, the operator must have read and
understood all of the safety, installation, and maintenance instructions given in the rc_cube manual.
Note: The term “operator”refers to anyone responsible for any of the following tasks performed in
conjunction with the rc_viscore:
•Installation
•Maintenance
•Inspection
•Calibration
•Programming
•Decommissioning
This manual explains the rc_viscore’s various components and general operations regarding the prod-
uct’s whole life-cycle, from installation through operation to decommissioning.
The drawings and photos in this documentation are representative examples; differences may exist
between them and the delivered product.
2.1 General warnings
Note: Any use of the rc_viscore in noncompliance with these warnings is inappropriate and may
cause injury or damage as well as void the warranty.
Warning:
•The rc_viscore is protected according to IP54. High humidity or temperature can damage the
device. Do not operate in an environment where combustible or explosive fumes may occur.
•The rc_viscore needs to be properly mounted before use.
•All cable sets need to be secured to the rc_viscore and the mount.
•Cables must not be longer than 30 m. The 8-Pin power supply cable must not be longer than
15 m.
•Power to the rc_viscore must be supplied through an appropriate, separate DC power source.
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2.2. Intended use
•An appropriate power supply, which conforms to the EN 62368-1 standard must be used to
supply power to the rc_viscore.
•Check polarity and connections.
•The rc_viscore’s housing must be grounded.
Warning:
•The rc_viscore’s and any related equipment’s safety guidelines must always be satisfied.
•The rc_viscore does not fall under the purview of the machinery or medical directives.
Risk assessment and final application: The rc_viscore may be used with a robot together with an
rc_cube. Robot, rc_viscore,rc_cube, and any other equipment used in the final application must be
evaluated with a risk assessment. The system integrator’s duty is to ensure respect for all local
safety measures and regulations. Depending on the application, there may be risks that need
additional protection/safety measures.
2.2 Intended use
The rc_viscore is intended to be used in combination with a Roboception rc_cube or SGM®Producer. The
rc_viscore together with a Roboception rc_cube are intended for installation with automated machin-
ery, a mobile platform, or stationary equipment. They can also be used for data acquisition in other
applications.
Warning: The rc_viscore is NOT intended for safety critical applications.
Warning: The rc_viscore is NOT to be used in dynamic environments or mounted to a robot end-
effector.
The rc_viscore may be used only within the scope of its technical specification. Any other use of the
product is deemed unintended use. Roboception will not be liable for any damages resulting from any
improper or unintended use.
Warning: Always comply with local and/or national laws, regulations and directives on automation
safety and general machine safety.
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3 Hardware specification
Note: The following hardware specifications are provided here as a general reference; differences
with the product may exist.
3.1 Scope of delivery
Standard delivery for an rc_viscore includes
•rc_viscore sensor,
•Calibration grid large (A3),
•2 x 10 m gigabit ethernet network cables,
•10 m power cable with M12 connector and one open end,
•Quickstart guide.
The full manual is online available in digital form at http://doc.rc-viscore.com.
Note: The following items are not included in the delivery unless otherwise specified:
•Couplings, adapters, mounts,
•Power supply unit and fuses.
Please refer to Accessories (Section 6) for suggested third-party cable vendors.
The following picture shows the important parts of the rc_viscore which are referenced later in the doc-
umentation.
rc_randomdot
Projector
Right camera Left cameraLED
Fig. 3.1: Parts description
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3.2. Technical specification
3.2 Technical specification
The technical specification of the rc_viscore is shown in Table 3.1. The given depth image frame rate
can be reached on an rc_cube or with the SGM®producer on a computer with an Nvidia RTX2070 GPU.
Higher frame rates (up to 9 Hz) are possible with faster graphics cards.
Table 3.1: Technical specifications of the rc_viscore
rc_viscore 210m-16-12M-H1-R
Image resolution 4112 x 3008 pixels monochrome
Framerate 9 Hz
Focal length 16 mm
Field of view Horizontal: 47.5°, Vertical: 35.7°
Workspace
670 mm x 640 mm 1.0 m distance
1550 mm x 1280 mm 2.0 m distance
2430 mm x 1920 mm 3.0 m distance
3310 mm x 2560 mm 4.0 m distance
Depth image
4112 x 3008 pixel (Full) 2.8 Hz (Nvidia RTX2070)
2056 x 1504 pixel (High) 4.6 Hz (Nvidia RTX2070)
1028 x 752 pixel (Medium) 9 Hz (Nvidia RTX2070)
686 x 502 pixel (Low) 9 Hz (Nvidia RTX2070)
Cooling Passive
Baseline 210 mm
Size (W x H x L) 262 mm x 204 mm x 82 mm
Mass 1.64 kg
The depth image range of the rc_viscore depends on the depth image quality, the specified maximum
depth range and the available GPU memory. Depth ranges at closer distance are much smaller than
depth ranges at far distances. The rc_cube uses 3.4 Gbytes of GPU memory for stereo matching. Table
3.2 shows examples of resulting depth ranges with this amount of GPU memory. Larger depth ranges
are possible by using the SGM®producer with a graphics card that offers more GPU memory.
Table 3.2: Examples of possible depth ranges of the rc_viscore with
3.4 Gbytes of GPU memory as in case of the rc_cube
rc_viscore 210m-16-12M-H1-R
Full depth quality
0.89 m to 1.00 m
1.60 m to 2.00 m
2.18 m to 3.00 m
2.65 m to 4.00 m
High depth quality
0.52 m to 1.00 m
0.66 m to 2.00 m
0.75 m to 3.00 m
0.80 m to 4.00 m
1.00 m to infinity
Medium and low depth quality 0.52 m to infinity
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3.2. Technical specification
The resolution and accuracy at different distances is given in Table 3.3 for the recommended high depth
quality. In full depth quality, the resolution and accuracy will be better by a factor of 2. Similarly, in
medium quality, the resolution and accuracy will be about 2 times worse than shown in the table.
Table 3.3: Resolution and accuracy of the rc_viscore in millimeters
with high quality stereo matching and random dot projection on
non-reflective and non-transparent objects.
distance rc_viscore
Lateral resolution
1.0 m
2.0 m
3.0 m
4.0 m
0.4 mm
0.9 mm
1.3 mm
1.7 mm
Depth resolution
1.0 m
2.0 m
3.0 m
4.0 m
0.1 mm
0.5 mm
1.2 mm
2.0 mm
Average depth accuracy
1.0 m
2.0 m
3.0 m
4.0 m
0.5 mm
2.0 mm
4.6 mm
8.2 mm
262
204
80
82
Fig. 3.2: Overall dimensions of the rc_viscore in millimeters
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3.3. Environmental and operating conditions
CAD models of the rc_viscore can be downloaded from http://www.roboception.com/download. The
CAD models are provided as-is, with no guarantee of correctness.
3.3 Environmental and operating conditions
The rc_viscore is designed for industrial applications. Always respect the storage, transport, and operat-
ing environmental conditions outlined in Table 3.4.
Table 3.4: Environmental conditions
rc_viscore
Storage/Transport temperature -20 °C to 60 °C
Operating temperature 0 °C to 45 °C (passive cooling)
Relative humidity (non
condensing)
20 % to 80 %
Protection class IP54
Others •Free from corrosive liquids or gases
•Free from explosive liquids or gases
•Free from powerful electromagnetic interference
The rc_viscore is designed for an operating temperature (surrounding environment) of 0 °C to 45 °C and
relies on convective (passive) cooling. Unobstructed airflow, especially around the cooling fins, needs to
be ensured during use. The rc_viscore should only be mounted using the provided mechanical mounting
interface, and all parts of the housing must remain uncovered. A free space of at least 10 cm extending
in all directions from the housing, and sufficient air exchange with the environment is required to ensure
adequate cooling. Cooling fins must be free of dirt and other contamination.
3.4 Power-supply specifications
The rc_viscore needs to be supplied by a DC voltage source. The rc_viscore’s standard package does not
include a DC power supply. Each rc_viscore must be connected to a separate power supply. Connection
to domestic grid power is only allowed through a power supply certified as EN55011 Class B.
Table 3.5: Absolute maximum ratings for power supply
Min Nominal Max
Supply voltage 22.0 V 24 V 26.0 V
Max power consumption 48 W
Overcurrent protection Supply must be fuse-protected to a maximum of 2 A
EMC compliance see Electronical and safety standards (Section 1.4)
Warning: Exceeding maximum power rating values may lead to damage of the rc_viscore, power
supply, and connected equipment.
Warning: A separate power supply must power each rc_viscore.
Warning: Connection to domestic grid power is allowed through a power supply certified as
EN55011 Class B only.
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3.5. Wiring
3.5 Wiring
The rc_viscore is delivered with a sync cable already connected between projector and cameras. It is the
customer’s responsibility to connect the two provided M12 X-coded network cables to the left and right
camera, as well as the power cable with an angled M12 connector to the projector (see Fig. 3.3). The
network cables must be clipped into the cable guide for strain relief. All cables must be secured to the
mounting bracket.
Power
cable
Network cable
left camera
Fasten into
cable guide
Network cable
right camera
Fasten into
cable guide
Fig. 3.3: Locations of the electrical connections for the rc_viscore
Warning: Due to the voltage drop, the maximum power cable length is limited to 15 m. The supply
voltage should be set to the specified 24 V and must not be set above 26 V due to the highly variable
current draw of the rc_viscore.
Warning: Proper cable management is mandatory. Cabling must always be secured to the rc_viscore
mount with a strain-relief clamp so that no forces due to cable movements are exerted on the
rc_viscore’s M12 connectors. Enough slack needs to be provided to allow for full range of movement
of the rc_viscore without straining the cable. The cable’s minimum bend radius (i.e. 𝑅𝑚𝑖𝑛 = 15𝑑)
needs to be observed.
Pin assignments for the power connector are given in Table 3.6.
Table 3.6: Pin assignments for the power connector
Pin Cable Color Designation Details
1 White nc
2 Brown Power +24 V 2 A 24 V
3 Green nc
4 Yellow nc
5 Grey GPIO Vcc 5-24 V, 50 mA max.
6 Pink GPIO Out 1 Projector exposure signal
7 Blue Power GND
8 Red GPIO Out 2
GPIOs are decoupled by photocouplers. GPIO Out 1 by default provides an exposure sync signal with a
logic high level for the duration of the image exposure. Pins of unused GPIOs should be left floating.
GPIO circuitry and specifications are shown in Fig. 3.4.
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3.6. Coordinate frames
GPIO Out:
Uext = 5VDC to 29 VDC
Iout = max 50 mA
GPIO_Power_Vcc
GPIO_Out1_Robot
GPIO_Out2_Robot
GND
Power IN
75
75
rc_viscore
Projector_Exposure
to Robot Controller
Fig. 3.4: GPIO circuitry and specifications
3.6 Coordinate frames
The rc_viscore’s coordinate-frame origin is defined as the exit pupil of the left camera lens. This frame is
called sensor coordinate frame or camera coordinate frame. It is shown in Fig. 3.5.
105 41
86.9
z
y
z
x
Fig. 3.5: Camera coordinate frame location and orientation
Note: The correct offset between the sensor/camera frame and a robot coordinate frame can be
calibrated through hand-eye calibration. See https://doc.rc-cube.com/latest/en/handeye_calibration.
html.
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4Installation
Warning: The instructions on Safety (Section 2) related to the rc_viscore must be read and under-
stood prior to installation.
4.1 Mounting
The rc_viscore is intended to be mounted on a wall or ceiling above the target area. It is not intended to
be used in dynamic applications mounted to a robot wrist. It is the customer’s responsibility to provide
an adequate mounting bracket.
For mounting, the rc_viscore provides an M4 and M5 thread pattern on its top and bottom sides (see Fig.
4.1). A medium-strength thread-locker or Tuflok® screws must be used to protect against vibrations.
M5 screws must be tightened to 4.0 Nm, M4 screws must be tightened to 3.3 Nm.
Warning: The rc_viscore cannot be mounted on the end-effector of a robot.
Fig. 4.1: Mounting of the rc_viscore
Only the surface containing the thread pattern must be in contact with the mounting bracket, all other
surfaces must remain free. At least 10 cm clearance must be provided behind the rc_viscore to facilitate
adequate air flow for cooling.
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4.2. Power-up
4.2 Power-up
Note: Always fully connect and tighten all M12 connectors on the rc_viscore before turning on the
power supply.
After connecting the system to power, the LED on the front of the rc_viscore should immediately illumi-
nate.
Warning: Do not look into the projector lens in the center of the rc_viscore or into the light beam at
any point during startup or operation.
4.3 Connecting
The rc_viscore can be used together with an rc_cube or as a stand-alone high-resolution RGBD camera
with the SGM®producer. The following sections describe connecting the rc_viscore in both scenarios.
4.3.1 Connecting to the rc_cube
The rc_cube I(Industrial Edge Computer) offers four network ports that are labelled sensors 0-3. The two
network cables of the rc_viscore must be connected directly to two of those ports. It does not matter
which ones. Two rc_viscore devices can be connected and used at the same time.
The rc_cube S (Edge Computer) offers one 2.5 gigabit sensor port. A switch must be used for connecting
an rc_viscore. The switch must support 2.5 gigabit for the connection to the rc_cube and 1 gigabit speed
for the connection to the rc_viscore. The switch is not in the scope of the delivery of the rc_cube S.
Roboception can recommend a suitable switch upon request.
By default, the rc_cube is configured to support one rc_visard as sensor. For supporting one rc_viscore,
the type of the camera pipeline must be changed in the Web GUIof the rc_cube under System →Camera
Pipelines (see https://doc.rc-cube.com/latest/en/pipelines.html). Clicking on Configure Camera Pipelines
opens a dialog that permits to change the type of pipeline to rc_viscore. A reboot is necessary after
changing the pipeline configuration.
For connecting two rc_viscore devices at the same time, it is additionally necessary to configure a second
pipeline, as explained above, and to specify which pipeline should use which rc_viscore by setting a filter
expression. This is done by clicking on Configure Camera Connection on the Camera Pipelines page, or
select the corresponding pipeline in the menu, e.g. under System →Camera Pipelines →Pipeline . . . .
Clicking Choose Camera opens a dialog to edit the device filter (see also https://doc.rc-cube.com/latest/
en/pipelines.html#configuration-of-connected-cameras).
It may take up to one minute until the rc_viscore is connected. For each successfully connected sensor,
the connection speed and frame rate is shown in the Dashboard of the Web GUI.
4.3.2 Connecting to the SGM®Producer
For using the rc_viscore as high-resolution RGBD camera, Roboception offers the SGM®Producer,
which is a GenICam compatible transport layer (see https://roboception.com/product/sgmproducer).
The producer can be used with Halcon, with the rc_genicam_api for C++ programmers, with the
rc_genicam_driver for ROS and ROS2, as well as with any other GenICam compatible application. It can
be downloaded free of charge from http://www.roboception.com/download and installed on Windows
and Ubuntu computers with an Nvidia graphics card.
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4.4. Adjust focus
It is strongly recommended to connect both network cables directly to 1 gigabit Ethernet ports of the
computer. A network switch can only work if the network link between the switch and the computer
has a bandwidth of more than 2 gigabit, e.g. 2.5, 5 or 10 gigabit.
In the default network configuration and according to the GigE Vision® standard, the rc_viscore cameras
will try to obtain their configuration from a DHCP server and fall back to the Link-Local self-configuration
protocol, if no DHCP server can be found. For direct connection without a DHCP server, the Ethernet
ports of the computer should be configured for Link-Local network. It is also possible to manually con-
figure IP addresses of the left and right rc_viscore cameras. Options for changing the network settings
and IP configuration are:
•any configuration tool compatible with GigE Vision® 2.0, or Roboception’s command-line tool
gc_config. Typically, these tools scan for all available GigE Vision® devices on the network. All
rc_viscore devices can be uniquely identified by their serial number, which is printed on the device.
•temporarily changing the network configuration via Roboception’srcdiscover-gui tool. The indi-
vidual cameras can be seen in the list after unchecking the Only Roboception devices check box.
Note: The command-line tool gc_config is part of Roboception’s open-source convenience layer
rc_genicam_api, which can be downloaded free of charge for Windows and Linux from http://www.
roboception.com/download.
For adjusting the focus, checking and calibrating the rc_viscore, as explained in the next sections, the
SGM®Producer package contains a calibration program, called rc_calib.
4.4 Adjust focus
It is highly recommended to check and adjust the focus of the rc_viscore for the actual working range.
Please note that the depth of focus range is limited due to the high resolution of the sensor and must
be adapted to the working range of the application. At close distance, the depth of focus range is much
smaller than at higher distance. Therefore, the minimum distance for focusing should be chosen as
far away as useful for the application. Please contact support (Section 8) in case of questions regarding
working distance and calibration of the rc_viscore.
The rc_cube offers a focus helper as part of camera calibration under Pipeline . . . →Configuration →
Camera Calibration.In the first step, the size of the calibration grid has to be specified. Clicking on Next
opens the focus helper. See also https://doc.rc-cube.com/latest/en/camera_calibration.html.
For users of the SGM®Producer, the focus helper can be found in the rc_calib calibration program after
selecting the rc_viscore with File →Connect sensor . . . , and specifying the grid size.
The bars on the right side of the image report the blur of the calibration grid, thus a minimum is de-
sirable. The grid should be placed in the minimum and maximum working distance for checking the
current blur. A value near the lowest dividing line is quite optimal. See also https://doc.rc-cube.com/
latest/en/camera_calibration.html#adjust-focus.
If focus adjustment is needed, the lens caps of the left and right cameras must be removed as shown in
Fig. 4.2.
Roboception GmbH
Manual: rc_viscore
18 Rev: 1.0
Status: Apr 27, 2022

4.4. Adjust focus
Fig. 4.2: Removing of lens caps for re-focussing and changing aperture
The focus ring and the aperture ring are locked by 3 screws for each ring as shown in Fig. 4.3. All three
screws must be loosened for moving the ring.
Fig. 4.3: Location of screws for focus and aperture ring
For setting the focus correctly, the calibration grid should be placed in the middle of the working range.
Then, the focus ring should be turned until the bars in the images become a minimum. After focusing
in this way, the grid should be placed at the minimum and maximum working distance. If the blur is
unsatisfactory at the minimum and maximum working distance (e.g. near the second dividing line or
higher), the aperture can be closed a bit, i.e. choosing a higher aperture number. Please be aware
that this increases exposure time and potentially gain, which increases noise in the image. The optimal
tradeoffis application dependent.
Roboception GmbH
Manual: rc_viscore
19 Rev: 1.0
Status: Apr 27, 2022