Modifying Sensor Settings

Update Sensor Settings

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Update Sensor Settings

Some settings for the connected sensors can be updated via the AMAS VR application. These settings include adjustment to,

Sensor Pose Sync Settings : Allows to set the relative and reference frame id's to use when using the end effector with pose calibration option.
Robot Linkage Modification : Allows to select or change the robot the sensor is connected and the mount position.
Mode : This field is used to the view option of the RGBD streaming
- 3D (default) : show 3D point cloud
- 2D : show 2D video
- 3D + 2D: show 3D point cloud and 2D video
Depth Codec :
- zdepth (default) : lossless depth compression with sensor-based accuracy
- yuvdepth : lossy low bandwidth depth compression, not supported on Jetson
Color Codec :
- MJPEG : colour compression with a high bandwidth requirement
- H.264 (default) : recommended colour compression codec to use
Fusion Offset (m unit) : When fusing multiple sensors, treat the sensor as if data was reported with a larger distance to avoid noisy data fighting for view. Only small values are recommended (0.01 - 0.1) as it may have side effects with VR scene
Cutoff Distance (m unit) : define to remove from 3D view data with depth larger than value, 0 to disable
Cutoff Replacement (m unit) : define to replace data at a depth larger than the cutoff distance and replace missing data with the value, typically set to 0 (remove) or matches Cutoff Distance to perform

Addition information regarding the Cutoff Distance and Replacement fields can be found here

Click the Configuration tab in the wrist panel.
Click on the dropdown button next to the Cortex button, which will open Robots and Sensors buttons.
Press on the Sensors button, which will open the Active Sensors panel.
Select the sensor you want to modify.
Edit the required sensor settings accordingly.
Press Save. This will update the sensor and the stored configuration for auto-update on the next reboot.

Was this helpful?

Some settings for the connected sensors can be updated via the AMAS VR application. These settings include adjustment to,

Sensor Pose Sync Settings : Allows to set the relative and reference frame id's to use when using the end effector with pose calibration option.
Robot Linkage Modification : Allows to select or change the robot the sensor is connected and the mount position.
Mode : This field is used to the view option of the RGBD streaming
- 3D (default) : show 3D point cloud
- 2D : show 2D video
- 3D + 2D: show 3D point cloud and 2D video
Depth Codec :
- zdepth (default) : lossless depth compression with sensor-based accuracy
- yuvdepth : lossy low bandwidth depth compression, not supported on Jetson
Color Codec :
- MJPEG : colour compression with a high bandwidth requirement
- H.264 (default) : recommended colour compression codec to use
Fusion Offset (m unit) : When fusing multiple sensors, treat the sensor as if data was reported with a larger distance to avoid noisy data fighting for view. Only small values are recommended (0.01 - 0.1) as it may have side effects with VR scene
Cutoff Distance (m unit) : define to remove from 3D view data with depth larger than value, 0 to disable
Cutoff Replacement (m unit) : define to replace data at a depth larger than the cutoff distance and replace missing data with the value, typically set to 0 (remove) or matches Cutoff Distance to perform

Addition information regarding the Cutoff Distance and Replacement fields can be found here

Click the Configuration tab in the wrist panel.
Click on the dropdown button next to the Cortex button, which will open Robots and Sensors buttons.
Press on the Sensors button, which will open the Active Sensors panel.
Select the sensor you want to modify.
Edit the required sensor settings accordingly.
Press Save. This will update the sensor and the stored configuration for auto-update on the next reboot.

If the Robot Linkage is modified, it might need to be calibrated again using the information provided in the .