Modifying Sensor Settings

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 2D-3D Fusion

Addition information regarding the Cutoff Distance and Replacement fields can be found here 2D - 3D fusion

Steps to Modify Sensor Settings

• 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 Sensor Position Calibration.