Kinova Gen3 - Accessing Vision module color and depth streams

KINOVA
®
Gen3 Ultra lightweight robot User Guide 68
Accessing Vision module color and depth streams
This section describes access to the video module color and depth streams.
The video module sensors capture two video streams:
• color
• depth
The data from these streams is sent from the vision module back to the base controller via the
vision / expansion channel carried over the internal flex cable links.
These two streams are accessible via the Real Time Streaming Protocol (RTSP) on a computer
connected to the robot (with transport over real-time transport protocol (RTP)).
Using the default IP address settings for the base controller, the two streams are accessible via:
• color sensor stream: rtsp://<base IPv4 address>/color
• depth sensor stream: rtsp://<base IPv4 address>/depth
For the default configuration of the base controller network interface, this would give:
• rtsp://192.168.1.10/color
• rtsp://192.168.1.10/depth
Note: Examples in the documentation will use the default base controller IP setting for
simplicity.
Streams specifications
• pixel format: Z16 pixel format - 16 bits LSB transferred as grayscale
• H.264 baseline profile (constant bitrate)
• RTSP server listening on port 554 (default)
• maximum of two simultaneous connections per stream
• inactivity timeout of 30 seconds
The KINOVA
®
KORTEX™ Developer Guide section of the user guide describes in more detail
how to work with the vision module camera streams.