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Stereo visard Software Image 26.10.0 – Release Notes#

New Features#

  • Plane-based dimensioning in BoxPick (rc_boxpick):
    • The new optional dimensioning argument of compute_grasps and detect_items measures a bounding box for each detected box that is aligned with a reference plane, e.g. a conveyor belt or a table. The box height is measured from that plane, so the full dimensions of the boxes are returned in addition to the grasps. The reference planes are taken from the new PrimitiveDB module (rc_primitive_db). This allows measuring the size of parcels and boxes in the same call that computes the grasps, e.g. for sorting items by size or choosing their place position.
  • PrimitiveDB (rc_primitive_db):
    • This new database module stores geometric primitives, currently planes, persistently on the device, so that they can be used by the detection modules, e.g. as reference planes for dimensioning. Planes are managed with the new services set_plane, get_planes and delete_planes, or on the Web GUI's new Planes database page, which also helps to estimate a plane from the current sensor data. Thus, a reference plane only has to be determined once during setup and can then be reused in every detection request.
  • Measure (rc_measure):
    • The new service compute_plane estimates a plane from the current sensor data, either from the point cloud (DEPTH) or from at least three AprilTags lying on a common plane (APRILTAG). The plane is returned without being stored and can be stored in PrimitiveDB with set_plane. The Web GUI's Measure page shows the estimated plane in a 3D visualization, and the plane can be adjusted interactively. This makes it easy to determine reference planes such as a conveyor belt or a table surface directly with the sensor instead of measuring them manually.
  • Generic Robot Interface (GRI):
    • The Web GUI's job editor now supports dynamic arguments, additional return values and mapping tables. Parameter jobs can be created, and jobs can be loaded and edited directly from the Try-Out sections of the modules. This makes setting up robot programs via GRI faster and less error-prone, as a configuration tested in the Try-Out section can be turned into a job directly.

Improvements and Fixes#

  • Pack (rc_pack):
    • Added argument robot_pose to detect_place_pose for robot-mounted sensors
    • Fixed load carriers with a pose in the external frame
    • Fixed load carrier detection not respecting assume_gravity_aligned
  • SilhouetteMatch (rc_silhouettematch):
    • Fixed objects close to the border of a 2D region of interest not being detected
  • GripperDB (rc_gripper_db):
    • Fixed uploading of CAD elements (OBJ files) with multiple connected components
  • Generic Robot Interface (GRI):
    • Improved error handling with more specific return codes, e.g. for timeouts and misconfigured jobs
    • Poses and floating point values are now rounded instead of truncated
  • REST-API:
    • Reduced memory usage
    • Added timeouts so that a hanging module can no longer block REST-API requests
  • WebGUI:
    • Added a popup for previewing the request and response JSON of a result, with options to copy it to the clipboard or download it
    • Added 3d visualization for measure_depth result to Measure page
    • Reduced the CPU load of the 3D result visualizations
    • Minor improvements and fixes