3D Camera Cube Software Image 24.07.0 – Release Notes#

New Features#

• External triggering can be configured
• Manually configure additional NTP servers
• Allow UserSpace configuration via QR code

• Measure node (rc_measure)

  • New Measure node

• BoxPick+Match (rc_boxpick)

  • Support detection of 3D boxes by setting z dimension of item model to detect rectangles corresponding to all sides of a box
  • Detection verification when 3D boxes are detected inside a load carrier
  • Visualization of 3D boxes in WebGUI
  • New allow_untextured_detections parameter to also return rectangles with matching dimensions but without matching view
  • Possibility to set user-defined names for views for easier reference

• SilhouetteMatch (rc_silhouettematch)

  • Add new check_collisions parameter and check_collisions_during_retraction parameter

• WebGUI

  • Allow SilhouetteMatch base plane calibration in external pose frame
  • New interactive gripper creation by moving elements with the mouse
  • New System Time page for configuring synchronization including additional NTP servers
  • Option to duplicate and rename load carriers, grippers and regions of interest

Breaking Change#

• Stereo Matching (rc_stereomatching)
  • Moved service call measure_depth to new node rc_measure

Improvements and Fixes#

• CADMatch (rc_cadmatch)
• Runtime and performance improvements
• BoxPick (rc_boxpick)
  • Return only items corresponding to the returned grasps
  • Higher matching performance on small or weakly-textured boxes
  • Improved grasp ellipse computation for partly occluded textured rectangles
• LoadCarrier (rc_load_carrier): Improve runtime on rc_viscore images
• TagDetect (rc_april_tag_detect, rc_qr_code_detect): Fix detection of tags in closer distances on rc_viscore images

• gRPC Interface: Fix subscribing only to left image

• WebGUI

  • Add filter possibility to dropdown fields and support arrow and tab keys
  • Show more container information on UserSpace page
  • Remove HDR warning for tag detections
  • Make Exact Pose the default when setting a pose for a load carrier
  • Add acquire button to hand-eye calibration exposure settings when in software trigger node
  • Display multiple CADMatch detections in result table and visualization when detect_objects

• Service is used

  • Fix cut-off point cloud in 3D result visualization
  • Support arrow keys to navigate through matches and grasps in 3d result visualizations (ItemPick, BoxPick, SilhouetteMatch, CADMatch)
  • Delay hover popups for grasps, matches and load carriers in 3D result visualizations
  • Bring back progress bar on template and CAD element upload
  • Add option to duplicate a gripper element, a grasp or a pose prior
  • Minor layout improvements and fixes