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3D Camera Cube Software Image 25.10.0 – Release Notes#

New Features#

  • Support of Orbbec cameras
    • The new pipeline type orbbec can be used to configure and connect an Orbbec Gemini 335Le camera to the rc_cube.
  • Generic Robot Interface
    • The Generic Robot Interface provides a standardized way to communicate with the rc_reason software modules using simple TCP socket communication, which is natively supported by all major robot platforms and PLCs. It allows creating pre-defined jobs for all services and parameters and triggering these jobs synchronously or asynchronously. Once a job has finished, the chosen return poses can be retrieved sequentially.
  • CADMatch (rc_cadmatch)
    • The new parameter max_object_overlap allows to specify a maximum fraction of the object that can to be overlapped by other objects or scene parts. Matches with higher overlap ratios will be discarded. Thus, only grasps on unoccluded matches are returned.
  • ItemPickAI (rc_itempick)
    • The new parameter allow_any_grasp_pose allows to compute grasps anywhere on the object where planar surfaces for the specified suction gripper dimensions are found.

Improvements and Fixes#

  • LoadCarrier (rc_load_carrier and rc_load_carrier_db)
    • The maximum allowed dimensions for a load carrier have been increased to 5 meters to support very large load carriers.
  • ItemPickAI, ItemPick (rc_itempick) and BoxPick (rc_boxpick)
    • The maximum number of computed grasps has been increased to 100. This allows for computing all grasps of a layer packed with boxes in a depalletizing application with triggering a single detection.
  • ItemPickAI (rc_itempick)
    • improved segmentation using the BAG item model type, especially for strongly textured objects
    • Fixed missing grasps on objects
  • CADMatch (rc_cadmatch)
    • Improved score computation
    • Fixed symmetry handling for partial templates
    • Changed color of returned matches from red to green in result visualization
    • Use red edges to visualize overlapped matches
    • Added option to show discarded and overlapped matches in 3D result visualization of CADMatch
    • Added "Discarded Matches" and "Load Carriers" to CADMatch result image streams
  • SilhouetteMatch (rc_silhouettematch)
    • Changed color of returned matches from red to green in result visualization
  • Web GUI
    • Added new page for Generic Robot Interface (GRI) functionality
    • Updated suggested hand-eye calibration pictograms for better image coverage
    • Added separate ABB robot pose format to have correct quaternion order
    • Show confirmation dialogue before deleting a hand-eye calibration
    • Fixed detection of connected rc_randomdot projector
    • Adjusted aspect ratio of result image streams to native image aspect ratio
    • Added GPU status widget on System page
    • Minor layout adaptions and fixes