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3D Camera Cube Software Image 26.01.0 – Release Notes#

New Features#

  • SilhouetteMatchAI (rc_silhouettematch)
    • This advancement of SilhouetteMatch allows to use AI models for segmenting planar objects in the scene, so that no base plane calibration is required. To use the AI-based segmentation, set object_plane_detection to true and select SHEET_METAL as object_segmentation_model in the detection service. In addition, when the AI-based segmentation is used, the new parameter max_object_overlap allows to specify a maximum fraction of the object that can be overlapped by other segmented objects. Objects with higher overlap ratios will be discarded. Thus, only grasps on unoccluded matches are returned. These new features allow for safely and precisely picking partly occluded metal parts. The SilhouetteMatchAI module requires a separate license.
  • SilhouetteMatch(rc_silhouettematch)
    • This is now also available for Zivid and Orbbec camera pipelines. This way SilhouetteMatch can make use of the Zivid's highly accurate point clouds for precisely picking planar metal parts with challenging surfaces.
  • ItemPickAI (rc_itempick)
    • A new object category "Sheet Metal" is available. It can be selected by setting the type of the item_model to SHEET_METAL. The sheet metal model enables picking and oriented placing of flat planar metal objects of unknown size and geometry.
  • Support of suction cups and movable fingers in gripper definition (rc_gripper_db) and CollisionCheck (rc_collision_check)
    • When modelling a gripper, single gripper elements can be assigned a function_type, e.g. SUCTION_CUP or FINGER. Elements marked as suction cups will be ignored during collision checking, so that suction cups can now be modelled correctly for point cloud collision checking of suction grasps. Elements marked as fingers can have variable positions. By defining the zero position of the finger elements, variable strokes can be assigned to user-defined grasps in SilhouetteMatch and CADMatch. This makes the grasp definition with collision checking in complex bin picking applications more comfortable.
  • New detection services for easier response parsing in ItemPickAI (rc_itempick), BoxPick (rc_boxpick), SilhouetteMatch (rc_silhouettematch) and CADMatch (rc_cadmatch)
    • The new services compute_grasps_extended in ItemPickAI and BoxPick, and detect_object_extended in SilhouetteMatch and CADMatch perform the same detection tasks as their non-extended counterparts, but deliver the results in a different structure that is easier to parse. Instead of returning items or matches as a separate list next to the grasps, each grasp in the response now contains information about its corresponding object, e.g. the object's pose that is required for exact placement. Thus, retrieving the object information has become much easier.
  • gRPC Interface
    • A new ImageEventsInterface service allows sending depth_acquisition_done events that signal when the image acquisition for depth computation is completed. This event can be used to determine when it is safe to move the robot or change the scene while a detection is still in progress. This helps for optimizing cycle times in robot applications.

Improvements and Fixes#

  • CollisionCheck (rc_collision_check)
    • Added new parameter pointcloud_watertight that allows to switch off filling holes in the depth image for point cloud collision checking
  • LoadCarrier (rc_load_carrier)
    • Increased the maximum values of filling_level_cell_count in detect_filling_level to 200
  • trigger_dump service calls in LoadCarrier, TagDetect, ItemPick, ItemPickAI, BoxPick, SilhouetteMatch and CADMatch
    • Fixed queuing of dumps when service is called too frequently
    • Added new error return code in case storing is not fast enough
  • Generic Robot Interface
    • Support of fragmented TCP messages by TCP message buffering
  • CADMatch (rc_cadmatch)
    • Improved refinement run-time
    • Added support for new templates with higher detection robustness
  • ItemPickAI and ItemPick (rc_itempick)
    • Fixed wrong number of items returned if allow_any_grasp_pose is active
    • Removed empty template_id and view fields from ItemPick responses
  • Hand-Eye Calibration (rc_hand_eye_calibration)
    • Prevent changing the stereo calibration in case of high hand-eye calibration errors
  • WebGUI
    • New CADMatch pose priors are added with flipped orientation by default
    • Minor fixes and layout improvements