3D Camera Cube Software Image 26.04.0 – Release Notes#

New Features#

• Stereo Matching (rc_stereomatching) can now be restricted to a user-defined 2D region of interest. This reduces latency when only a part of the image is relevant for the application.
• The gripper definition (rc_gripper_db) and CollisionCheck (rc_collision_check) support multiple TCPs:
  • Each gripper can now have multiple TCPs with different poses in prioritized order. During collision checking, all defined TCPs are checked for collisions, and the ID of the first collision-free TCP will be returned for each grasp in all rc_reason software modules. By setting the minimum suction surface dimensions for each TCP, only grasps that fulfil these requirements are considered during collision checking. This is especially helpful in ItemPick, ItemPickAI and BoxPick for applications with multi-suction-cup grippers, where different combinations of suction cups can be activated depending on the size of the item to grasp.
• CADMatch (rc_cadmatch) now allows to set the direction in which the object overlap should be checked and the overlap check is always performed orthographically. This gives more flexibility in applications where the camera perspective does not correctly capture the overlap situation, e.g. when the camera has as lightly tilted viewing angle or the perspective projection leads to wrong overlap detections.

Improvements and Fixes#

• ItemPickAI (rc_itempick):
  • Updated the CONSUMER_GOODS model
  • Fixed missing grasps on detected items
  • Made z axis of item always point towards the camera to be consistent with the item orientation in BoxPick
  • Added warning code 115 when additional items without grasps were found
  • No longer return code 101 when no grasps are found, but valid clusters were detected
• CADMatch (rc_cadmatch):
  • Prior accessibility now also considers whether the object has reachable grasps
• CollisionCheck:
  • Fixed collision checking when FINGER elements have parent 'flange'
• SilhouetteMatch (rc_silhouettematch):
  • Added match numbers in result visualization
• EKI Bridge:
  • Updated the EKI XML config files in manual to utilize the maximum 64kB BUFFSIZE, allowing for more data per request
  • Added automatic payload pruning to prevent EKI connection crashes and transmission errors when responses would exceed the BUFFSIZE limit
• gRPCInterface:
  • Added gamma and auto_exposure_adapting to Image
• REST-API:
  • Added system messages to inform about the current system status
• UserSpace:
  • UserSpace apps can now use more CPUcores
• blaze:
  • Now also Basler blaze ToF cameras without ace camera are supported
• Stereo ace:
  • Fixed regression in rc_cube_image v25.10.2 and v26.01.0: Stereo ace cameras with firmware version 1.4.0 and above were not supported
• WebGUI:
  • Use Turbo color map in color-coded disparity image for better visibility of slight disparity changes
  • Fixed grasp duplication and downloading issues in CADMatch and SilhouetteMatch templates
  • Added warning bar when a license is about to expire
• Minor improvements and fixes