Users Manual

following table contains a list of common codes:
Code Description
0 Success
-1 An invalid argument was provided
-4 A timeout occurred while waiting for the image pair
-9 The license is not valid
-101 Internal error
-102 There was a backwards jump of system time
-200 A fatal internal error occurred
101 A warning occurred during tag reading
102 A warning occurred during pose estimation
200 Multiple warnings occurred; see list in message
201 The component was not in state RUNNING
Tags might be omitted from the detect response due to several reasons, e.g., if a tag is visible in only one
of the cameras or if pose estimation did not succeed. These filtered-out tags are noted in the log, which can
be accessed as described in Downloading log files (Section 9.7).
A visualization of the latest detection is shown on the Web GUI tabs of the TagDetect components. Please
note that this visualization will only be shown after calling the detection service at least once. On the Web
GUI, one can also manually try the detection by clicking the Detect button.
Due to changes in system time on the sensor there might occur jumps of timestamps, forward as well as
backward (see Time synchronization, Section 8.5). Forward jumps do not have an effect on the TagDetect
component. Backward jumps, however, invalidate already received images. Therefore, in case a backwards
time jump is detected, an error of value -102 will be issued on the next detect call, also to inform the user
that the timestamps included in the response will jump back.
save
_
parameters With this service call, the TagDetect component’s current parameter settings are persisted to
the rc_visard. That is, these values are applied even after reboot.
reset
_
defaults Restores and applies the default values for this component’s parameters (“factory reset”) as
given in the table above.
7.4 ItemPick and BoxPick
7.4.1 Introduction
The ItemPick and BoxPick components are optional on-board components of the rc_visard.
Note: The components are optional and require separate ItemPick or BoxPick licenses (Section 9.6) to be
purchased.
The components provide out-of-the-box perception solutions for robotic pick-and-place applications. ItemPick
targets the detection of flat surfaces of unknown objects for picking with a suction gripper. BoxPick detects rect-
angular surfaces and determines their position, orientation and size for grasping. The interface of both components
is very similar. Therefore both components are described together in this chapter.
In addition, both components offer:
• a dedicated page on the rc_visard Web GUI (Section 4.5) for easy setup, configuration, testing, and applica-
tion tuning
• the definition of regions of interest to select relevant volumes in the scene
• a load carrier detection functionality for bin-picking applications, to provide grasps for items inside a bin
only
• the definition of compartments inside a load carrier to provide grasps for specific volumes of the bin only
7.4. ItemPick and BoxPick 83