Users Manual

• support for static and robot-mounted rc_visard devices and optional integration with the on-board Hand-eye
calibration (Section 6.7) component, to provide grasps in the user-configured external reference frame
• a quality value associated to each suggested grasp and related to the flatness of the grasping surface
• sorting of grasps according to gravity and size so that items on top of a pile are grasped first.
Note: In this chapter, cluster and surface are used as synonyms and identify a set of points (or pixels) with
defined geometrical properties.
Note: In this chapter, load carrier and bin are used as synonyms and identify a container with four walls, a
floor and a rectangular rim.
7.4.2 Data types
Region of Interest
A region of interest defines a volume in space which is of interest for a specific user-application. The ItemPick
and BoxPick components currently support regions of interest of the following types:
• BOX, with dimensions box.x, box.y, box.z.
• SPHERE, with radius sphere.radius.
The user can specify the region of interest pose in the camera or the external coordinate system (see Hand-eye
calibration).
Both components can persistently store up to 10 different regions of interest, each one identified by a different id.
The configuration of regions of interest is normally performed offline (e.g. on the ItemPick or BoxPick page of
the rc_visard Web GUI), during the set up of the desired application.
Note: As opposed to the component parameters, the configured regions of interest are persistent even over
firmware updates and rollbacks.
The region of interest can narrow the volume that is searched for a load carrier model, or select a volume which
only contains items to be grasped.
Note: If the region of interest filter is not applied, the components process the whole scene visible to the
camera.
Load Carrier
A load carrier (bin) is a container with four walls, a floor and a rectangular rim. It is defined by its
outer
_
dimensions and inner
_
dimensions.
The load carrier detection algorithm is based on the detection of the load carrier rectangular rim. By default, the
rectangular rim
_
thickness is computed from the outer and inner dimensions. As an alternative, its value can
also be explicitly specified by the user.
Note: Typically, outer and inner dimensions of a load carrier are available in the specifications of the load
carrier manufacturer.
The load carrier reference frame is defined such that its origin is at the center of the load carrier outer box and its
z axis is perpendicular to the load carrier floor.
7.4. ItemPick and BoxPick 84