Users Manual

• Disparity, error, and confidence images from the Stereo matching component (rc
_
stereomatching, Sec-
tion 6.2).
Sensor dynamics
For each load carrier detection and grasp computation, the components estimate the gravity vector by subscribing
to the IMU data stream from the Sensor dynamics component (rc
_
dynamics, Section 6.3).
Note: The gravity vector is estimated from linear acceleration readings from the on-board IMU. For this reason,
the ItemPick and BoxPick components require the rc_visard to remain still while the gravity vector is being
estimated.
IO and Projector Control
In case the rc_visard is used in conjunction with an external random dot projector and the IO and Projector
Control component (rc
_
iocontrol, Section 7.2), the output mode for the GPIO output in use should be se to
ExposureAlternateActive, as explained in the Description of run-time parameters (Section 7.2.1) of the IO
and Projector Control component.
No additional changes are required to use the ItemPick and BoxPick components in combination with a random
dot projector.
Hand-eye calibration
In case the rc_visard has been calibrated to a robot, two different pose
_
frame values can be chosen:
1. Camera frame (camera). All poses provided to and from the component are in the camera frame, and
no prior knowledge about the pose of the rc_visard in the environment is required. This means that the
configured regions of interest and load carriers move with the camera. It is the user’s responsibility to
update the configured poses if the camera frame moves (e.g. with a robot-mounted sensor).
2. External frame (external). All poses provided to and from the component are in the external frame,
configured by the user during the hand-eye calibration process. The component relies on the on-board
Hand-eye calibration component to retrieve the sensor mounting (static or robot mounted) and the hand-
eye transformation. If the sensor mounting is static, no further information is needed. If the sensor is
robot-mounted, the robot
_
pose is required to transform poses to and from the external frame.
Note: If no hand-eye calibration is available, all pose
_
frame values should be set to camera.
All pose
_
frame values that are not camera or external are rejected.
7.4.4 Parameters and Status Values
The ItemPick and BoxPick components are called rc
_
itempick and rc
_
boxpick in the REST-API. The user can
explore and configure the rc
_
itempick and rc
_
boxpick component’s run-time parameters, e.g. for development
and testing, using the rc_visard Web GUI (Section 4.5) or Swagger UI (Section 8.2.4).
This component offers the following run-time parameters.
Table 7.4.1: The rc
_
itempick and rc
_
boxpick components applica-
tion parameters
Name Type Min Max Default Description
max
_
grasps int32 1 20 5 Maximum number of provided grasps
7.4. ItemPick and BoxPick 87