Users Manual

Table 7.4.3: The rc
_
itempick and rc
_
boxpick components surface
clustering parameters
Name Type Min Max Default Description
cluster
_
max
_
dimension float64 0.05 0.8 0.3 Only for rc_itempick.
Diameter of the largest
sphere enclosing each
cluster in meters. Clus-
ters larger than this value
are filtered out before
grasp computation.
cluster
_
max
_
curvature float64 0.005 0.5 0.11 Maximum curvature al-
lowed within one cluster.
The smaller this value,
the more clusters will be
split apart.
clustering
_
patch
_
size int32 3 10 4 Only for rc_itempick.
Size in pixels of the
square patches the depth
map is subdivided into
during the first clustering
step
clustering
_
max
_
surface
_
rmse float64 0.0005 0.01 0.004 Maximum root-mean-
square error (RMSE)
in meters of points
belonging to a surface
clustering
_
discontinuity
_
factor float64 0.5 5.0 1.0 Factor used to discrim-
inate depth discontinu-
ities within a patch. The
smaller this value, the
more clusters will be
split apart.
item
_
model
_
tolerance float64 0.0 0.05 0.0 Only for rc_itempick.
This parameter is dep-
recated. Indicates how
much the estimated item
dimensions are allowed
to differ from the item
model dimensions in me-
ters
This component reports the following status values.
Table 7.4.4: The rc
_
itempick and rc
_
boxpick components status val-
ues
Name Description
state The current state of the rc_itempick and rc_boxpick node
last
_
timestamp
_
processed The timestamp of the last processed dataset
data
_
acquisition
_
time Time in seconds required by the last active service to acquire images.
Standard values are between 0.5 s and 0.6 s with High depth image
quality.
load
_
carrier
_
detection
_
time Processing time of the last load carrier detection in seconds
grasp
_
computation
_
time Processing time of the last grasp computation in seconds
The reported state can take one of the following values.
7.4. ItemPick and BoxPick 89