Users Manual

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"z": "float64"
}
},
"pose
_
frame": "string",
"rim
_
thickness": {
"x": "float64",
"y": "float64"
}
}
],
"return
_
code": {
"message": "string",
"value": "int16"
},
"timestamp": {
"nsec": "int32",
"sec": "int32"
}
}
Required arguments:
pose
_
frame: defines the output pose frame for the computed grasps and detected rectangles.
item
_
models: defines a list of rectangles with minimum and maximum size, with the minimum
dimensions strictly smaller than the maximum dimensions. At least one item
_
model is always
required. The dimensions should be given as precise as possible to avoid misdetections.
suction
_
surface
_
length: length of the suction device grasping surface.
suction
_
surface
_
width: width of the suction device grasping surface.
robot
_
pose: only if working in pose
_
frame="external" and the rc_visard is robot-mounted.
Optional arguments:
region
_
of
_
interest
_
id: delimits the volume of space where to search for the load carrier
or selects a volume which contains items to be grasped if no load
_
carrier
_
id is set. The
processing time for load carrier detection and grasp computation increases with the size of the
selected region of interest.
load
_
carrier
_
id: limits grasp computation to the content of the detected load carrier.
load
_
carrier
_
compartment: selects a compartment within the detected load carrier.
save
_
parameters This service saves the currently set parameters persistently. Thereby, the same parameters
will still apply after a reboot of the sensor. The node parameters are not persistent over firmware updates
and rollbacks.
reset
_
to
_
defaults This service resets all parameters of the component to its default values, as listed in above
table. The reset does not apply to regions of interest and load carriers.
7.5 SilhouetteMatch
7.5.1 Introduction
The SilhouetteMatch component is an optional on-board component of the rc_visard, which detects objects by
matching a predefined silhouette (“template”) to edges in an image.
Note: This component is optional and requires a separate SilhouetteMatch license (Section 9.6) to be pur-
chased.
7.5. SilhouetteMatch 104