rc_cube
24.07
Introduction
Overview
Warranty
Applicable standards
Interfaces
Glossary
Safety
General warnings
Intended use
Installation
Software license
Power up
Discovery of
rc_cube
devices
Resetting configuration
Network configuration
Host name
Automatic configuration (factory default)
Manual configuration
Connection of cameras
Basler blaze sensors
Measurement principles
Stereo vision
Camera pipelines
Configuration of camera pipelines
Configuration of connected cameras
Software modules
3D camera modules
Camera
Rectification
Viewing and downloading images
Parameters
Status values
Services
Stereo matching
Computing disparity images
Computing depth images and point clouds
Confidence and error images
Viewing and downloading images and point clouds
Parameters
Status values
Services
Blaze
Viewing and downloading images and point clouds
Parameters
Status values
Services
Detection & Measure modules
Measure
Introduction
Measuring Depth
Interaction with other modules
Parameters
Status values
Services
Return codes
LoadCarrier
Introduction
Detection of load carriers
Detection of filling level
Interaction with other modules
Parameters
Status values
Services
Return codes
TagDetect
Introduction
Tag reading
Pose estimation
Tag re-identification
Hand-eye calibration
Parameters
Status values
Services
Return codes
ItemPick and BoxPick
Introduction
Detection of items (BoxPick)
Computation of grasps
Interaction with other modules
Parameters
Status values
Services
Return codes
BoxPick Template API
SilhouetteMatch
Introduction
Base-plane calibration
Setting a region of interest
Setting of grasp points
Setting the preferred orientation of the TCP
Setting the sorting strategies
Detection of objects
Interaction with other modules
Parameters
Status values
Services
Internal services
Return codes
Template API
CADMatch
Introduction
Setting of grasp points
Setting of pose priors
Setting the preferred orientation of the TCP
Setting the sorting strategies
Detection of objects
Interaction with other modules
Parameters
Status values
Services
Internal services
Return codes
Template API
Configuration modules
Hand-eye calibration
Calibration interfaces
Camera mounting
Calibration routine
Parameters
Services
CollisionCheck
Introduction
Collision checking
Parameters
Status values
Services
Return codes
Camera calibration
Calibration process
Parameters
Services
IO and Projector Control
Parameters
Services
Database modules
LoadCarrierDB
Introduction
Load carrier definition
Load carrier compartments
Interaction with other modules
Services
Return codes
RoiDB
Introduction
Region of interest
Interaction with other modules
Services
Return codes
GripperDB
Introduction
Setting a gripper
Services
Return codes
CAD element API
Interfaces
Web GUI
Accessing the Web GUI
Access to the
rc_visard
Web GUI
Exploring the Web GUI
Web GUI access control
Downloading camera images
Downloading depth images and point clouds
GigE Vision 2.0/GenICam image interface
GigE Vision ports
Important GenICam parameters
Important standard GenICam features
Category: ImageFormatControl
Category: AcquisitionControl
Category: AnalogControl
Category: DigitalIOControl
Category: TransportLayerControl / PtpControl
Category: Scan3dControl
Category: ChunkDataControl
Custom GenICam features of the
rc_cube
Category: DeviceControl
Category: AcquisitionControl
Category: Scan3dControl
Category: DepthControl
Chunk data
Provided image streams
Image stream conversions
REST-API interface
General API structure
Migration from API version 1
Available resources and requests
Nodes, parameters, and services
Pipelines
UserSpace
System and logs
Data type definitions
Swagger UI
KUKA Ethernet KRL Interface
Ethernet connection configuration
Generic XML structure
Return code
Services
Request XML structure
Response XML structure
Parameters
EKI XML configuration files
Migration to firmware version 22.01
Example applications
Troubleshooting
gRPC image stream interface
gRPC service definition
Image stream conversions
Example client
OPC UA interface
Time synchronization
NTP
PTP
Setting time manually
UserSpace
Configuration
Configure UserSpace via local monitor
Enable UserSpace
Disable UserSpace
Reset UserSpace
Configure UserSpace via the Web GUI
View running applications
Network access to UserSpace applications
Examples
Interfaces
Restrictions
Maintenance
Creating and restoring backups of settings
Updating the firmware
Restoring the previous firmware version
Rebooting the
rc_cube
Updating the software license
Downloading log files
Troubleshooting
Camera-image issues
Depth/Disparity, error, and confidence image issues
GigE Vision/GenICam issues
Contact
Support
Downloads
Address
Appendix
Pose formats
Rotation matrix and translation vector
Conversion from rotation matrix to quaternion
Conversion from quaternion to rotation matrix
ABB pose format
FANUC XYZ-WPR format
Conversion from FANUC-WPR to quaternion
Conversion from quaternion to FANUC-WPR
Franka Emika Pose Format
Conversion from transformation matrix to quaternion
Conversion from Rotation-XYZ to quaternion
Conversion from quaternion and translation to transformation
Conversion from quaternion to Rotation-XYZ
Pose representation in RaceCom messages and state machines
Fruitcore HORST pose format
Kawasaki XYZ-OAT format
Conversion from Kawasaki-OAT to quaternion
Conversion from quaternion to Kawasaki-OAT
KUKA XYZ-ABC format
Conversion from KUKA-ABC to quaternion
Conversion from quaternion to KUKA-ABC
Mitsubishi XYZ-ABC format
Conversion from Mitsubishi-ABC to quaternion
Conversion from quaternion to Mitsubishi-ABC
Universal Robots pose format
Conversion from angle-axis format to quaternion
Conversion from quaternion to angle-axis format
Yaskawa Pose Format
Conversion from Yaskawa Rx, Ry, Rz to quaternion
Conversion from quaternion to Yaskawa Rx, Ry, Rz
rc_cube
rc_cube
>
Index
Index
Symbols
|
A
|
B
|
C
|
D
|
E
|
F
|
G
|
H
|
I
|
L
|
M
|
N
|
O
|
P
|
Q
|
R
|
S
|
T
|
U
|
V
|
W
|
X
Symbols
3D coordinates
disparity image
3D modeling
3D object detection
|userspace|
examples
A
acquisition mode
blaze
camera
disparity image
AcquisitionAlternateFilter
GenICam
AcquisitionFrameRate
GenICam
AcquisitionMultiPartMode
GenICam
active partition
AdaptiveOut1
auto exposure mode
ambiguity filter
blaze
ambiguity filter threshold
blaze
AprilTag
pose estimation
re-identification
return codes
services
auto
exposure
auto exposure
,
[1]
,
[2]
auto exposure mode
AdaptiveOut1
Normal
Out1High
B
backup
settings
BalanceRatio
GenICam
BalanceRatioSelector
GenICam
BalanceWhiteAuto
GenICam
base-plane
SilhouetteMatch
base-plane calibration
SilhouetteMatch
Baseline
GenICam
baseline
Baumer
IpConfigTool
bin picking
,
[1]
blaze
acquisition mode
ambiguity filter
ambiguity filter threshold
calibration
exposure time
fill-in
gamma correction
installation
maximum distance
minimum confidence
minimum distance
outlier removal
outlier removal threshold
segmentation
spatial filter
temporal filter
temporal filter strength
thermal drift correction
BoxPick
RECTANGLE
TEXTURED_BOX
filling level
grasp
grasp sorting
item models
load carrier
,
[1]
parameters
region of interest
return codes
services
status
template api
template deletion
template download
template upload
texture
views
C
CADMatch
collision check
filling level
grasp points
load carrier
,
[1]
object detection
object template
,
[1]
,
[2]
parameters
pose priors
preferred orientation
region of interest
return codes
services
sorting
status
template api
template deletion
template download
template upload
calibration
blaze
camera
hand-eye calibration
rectification
calibration grid
camera
Web GUI
acquisition mode
calibration
frame rate
gamma
parameters
,
[1]
trigger activation
trigger source
camera calibration
monocalibration
parameters
services
stereo calibration
camera connection
installation
camera model
Camera pipelines
,
[1]
Chunk data
GenICam
collision check
,
[1]
CollisionCheck
return codes
compartment
load carrier
ComponentEnable
GenICam
ComponentIDValue
GenICam
ComponentSelector
GenICam
Confidence
GenICam image stream
confidence
minimum
container
conversions
GenICam image stream
D
data model
REST-API
data-type
REST-API
definition
load carrier
depth error
maximum
depth image
,
[1]
,
[2]
,
[3]
Web GUI
,
[1]
depth measurement
DepthAcquisitionMode
GenICam
DepthAcquisitionTrigger
GenICam
DepthDoubleShot
GenICam
DepthFill
GenICam
DepthMaxDepth
GenICam
DepthMaxDepthErr
GenICam
DepthMinConf
GenICam
DepthMinDepth
GenICam
DepthQuality
GenICam
DepthSeg
GenICam
DepthSmooth
GenICam
DepthStaticScene
GenICam
detection
load carrier
tag
DHCP
,
[1]
dimensions
load carrier
disable parameter lock
GenICam
discovery GUI
Disparity
GenICam image stream
disparity
,
[1]
,
[2]
disparity error
disparity image
,
[1]
3D coordinates
Web GUI
,
[1]
acquisition mode
double_shot
exposure adaptation timeout
parameters
,
[1]
quality
smooth
static_scene
DNS
Docker
DOF
double_shot
GenICam
disparity image
download
images
log files
point cloud
,
[1]
settings
E
eki
Error
GenICam image stream
error
hand-eye calibration
exposure
HDR
auto
,
[1]
,
[2]
manual
,
[1]
exposure adaptation timeout
disparity image
exposure region
exposure time
,
[1]
blaze
maximum
ExposureAuto
GenICam
ExposureRegionHeight
GenICam
ExposureRegionOffsetX
GenICam
ExposureRegionOffsetY
GenICam
ExposureRegionWidth
GenICam
ExposureTime
GenICam
ExposureTimeAutoMax
GenICam
external reference frame
hand-eye calibration
F
fill-in
GenICam
blaze
filling level
BoxPick
ItemPick
LoadCarrier
SilhouetteMatch
firmware
mender
rollback
update
version
focal length
focal length factor
GenICam
FocalLengthFactor
GenICam
fps
see frame rate
frame rate
GenICam
camera
G
Gain
GenICam
gain factor
,
[1]
,
[2]
gamma
camera
gamma correction
blaze
GenICam
AcquisitionAlternateFilter
AcquisitionFrameRate
AcquisitionMultiPartMode
BalanceRatio
BalanceRatioSelector
BalanceWhiteAuto
Baseline
Chunk data
ComponentEnable
ComponentIDValue
ComponentSelector
DepthAcquisitionMode
DepthAcquisitionTrigger
DepthDoubleShot
DepthFill
DepthMaxDepth
DepthMaxDepthErr
DepthMinConf
DepthMinDepth
DepthQuality
DepthSeg
DepthSmooth
DepthStaticScene
ExposureAuto
ExposureRegionHeight
ExposureRegionOffsetX
ExposureRegionOffsetY
ExposureRegionWidth
ExposureTime
ExposureTimeAutoMax
FocalLengthFactor
Gain
Height
HeightMax
LineSelector
LineSource
LineStatus
LineStatusAll
PixelFormat
,
[1]
PtpEnable
RcExposureAutoAverageMax
RcExposureAutoAverageMin
Scan3dBaseline
Scan3dCoordinateOffset
Scan3dCoordinateScale
Scan3dDistanceUnit
Scan3dFocalLength
Scan3dInvalidDataFlag
Scan3dInvalidDataValue
Scan3dOutputMode
Scan3dPrinciplePointU
Scan3dPrinciplePointV
Width
WidthMax
disable parameter lock
double_shot
fill-in
focal length factor
frame rate
maximum depth error
maximum distance
minimum confidence
minimum distance
quality
segmentation
smooth
static_scene
system ready
timestamp
GenICam image stream
Confidence
Disparity
Error
Intensity
IntensityCombined
conversions
GigE
GigE Vision
IP address
see GenICam
grasp computation
,
[1]
gripper CAD element api
gripper CAD element deletion
gripper CAD element download
gripper CAD element upload
GripperDB
return codes
gRPC
H
hand-eye calibration
calibration
error
external reference frame
mounting
parameters
robot frame
slot
Height
GenICam
HeightMax
GenICam
host name
,
[1]
I
image
timestamp
,
[1]
,
[2]
image noise
images
download
inactive partition
,
[1]
inner volume
load carrier
installation
blaze
camera connection
Intensity
GenICam image stream
IntensityCombined
GenICam image stream
IP
IP address
,
[1]
GigE Vision
IpConfigTool
Baumer
ItemPick
filling level
grasp
grasp sorting
load carrier
,
[1]
parameters
region of interest
return codes
services
status
L
LineSelector
GenICam
LineSource
GenICam
LineStatus
GenICam
LineStatusAll
GenICam
Link-Local
,
[1]
load carrier
BoxPick
,
[1]
ItemPick
,
[1]
SilhouetteMatch
,
[1]
compartment
definition
detection
dimensions
inner volume
orientation prior
pose
rim
load carrier detection
load carrier model
LoadCarrier
filling level
parameters
return codes
services
LoadCarrierDB
return codes
services
log files
download
logs
REST-API
M
MAC address
,
[1]
manual exposure
,
[1]
,
[2]
maximum
depth error
exposure time
maximum depth error
GenICam
maximum distance
GenICam
blaze
mDNS
Measure
parameters
return codes
services
mender
firmware
minimum
confidence
minimum confidence
GenICam
blaze
minimum distance
GenICam
blaze
monocalibration
camera calibration
motion blur
mounting
hand-eye calibration
N
network configuration
node
REST-API
,
[1]
Normal
auto exposure mode
NTP
synchronization
O
object detection
,
[1]
OPC UA
orientation prior
load carrier
Out1High
auto exposure mode
outlier removal
blaze
outlier removal threshold
blaze
P
parameter
REST-API
parameters
camera
,
[1]
camera calibration
disparity image
,
[1]
hand-eye calibration
services
PixelFormat
GenICam
,
[1]
point cloud
download
,
[1]
portainer
pose
load carrier
pose estimation
AprilTag
QR code
PTP
synchronization
,
[1]
PtpEnable
GenICam
Q
QR Code
return codes
QR code
pose estimation
re-identification
services
quality
GenICam
disparity image
R
RcExposureAutoAverageMax
GenICam
RcExposureAutoAverageMin
GenICam
re-identification
AprilTag
QR code
reboot
rectification
reset
REST-API
UserSpace
data model
data-type
entry point
logs
node
,
[1]
parameter
services
status value
system
version
restore
settings
return codes
AprilTag
BoxPick
CADMatch
CollisionCheck
GripperDB
ItemPick
LoadCarrier
LoadCarrierDB
Measure
QR Code
RoiDB
SilhouetteMatch
rim
load carrier
robot frame
hand-eye calibration
ROI
RoiDB
return codes
services
rollback
firmware
S
Scan3dBaseline
GenICam
Scan3dCoordinateOffset
GenICam
Scan3dCoordinateScale
GenICam
Scan3dDistanceUnit
GenICam
Scan3dFocalLength
GenICam
Scan3dInvalidDataFlag
GenICam
Scan3dInvalidDataValue
GenICam
Scan3dOutputMode
GenICam
Scan3dPrinciplePointU
GenICam
Scan3dPrinciplePointV
GenICam
SDK
segmentation
GenICam
blaze
Semi-Global Matching
see SGM
serial number
,
[1]
services
AprilTag
QR code
REST-API
camera calibration
parameters
tag detection
set
time
settings
backup
download
restore
upload
SGM
,
[1]
,
[2]
silhouette
SilhouetteMatch
base-plane
base-plane calibration
collision check
detection of objects
filling level
grasp points
load carrier
,
[1]
object template
parameters
preferred orientation
region of interest
,
[1]
return codes
services
sorting
status
template api
template deletion
template download
template upload
slot
hand-eye calibration
smooth
GenICam
disparity image
spatial filter
blaze
static_scene
GenICam
disparity image
status value
REST-API
stereo calibration
camera calibration
stereo camera
stereo matching
Swagger UI
synchronization
NTP
PTP
,
[1]
time
,
[1]
system
REST-API
system ready
GenICam
T
tag detection
families
pose estimation
re-identification
services
TCP
temporal filter
blaze
temporal filter strength
blaze
texture
thermal drift correction
blaze
time
set
synchronization
,
[1]
timestamp
GenICam
image
,
[1]
,
[2]
trigger activation
camera
trigger source
camera
U
update
firmware
upload
settings
URI
URL
UserSpace
Docker network
REST-API
,
[1]
disable
enable
gRPC
installation
reset
restrictions
security
,
[1]
V
version
REST-API
firmware
W
Web GUI
backup
camera
depth image
,
[1]
disparity image
,
[1]
logs
update
white balance
,
[1]
Width
GenICam
WidthMax
GenICam
X
XYZ+quaternion
XYZABC
Options
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Languages
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Versions
v20.10
v20.11
v21.01
v21.04
v21.07
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v22.01
v22.04
v22.07
v22.10
v23.01
v23.04
v23.07
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v24.01
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