rc_reason_stack
25.10
Introduction
Overview
Safety
General warnings
Intended use
Installation
Offline installation guide
Prerequisites
Install Ubuntu 24.04
Install NVIDIA driver
Install Docker
Install NVIDIA Container Toolkit
Install WIBU CodeMeter runtime
Create a
sensor0
network
Ensure network settings for GigE Vision
Load container images
Start the Docker stack
Access the Web GUI
Troubleshooting
Software license
Connection of cameras
Measurement principles
Stereo vision
General information on 3D data
Computing disparity images
Computing depth images and point clouds
Confidence and error images
Camera pipelines
Configuration of camera pipelines
Configuration of connected cameras
Software modules
Camera module
Rectification
Viewing and downloading images
Pipeline types
rc_visard
and
rc_viscore
Parameters
Status values
Services
Pipeline type
stereo_ace
Parameters
Status values
Services
Pipeline type
orbbec
Parameters
Status values
Services
Pipeline type
zivid
User-defined presets
Parameters
Status values
Services
Presets API
3D modules
Viewing and downloading images and point clouds
Stereo matching module
Parameters
Status values
Services
Zivid module
User-defined presets
Parameters
Status values
Services of the rc_zivid module
Presets API
Orbbec module
Parameters
Status values
Services of the rc_orbbec module
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
Introduction
Computation of grasps
Setting the preferred orientation of the TCP
Interaction with other modules
Parameters
Status values
Services
Return codes
BoxPick
Introduction
Detection of items
Computation of grasps
Setting the preferred orientation of the TCP
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
Exploring the Web GUI
Web GUI access control
Downloading camera images
Downloading depth images and point clouds
REST-API interface
General API structure
Available resources and requests
Nodes, parameters, and services
Pipelines
UserSpace
System and logs
Data type definitions
Swagger UI
Generic Robot Interface
Job definition
Job Types
Primary and related objects
Execution modes
Hand-Eye Calibration
GRI binary protocol specification
Message header (8 bytes)
Pose formats
Actions
Job status
Body definitions
Error codes and semantics
Integration with a robot
Job and HEC_config API
OPC UA interface
KUKA Ethernet KRL Interface
Ethernet connection configuration
Generic XML structure
Return code
Services
Request XML structure
Response XML structure
Parameters
EKI XML configuration files
Example applications
Troubleshooting
gRPC image stream interface
gRPC service definition
Image stream conversions
Example client
Maintenance
Creating and restoring backups of settings
Updating the software license
Downloading log files
Troubleshooting
Camera-image issues
Depth/Disparity, error, and confidence image 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_reason_stack
rc_reason_stack
>
Roboception
rc_reason_stack
User Manual
Roboception
rc_reason_stack
User Manual
ΒΆ
Introduction
Overview
Safety
General warnings
Intended use
Installation
Offline installation guide
Software license
Connection of cameras
Measurement principles
Stereo vision
General information on 3D data
Camera pipelines
Configuration of camera pipelines
Configuration of connected cameras
Software modules
Camera module
3D modules
Detection & Measure modules
Configuration modules
Database modules
Interfaces
Web GUI
REST-API interface
Generic Robot Interface
OPC UA interface
KUKA Ethernet KRL Interface
gRPC image stream interface
Maintenance
Creating and restoring backups of settings
Updating the software license
Downloading log files
Troubleshooting
Camera-image issues
Depth/Disparity, error, and confidence image issues
Contact
Support
Downloads
Address
Appendix
Pose formats
Options
en
Languages
en
de
Downloads
PDF (en)
PDF (de)