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
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