Step Reference Guide

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This chapter provides the reference guide for using Steps and Procedures in Mech-Vision.

Step Reference

2D Matching
Convert Poses 2D to 3D According to Orthographic Projection
2D Shape Matching
3D Coarse Matching (Multiple Models)
3D Coarse Matching V2
3D Coarse Matching
3D Fine Matching Lite
3D Fine Matching (Multiple Models)
3D Fine Matching
3D Workpiece Recognition
Accept All
Add Labels to Poses
Adjust Inaccurate Poses Caused by Camera Distortion
Adjust Poses by Offsets
Adjust Poses by Tilt
Adjust Targets to Get Correct Path
Move Poses to Point Cloud Surfaces
Change Circular Motion Direction of Path
Allocator
Apply Masks to Image
Apply Masks to Point Cloud
Extract 2D Path Function
Background Subtraction
Image Thresholding
Blob Analysis
Boolean List Logical Operation
Bridge
Calc Absolute Values
Calc Angles between Vector3Ds
Calc Areas of Masks
Calc Box Dimensions
Calc Vector3D Cross Products
Calc Diagonal Lengths
Calc Diameter and Thickness
Calc Disparity Image
Calc Distance between Two Poses along Specified Direction
Calc Distances between Poses
Calc Vector3D Dot Products
Calc Edge Point Cloud Normals
Calc Flatness Error
Calc Histogram
Calc Included Angles between Specified Axes of Poses
Calc Intersection between Two Line Segments
Calc Intersections between Line Segment and Circle
Calc Point Cloud Spans along Axes
Calc Lengths of Vector3Ds
Calc Mask Distances
Calc Mask Spans on Given Lines
Calc Mean Gray Value
Calc Midpoint of Specified Side of Rectangle
Calc Minimum Bounding Rectangles Of Masks
Calc Normalized Vector3Ds
Calc Normals and Estimate Edges of Point Cloud
Calc Normals of Point Cloud and Filter It
Calc Parallelism Error
Calc Pixel Sizes at Specified Heights
Calc Plane Width
Calc Point Cloud Curvatures
Calc Poses and Dimensions from Planar Point Clouds
Calc Poses and Dimensions of Rectangles
Calc Profile by Sampling
Calc Profile
Calc Projection Length along Reference Direction
Calc 2D Poses of Rectangles
Calc Results by Python
Calc Specified Property of Point Clouds
Calc Calibration Matrix of Structured Light Sensor
Calc Center Points of Non-Zero Regions
Calc Cylinder Poses
Calc Calibration Board Poses
Caliper Tool
Camera 2D
Capture Images from Camera
Classify Point Clouds by Dimensions
Correct Point Cloud Distortion
Filter Point Cloud by Model and Poses
Cloud Num Limit
Cloud Processing (GPU)
Scale Point Cloud
Smooth Point Cloud and Estimate Normals
Extract Point Cloud in 3D Box
From CloudXYZ To CloudNormal
Cluster Point Clouds and Output Eligible Point Clouds
Draw Coherent Lines
Collect Poses in 3D ROI
Compare Two Depth Maps
Compare Values
Compose New Poses by Combining Parts of Input Poses
Compose Poses from Quaternions and Translation Vectors
Compose Quaternions from Axes and Angles
Compose Quaternions from Two Axes (Right Hand Rule)
Compose Vector3Ds from Numbers
Control Light Source
Convert 2D Poses to 3D Poses
Convert Data Type
Convert Lengths Pixel-Wise to Physical
Convert 2D Points to 3D Points
Convert Circles To 2D Poses
Convert Color Space
Copy Images
Count Boxes
Count Elements in Specified Dimension in Data List
Count 3D Points
Count Color Info
Create Object Model
Crop Image
Decompose Object Dimensions
Decompose Poses to Quaternions and Translations
Decompose Quaternions to X- Y- Z- Axes
Decompose Vector3D to Numbers
Deep Learning Inference (Mech-DLK 2.1.0/2.0.0)
Deep Learning Model Package Inference
Deep Learning Result Parser
Depth Clustering along Scan Lines
Depth Encoding
Detect and Measure Circle
Detect and Measure Line
Detect and Measure Oblong Hole
Detect Bin (Four Sides)
Detect Bin (Max Inscribed Rect)
Detect Bin (Max Inscribed Rect) V2
Detect Bin (Two Sides)
Detect Circle Centers
Detect Corners
Detect Edges
Detect Fiducial Markers
Detect Inscribed Circles
Detect Line Segments
Detect N Largest Rectangles in Mask
Detect Occluded Objects
Detect Shape Feature of Region
Detect Vertex
Determine Pixel Sizes
Dichotomize Values by Threshold
Divide Point Cloud into Smaller Parts Evenly
Down-Sample Point Cloud
Draw Min Circumscribed Rectangles of Masks
Draw Polygon Vertices
Easy Frame Transformation
Easy Create Index List
Easy Create Number List
Easy Create Poses
Easy Create Quaternions
Easy Create String List
Easy Create Vector3Ds
Easy Point Poses to Reference Position
Estimate Point Cloud Edges by 2D Method
Estimate Point Cloud Edges by 3D Method
Evaluate Image Clarity
Evaluate Results by HDevEngine
Evaluate Results by JavaScript Engine
Evaluate Depth Map Fluctuation
Evaluate 2D Poses
External Interface
Extract 3D Points in Cuboid
Extract 3D Points in Cylinder
Extract 3D Points in 3D ROI
Extract Empty Regions in Depth Map within 3D ROI
Fill Holes
Filter by Labels
Filter Masks by Poses
Remove Poses outside Bin
Filter
Find Corners
Find Correspondence between Poses and Offsets
Find Hole 2D
Find 2D Contour at Specified Inner-Outer Level
Fit Circle
Fit Line
Flip Poses’ Axes
From Actual Dimensions to Dimensions in Pixels
From Cloud (XYZ-Normal) to Cloud (XYZ-RGB)
From Cloud (XYZ-RGB) to Color Image
From Depth Map to Point Cloud
Convert Disparity Image to Depth Map
From NumberList to Size3DList
From Numbers to Variants
From PoseList to Matrix4D
From PoseList to PoseLists
Convert Quaternions to Euler Angles in Poses
From Shape2DList to Pose2DList
From Variant to Variants
From Variants to Labels
From Variants to Numbers
From Variants to Variant
From 3D Poses to 2D Poses
Generate Cloud Wall
Generate Cylinder Point Cloud Model
Generate Discrete Poses Revolving around Reference Pose
Generate Pick Points
Generate Point Cloud Model
Generate Ring Point Cloud
Generate Pose/Offset
Generate Rect Path
Generate Rectangle Candidates
Generate Rectangular Edge Templates of Specified Sizes
Generate Spiral Path
Generate Test Image
Generate Test Point Cloud
Generate Path from Contour
Generate Path Given Depth Map
Generate Zigzag Path
Get First Image from Image List
Get Flange Pose List
Get Highest Layer Regions in Depth Map
Get Highest Layer Clouds
Get Highest-Layer Points
Get Highest-Layer Poses
Get Highest Score Result
Filter Ring Point Cloud List
Group Data
Group 2D Poses
Histogram Matcher
Image Brightness and Color Balancer
Image Filtering
Adjust Image
Insert End Target and Send Motion Params
Invalidate Depth Pixels outside 3D ROI
Invert Poses
Get Inverses of Quaternions
Compare Z Values of Poses with Threshold
Join Labels
Keep Poses Distributed in Regular Polygon
Label Mapping
Laser Profiler
Load 2D Templates
Load Targets in Path and Apply Affine Transform
Load 2D Path
Locate Calibration Spheres
Point Poses to Reference Positions
Make Template
Map Depth to RGB
Map to Multiple Pick Points
Extract Image Regions by Mask
Mask Clustering
Filter Masks
Mask Gridding
Mask Logical Operation
Measure Angles Segments to Segments
Measure Circles
Measure Distances Circles to Circles
Measure Distances Circles to Segments
Measure Distances Points to Circles
Measure Distances Points to Points
Measure Distances Points to Segments
Measure Distances Segments to Segments
Measure Gap Width
Measure Height Difference Point to Point
Measure Height Differences Points to Baseline
Measure Height Differences Points to Plane
Measure Longest Line Segment
Measure Plane Height Differences Along Direction Parallel To Axes
Measure Result
Merge Point Cloud Lists
Merge Data
Merge Depth Maps
Merge Label List
Merge LineSegment Lists
Merge Point Clouds with Similar Heights
Merge Point Clouds
Merge Pose Lists
Merge Mask Images
Morphological Transformations
Move Point Cloud along Specified Direction
Move Poses to Point Cloud Surfaces along Z-Axis
Normal Estimation
Notify
Number Scaling
Numeric Operation
OCR
Offset Poses in Cylinder
Orthographic Projection Inverse
Orthographic Projection
Pack
Pallet Information Recognition
Path Planning
Periodic Trigger
Perspective Transformation
Picking Relaxation
Plan Object Poses at Placement
Point Axes of Poses to Given Direction
Point Cloud Clustering
Point Cloud Filter
Point Cloud Shape Detector
Point Filter
Adjust Poses
Pose Filter
Rotate Poses by Quaternion Vectors in Object Frames
Transform Poses by Matrix in Object Frames
Check Pose Repeatability by Statistics
Predict 6D Object Poses (Single Object Type)
Predict Pick Points (Any Objects)
Predict Pick Points V2
Procedure Out
Procedure
Process 2D Shapes
Project Points onto Plane
Project 3D Point Cloud to 2D Image
Read Bar Code
Read Images V2
Read Images
Read Object Dimensions
Read Point Cloud V2
Read Point Cloud
Read Poses from File
Read QR Code
Read STL
Read 3D ROI Center
Record Criterion Pose and Calc Transformation
Recover Scaled Images in 2D ROI
Rectify Image by Frame Transformation
Rectify Ring Object Poses
Remove All Overlapping Poses
Remove Cloud Points from Point Cloud
Remove Noise in Masks
Remove Overlapped Objects V2
Remove Overlapped Objects
Remove Overlapped Polygons
Remove Cloud Points from Point Cloud
Remove Polygons outside Mask
Reorder According to Given Indices
Reorder by Index List
Repeat Data and Concatenate Copies
Replace Elements in List
Reverse List
Rotate Axis to Minimize Included Angle to Reference Direction
Rotate Images by Specified Poses
Rotate Poses around Axis by Angle
Rotate Poses around Given Axis
Rotate Poses Locally
Rotate Poses to Directions Freely
Rotate Poses’ Axes to Specified Directions under Symmetry Constraints
Rotate Poses’ Axes to Specified Directions
Save Images
Save Regions around Poses as 3D ROIs
Save Result to XML File
Save Results to File
Save Path Targets
Save Step Parameters to File
Scale Image in 2D ROI
Segment Depth Map
Send Point Cloud to External Service
Set Pose Quaternions
Set Pose Translation
Show Images
Show Point Clouds and Poses
Smooth Depth Map
Smooth Path
Sort List and Output Index List
Sort and Stratify
Sort Point Clouds
Sort Poses by Input Scores
Sort Poses by XYZ Values
Sort 2D Poses
Sort 3D Poses
Straighten Ring Shaped Image Region
Stratify Values by Thresholds
Subtract Real Numbers
Suppress Neighboring Poses with Low Scores (NMS)
Rotational Symmetry of the Workobject
Template Matching
Test
Path Target Matching
Transform Image
Align Plane Point Clouds
Transform Point Clouds for Truss
Transform Point Clouds
Transform Poses for Truss
Transform Poses
Translate Poses along Customized Direction by Distances
Translate Poses along Given Direction
Translate Poses by Direction and Distance
Translate Poses by Vector3D
Translate Poses Locally by Distances
Trigger Control by Flag
Trigger
Trim Input List
Trim Pose List
Unpack and Merge Data
Unpack Data
Validate 2D Poses by Mask
Validate and Calc Parameter Compensation
Validate Box Dimensions
Validate Box Object Masks
Validate Existence of Poses in 3D ROI
Validate Labels and Output Flags
Validate Masks Containing 2D Poses
Validate Point Clouds
Validate Poses by Included Angles to Reference Direction
Validate Underlying Poses
Extract Regions of Large Normal Deviations
Vector3D Arithmetic Operations
Verify Pick Points
Visualize Depth in Range
Visualize Information on Image

Common Procedures

Mech-Vision software stores the commonly used Procedures in the Custom directory in the Step library. Please check the contents below to learn about the detailed introduction to Procedures.

Large Workpiece Measurement
Sort
3D Matching
Apply Masks to Color Image
Calc Color Image for Highest Layer
Filter Out Point Clouds that Exceed the Size Limit
Filter Out Poses Out Of ROI
Point Cloud Preprocessing
Save Images and Step Parameters

Step Reference Guide

Step Reference

Common Procedures

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