Output

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Function

This Step sends the vision result of the current project to the Mech-Viz or communication component for subsequent picking.

Only one “Output” Step can be added in a vision project, which means that each vision project contains exactly one “Output” step.

Usage Scenario

This Step is usually used to send various vision results from the current project to other services.

Input and Output

As a result-output Step in a project, this Step has no output ports and only input ports. It provides four output types: Vision results for picking, Vision results for trajectory, Robot path for picking, and Custom. Different output types correspond to different input ports.

All default ports must be connected to valid input data; otherwise, an error will occur when running the "Output" Step.

The output types and descriptions are as follows.

Output Type	Description
Vision results for picking	Output recognition results related to target object positioning and picking, for subsequent execution of picking tasks by the robot.
Vision results for trajectory	Output trajectory results generated along the surface or edges of a target object, for subsequent execution of trajectory tasks by the robot.
Robot path for picking	Output the robot path planned by the "Path Planning" Step.
Custom	Customize input ports as needed and send specified data.

Output Type

Description

Vision results for picking

Output recognition results related to target object positioning and picking, for subsequent execution of picking tasks by the robot.

Vision results for trajectory

Output trajectory results generated along the surface or edges of a target object, for subsequent execution of trajectory tasks by the robot.

Robot path for picking

Output the robot path planned by the "Path Planning" Step.

Custom

Customize input ports as needed and send specified data.

The table below uses the “Vision results for picking” port type as an example.

Input port	Data type	Description
Pick Points	Pose[]	List of pick points of the target objects.
Pick Point Info	JsonValue	Pick point related information, including target object names, pick point names, and pick point labels.
Point Cloud	PointCloud[]	Point cloud sent to Mech-Viz.
Pick Point Labels	String[]	Labels for pick points set in the target object editor, typically used for Standard Interface communication with the host computer.
Target Object Dimensions	Size3D[]	The dimensions of the target object.
Pick Point Offset	Pose[]	The offset of the pick point on the target object relative to the object center point.
Scene Object Names	String[]	List of scene object names. The dimensions and poses of objects in this list will be updated.
Scene Object Dimensions	Size3D[]	List of scene object dimensions. Scene object dimensions will be updated in list order.
Scene Object Poses	Pose[]	List of scene object poses. Scene object poses will be updated in list order.
Custom Ports	Abstract[]ⁿ	Input port data generated dynamically according to the "Customized Ports Name" parameter.

Input port

Data type

Description

Pick Points

Pose[]

List of pick points of the target objects.

Pick Point Info

JsonValue

Pick point related information, including target object names, pick point names, and pick point labels.

Point Cloud

PointCloud[]

Point cloud sent to Mech-Viz.

Pick Point Labels

String[]

Labels for pick points set in the target object editor, typically used for Standard Interface communication with the host computer.

Target Object Dimensions

Size3D[]

The dimensions of the target object.

Pick Point Offset

Pose[]

The offset of the pick point on the target object relative to the object center point.

Scene Object Names

String[]

List of scene object names. The dimensions and poses of objects in this list will be updated.

Scene Object Dimensions

Size3D[]

List of scene object dimensions. Scene object dimensions will be updated in list order.

Scene Object Poses

Pose[]

List of scene object poses. Scene object poses will be updated in list order.

Custom Ports

Abstract[]ⁿ

Input port data generated dynamically according to the "Customized Ports Name" parameter.

When the target object is saved by using the "No point cloud model required" workflow in the target object editor, the output pick point will be the same as the input pick point.

Parameter Description

Output Type Settings

Parameter	Description
Output Type	Description: Select the output type of the Step based on the required vision result. Value list: Vision results for picking, Vision results for trajectory, Robot path for picking, Custom Vision results for picking: Select this output type when Mech-Vision is only used for vision processing and then the recognition results related to target object positioning and picking are sent to Mech-Viz or external services. Vision results for trajectory: Select this output type when Mech-Vision is only used for vision processing and then target-object trajectory related results are sent to Mech-Viz or external services. Robot path for picking: Select this output type when Mech-Vision is used for path planning and a robot path for picking needs to be sent. Custom: Select this output type when data to be sent to external services via Adapter communication needs to be selected manually. Default value: Vision results for picking Instruction: Select the output type according to actual requirements.

Parameter

Description

Output Type

Description: Select the output type of the Step based on the required vision result.

Value list: Vision results for picking, Vision results for trajectory, Robot path for picking, Custom

Vision results for picking: Select this output type when Mech-Vision is only used for vision processing and then the recognition results related to target object positioning and picking are sent to Mech-Viz or external services.
Vision results for trajectory: Select this output type when Mech-Vision is only used for vision processing and then target-object trajectory related results are sent to Mech-Viz or external services.
Robot path for picking: Select this output type when Mech-Vision is used for path planning and a robot path for picking needs to be sent.
Custom: Select this output type when data to be sent to external services via Adapter communication needs to be selected manually.

Default value: Vision results for picking

Instruction: Select the output type according to actual requirements.

Vision results for picking

This output type is suitable for Master-Control, Standard Interface, or Adapter communication.

Mech-Viz can receive the vision results output from this type of port under different communication modes, with only the communication logic differing:

When the Master-Control communication mode is used, the vision system sends the vision result to the robot.
When the Standard Interface or Adapter communication mode is used, the external device (robot, PLC or host computer) sends commands to the vision system, and the vision system returns the vision result to the external device.

Usage Scenario

Parameter	Description
Select Scenario	Description: Select the usage scenario of the current solution. Value list: 3D model matching (Machine Tending/Positioning/Assembly), Depalletizing and others Instruction: 3D model matching (Machine Tending/Positioning/Assembly): Suitable for scenarios where target objects are created in the target object editor and the target object poses are obtained by matching with the point cloud model. For example, machine tending, positioning, and assembly applications. See Target Object Recognition in Machine Tending Scenarios. Depalletizing and others: Suitable for scenarios where target object poses can be obtained directly by deep learning or other methods without matching with the point cloud model, such as random depalletizing and picking of versatile objects. See Target Object Recognition in Depalletizing Scenarios and Target Object Recognition in Other Scenarios. Default value: 3D model matching (Machine Tending/Positioning/Assembly)
Method to Convert Data	Description: By selecting the result conversion method, this Step converts the recognition result to the data type needed for picking. Value list: Generate picking strategy based on object center point, Generate picking strategy based on pick points Generate picking strategy based on object center point: Suitable for symmetrical target objects, requiring orientation adjustment of the object center point. Once this option is selected, you need to input the object center point for the “Output” Step, which will automatically convert the object center point to the corresponding pick point. Generate picking strategy based on pick points: Suitable for target objects with multiple pick points that need to be filtered. Once this option is selected, you need to input the pick point and pick point information to the “Output” Step. Default value: Generate picking strategy based on object center point
Target Object without Point Cloud Model	Description: Select a target object that does not require a point cloud model, and this Step can output pick point information for the target object. Please set this parameter when the usage scenario is “Depalletizing and Others”.

Parameter

Description

Select Scenario

Description: Select the usage scenario of the current solution.

Value list: 3D model matching (Machine Tending/Positioning/Assembly), Depalletizing and others

Instruction:

3D model matching (Machine Tending/Positioning/Assembly): Suitable for scenarios where target objects are created in the target object editor and the target object poses are obtained by matching with the point cloud model. For example, machine tending, positioning, and assembly applications. See Target Object Recognition in Machine Tending Scenarios.
Depalletizing and others: Suitable for scenarios where target object poses can be obtained directly by deep learning or other methods without matching with the point cloud model, such as random depalletizing and picking of versatile objects. See Target Object Recognition in Depalletizing Scenarios and Target Object Recognition in Other Scenarios.

Default value: 3D model matching (Machine Tending/Positioning/Assembly)

Method to Convert Data

Description: By selecting the result conversion method, this Step converts the recognition result to the data type needed for picking.

Value list: Generate picking strategy based on object center point, Generate picking strategy based on pick points

Generate picking strategy based on object center point: Suitable for symmetrical target objects, requiring orientation adjustment of the object center point. Once this option is selected, you need to input the object center point for the “Output” Step, which will automatically convert the object center point to the corresponding pick point.
Generate picking strategy based on pick points: Suitable for target objects with multiple pick points that need to be filtered. Once this option is selected, you need to input the pick point and pick point information to the “Output” Step.

Default value: Generate picking strategy based on object center point

Target Object without Point Cloud Model

Description: Select a target object that does not require a point cloud model, and this Step can output pick point information for the target object. Please set this parameter when the usage scenario is “Depalletizing and Others”.

Collision Detection Settings

Parameter	Description
Output Point Clouds	Description: This parameter is used to output the point cloud to the Mech-Viz for collision detection. Default setting: Selected
Point Cloud in Camera Frame	Description: Please select this parameter when the point cloud is in the camera reference frame. Once this option is selected, the point cloud will be converted to the robot reference frame and sent to Mech-Viz. If this option is not selected, the point cloud will be sent to Mech-Viz directly. Default setting: Selected
Remove Point Cloud of Irregular Shape	Description: Once this option is enabled, any point cloud overlapping with the collision model of the target object with a non-standard 3D shape will be removed by Mech-Vision to prevent interference in collision detection. Please set this parameter when the usage scenario is “Matching (Machine Tending/Positioning/Assembly).” Default setting: Unselected Instruction: If you need to detect collisions on target objects throughout the entire process from picking to placing, please select this parameter and make sure that the collision model is configured for the target object. Please note that this parameter is invalid for target objects generated with common 3D shapes in the target object editor.
Search Radius of Target Object Point Cloud	Description: Take any point in the point cloud of the target object as the center, and the point cloud within the search radius will be removed. Please set this parameter when Remove Point Cloud of Irregular Shape is selected. Default value: 3 mm

Parameter

Description

Output Point Clouds

Description: This parameter is used to output the point cloud to the Mech-Viz for collision detection.
Default setting: Selected

Point Cloud in Camera Frame

Description: Please select this parameter when the point cloud is in the camera reference frame. Once this option is selected, the point cloud will be converted to the robot reference frame and sent to Mech-Viz. If this option is not selected, the point cloud will be sent to Mech-Viz directly.
Default setting: Selected

Remove Point Cloud of Irregular Shape

Description: Once this option is enabled, any point cloud overlapping with the collision model of the target object with a non-standard 3D shape will be removed by Mech-Vision to prevent interference in collision detection. Please set this parameter when the usage scenario is “Matching (Machine Tending/Positioning/Assembly).”
Default setting: Unselected
Instruction: If you need to detect collisions on target objects throughout the entire process from picking to placing, please select this parameter and make sure that the collision model is configured for the target object. Please note that this parameter is invalid for target objects generated with common 3D shapes in the target object editor.

Search Radius of Target Object Point Cloud

Description: Take any point in the point cloud of the target object as the center, and the point cloud within the search radius will be removed. Please set this parameter when Remove Point Cloud of Irregular Shape is selected.
Default value: 3 mm

Other Ports

Parameter	Description
Pick Point Labels	Description: When selected, a "Pick Point Labels" input port is added. Default setting: Unselected
Target Object Dimensions	Description: When selected, a "Target Object Dimensions" input port is added. Default setting: Unselected
Pick Point Offset	Description: When selected, a "Pick Point Offset" input port is added. Default setting: Unselected
Update Scene Object	Description: This parameter is usually used in scenarios where the bin pose needs to be updated dynamically. Once selected, the "Scene Object Names," "Scene Object Dimensions," and "Scene Object Poses" input ports will be added to the Step. Default setting: Unselected
Customized Ports Name	Description: This parameter is used to add custom input ports. Instruction: Separate multiple ports with a semicolon (;).

Parameter

Description

Pick Point Labels

Description: When selected, a "Pick Point Labels" input port is added.
Default setting: Unselected

Target Object Dimensions

Description: When selected, a "Target Object Dimensions" input port is added.
Default setting: Unselected

Pick Point Offset

Description: When selected, a "Pick Point Offset" input port is added.
Default setting: Unselected

Update Scene Object

Description: This parameter is usually used in scenarios where the bin pose needs to be updated dynamically. Once selected, the "Scene Object Names," "Scene Object Dimensions," and "Scene Object Poses" input ports will be added to the Step.
Default setting: Unselected

Customized Ports Name

Description: This parameter is used to add custom input ports.
Instruction: Separate multiple ports with a semicolon (;).

Accuracy Drift Correction

Parameter	Description
Auto-Correct Accuracy Drift in Vision System	Description: Once this parameter is selected, the accuracy drift of the vision system will be corrected automatically. This parameter will only be displayed after the Auto-correct accuracy drift in EIH/ETH vision system feature is deployed in the Error Analysis Tool. Default setting: Selected Instruction: Once the Auto-correct accuracy drift in EIH/ETH vision system feature is deployed, you can select this parameter to enable the auto-correction feature.

Parameter

Description

Auto-Correct Accuracy Drift in Vision System

Description: Once this parameter is selected, the accuracy drift of the vision system will be corrected automatically. This parameter will only be displayed after the Auto-correct accuracy drift in EIH/ETH vision system feature is deployed in the Error Analysis Tool.
Default setting: Selected
Instruction: Once the Auto-correct accuracy drift in EIH/ETH vision system feature is deployed, you can select this parameter to enable the auto-correction feature.

Vision results for trajectory

This output type is suitable for Master-Control, Standard Interface, or Adapter communication.

Mech-Viz can receive the vision results output from this type of port under different communication modes, with only the communication logic differing:

When the Master-Control communication mode is used, the vision system sends the vision result to the robot.
When the Standard Interface or Adapter communication mode is used, the external device (robot, PLC or host computer) sends commands to the vision system, and the vision system returns the vision result to the external device.

Usage Scenario

Parameter	Description
Select Scenario	Description: Select the usage scenario of the current solution. Value list: Matching, Others Instruction: Matching: Suitable for scenarios where target objects are created in the target object editor, and target object trajectories are obtained by matching with point cloud model. Others: Suitable for scenarios where target object trajectories are generated directly from the point cloud of the target object without matching with the point cloud model. Default value: Matching

Parameter

Description

Select Scenario

Description: Select the usage scenario of the current solution.

Value list: Matching, Others

Instruction:

Matching: Suitable for scenarios where target objects are created in the target object editor, and target object trajectories are obtained by matching with point cloud model.
Others: Suitable for scenarios where target object trajectories are generated directly from the point cloud of the target object without matching with the point cloud model.

Default value: Matching

Collision Detection Settings

Parameter	Description
Output Point Clouds	Description: This parameter is used to output the point cloud to the Mech-Viz for collision detection. Default setting: Selected
Point Cloud in Camera Frame	Description: Please select this parameter when the point cloud is in the camera reference frame. Once this option is selected, the point cloud will be converted to the robot reference frame and sent to Mech-Viz. If this option is not selected, the point cloud will be sent to Mech-Viz directly. Default setting: Selected

Parameter

Description

Output Point Clouds

Description: This parameter is used to output the point cloud to the Mech-Viz for collision detection.
Default setting: Selected

Point Cloud in Camera Frame

Other Ports

Parameter	Description
Update Scene Object	Description: This parameter is usually used in scenarios where the bin pose needs to be updated dynamically. Once selected, the "Scene Object Names," "Scene Object Dimensions," and "Scene Object Poses" input ports will be added to the Step. Default setting: Unselected
Customized Ports Name	Description: This parameter is used to add custom input ports. Instruction: Separate multiple ports with a semicolon (;).

Parameter

Description

Update Scene Object

Customized Ports Name

Description: This parameter is used to add custom input ports.
Instruction: Separate multiple ports with a semicolon (;).

Accuracy Drift Correction

Parameter	Description
Auto-Correct Accuracy Drift in Vision System	Description: Once this parameter is selected, the accuracy drift of the vision system will be corrected automatically. This parameter will only be displayed after the Auto-correct accuracy drift in EIH/ETH vision system feature is deployed in the Error Analysis Tool. Default setting: Selected Instruction: Once the Auto-correct accuracy drift in EIH/ETH vision system feature is deployed, you can select this parameter to enable the auto-correction feature.

Parameter

Description

Auto-Correct Accuracy Drift in Vision System

Robot path for picking

This output type is suitable for Standard Interface or Adapter communication mode. The external device (robot, PLC or host computer) sends commands to the vision system, and the vision system returns the planned waypoints to the external device.

Once this output type is selected, only the “Path Planning” Step can be used to receive the vision result corresponding to this port type. Receiving vision results via Mech-Viz is not supported.

Custom

This output type is suitable for Adapter communication. The external device (robot, PLC, or host computer) sends commands to the vision system, and the vision system returns configured output data to the external device.

After selecting this output type, data can be communicated using custom communication keys. Data to be output can be configured through the "Customized Ports Name" parameter.

Other Ports

Parameter	Description
Customized Ports Name	Description: This parameter is used to customize the input port. Instruction: Separate multiple ports with a semicolon (;).

Parameter

Description

Customized Ports Name

Description: This parameter is used to customize the input port.
Instruction: Separate multiple ports with a semicolon (;).

Custom data items are ordered alphabetically by custom port name (A-Z). For example, if custom data port names are:

bData
cData
aData

The transmitted data will be sorted alphabetically by custom name as follows:

…aData, bData, cData…

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