Mech-Vision 1.6.0 Release Notes¶
New Features¶
Data Storage Restructured¶
The Data Storage feature is restructured for better performance in troubleshooting and regression testing on-site. The detailed changes are as follows:
Data Storage features no longer require the Procedure Save Images and Step Parameters to be used.
Abnormal data are now stored in the new error_data folder in the data folder.
Data from multiple cameras can be saved altogether.
The naming conventions of the file and folder names in the data folder are changed.
Added Example Projects¶
Example Projects of typical applications in various industries are introduced in Mech-Vision V1.6.0 to provide a general picture of what Mech-Vision can do and how Steps work. These projects are highly user-friendly for beginners as they can be run with one click.
New 2D Matching Steps¶
The following 2D Matching Steps are added:
These Steps can be used to obtain the positions of target objects in an image and align the target objects/ROIs in different images to the same position/orientation.
New Step - Deep Learning Model Package Inference¶
Mech-Vision V1.6.0 provides built-in deep learning inference models. With the Deep Learning Model Package Inference Step, deep learning inference can be enabled without installing Mech-Mind Software Environment.
New Step - 3D Coarse Matching V2¶
A newer version of the 3D coarse matching Step, 3D Coarse Matching V2, is added. This Step is used to coarsely match the point cloud model with the original point cloud and output the coarsely calculated candidate poses of the target objects in the scene.
New Step - Calc Results by Python¶
Mech-Vision V1.6.0 now has the Python 3.6.8 environment integrated, which allows you to run a Python script directly in Mech-Vision with the Calc Results by Python Step.
Note
If extra Python libraries are required when you use this Step, these libraries must be installed to the python folder under the installation directory of Mech-Vision.
Tip
A Python library can be installed as follows:
Open the Command Prompt or PowerShell program.
Switch to the “python” directory of Mech-Vision, such as C:\Mech-Mind\Mech-Vision-1.6.x\python.
Execute the following command: ./python -m pip install library_name.
Debug Output Improved¶
The function of the Debug Output panel is improved to better facilitate you in building and analyzing your Mech-Vision project.
Improvements include:
When Debug Output mode is disabled, output results (shown by running a Step with Visualize Output or by clicking on the connection between two Steps) are also displayed in the Debug Output panel.
Display output in a separate window: click on the icon in the upper right of the Debug Output panel to open a separate maximized window.
When Debug Output mode is enabled, the separate window also allows for the following usage:
With a separate window opened, the result of the same Step is updated every time you run the Step/project and displayed in the same window.
Viewpoint adjustment of a 3D result in a separate window is memorized, and when you run the Step/project again, the result of the same Step is displayed with the same viewpoint, so that you can compare results from multiple executions easily.
You can open the results from multiple Steps in separate windows simultaneously for easy comparison.
Matching Model and Pick Point Editor Improved¶
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Adaptation for applications with target objects that are heavy and/or not easily movable: now you can directly generate a point cloud of the entire scene and then edit the point cloud, separate depth map acquisition of the background and target object not mandatory.
When acquiring depth maps of the background and target object separately, background depth map is acquired first to better fit actual usage.
New features for point cloud editing:
Remove selected points button added
Invert selection: select the points you want to keep first, and then invert the selection to quickly delete the unwanted points.
Generate edge point cloud: you can now generate a point cloud model of the object edges in the editor.
Improvements¶
User Interface Improved¶
The UI of Mech-Vision V1.6.0 is improved in the following aspects for better user experience:
Layout and color scheme redesigned
Default Layout option added to the View menu: automatically adjust the interface layout with a single click
Appearance and user interaction of the Step Parameters tab improved
Save, Undo, and Redo buttons added to the project toolbar at the top of the graphical programming workspace
Appearance of the search box in Step Library improved
Interface of Camera Viewer improved
Layout and text in Camera Calibration improved
Edit Procedure Parameter Feature Improved¶
In Mech-Vision V1.6.0, the Edit Procedure Parameter feature is improved in the following aspects:
Added Parameter Info Customization feature that enables users to customize the display name, value tooltip, and key tooltip of Procedures
Added Custon Mapped Parameter for customizing the mapping relationship in a Procedure with JavaScript code
Added Custom Recipe Parameter for setting the selected parameters as a recipe parameter of a Prcedure
Model Selection Parameter Added to the 3D Coarse Matching and 3D Fine Matching Steps¶
In Mech-Vision V1.6.0, the 3D Coarse Matching and 3D Fine Matching Steps now have a Model Settings parameter category for easy model selection from the model gallery.
The Check Pose Repeatability by Statistics Step Improved¶
The Check Pose Repeatability by Statistics Step is improved in the following aspects for better usability:
Name updated: from Poses Repeatability Statistics to Check Pose Repeatability by Statistics
Threshold for Acceptable Position Coordinate Deviations and Threshold for Acceptable Euler Angle Deviations parameters added for filtering out errors
Output orientation data now in Euler angles
Number of decimal places of the output data customizable
Layout of output XLSX table improved
Inputting multiple pose data simultaneously and saving results of different poses to different table sheets now supported
Restart option now automatically unchecked after the Step is run once with the option checked
Step Quick Info and Parameter tooltips updated
Compatibility for V4 and UHP Cameras¶
Mech-Vision V1.6.0 now supports image capturing and hand-eye calibration with V4 and UHP cameras.
Performance of the Instance Segmentation Step Improved¶
In Mech-Vision V1.6.0, instance segmentation conducted with the new Deep Learning Model Package Inference Step has better performance compared to the old Instance Segmentation Step.
Updated Step Names¶
The names of the following Steps are updated for easier understanding of the functions. When you open a project in Mech-Vision V1.6.0, the name of the Steps in your project are automatically updated.
Before V1.6.0 |
V1.6.0 |
Map to Multi Pick Points |
Map to Multiple Pick Points |
Calc Included Angle Between Specified Axis of Poses |
Calc Included Angles between Specified Axes of Poses |
Validate Box Masks |
Validate Box Object Masks |
Segment Depth Image |
Segment Depth Map |
Get Highest Areas in Depth Image |
Get Highest Layer Regions in Depth Map |
Pose Adjustment Collection |
Adjust Poses |
Rotate Poses to Goal Direction |
Rotate Poses’ Axes to Specified Directions |
Classification by Point Clouds’ Sizes |
Classify Point Clouds by Dimensions |
Sort and Output Index List |
Sort List and Output Index List |
Grasp Pose Estimation |
Estimate Pick Points |
Set Pose Quaternion |
Set Pose Quaternions |
Inverse Poses |
Invert Poses |
Validate Poses by Included Angle to Reference Direction |
Validate Poses by Included Angles to Reference Direction |
Binarize Image |
Image Thresholding |
CloudXYZ To CloudNormal |
From CloudXYZ to CloudNormal |
Cloud Num Limit |
Trim Point Cloud List |
From Poses to Euler Angles |
Convert Quaternions to Euler Angles in Poses |
Merge Cloud Vector |
Merge Point Cloud Lists |
Find 2D Contour at Specified Hierarchical Level |
Find 2D Contour at Specified Inner-Outer Level |
Calc Length Along Axis |
Calc Point Cloud Spans along Axes |
Poses Repeatability Statistics |
Check Pose Repeatability by Statistics |
Calc Minimum Bounding Rectangles of Masks |
Calc Minimum Circumscribed Rectangles of Masks |
Calc Distance to Reference Pose |
Calc Distances between Poses |
Smooth Trajectory |
Smooth Path |
Make Poses Point to Reference Place |
Point Poses to Reference Positions |
From Disparity Image to Depth Image |
Convert Disparity Image to Depth Map |
Compose Pose From Quaternion and Translation |
Compose Poses from Quaternions and Translation Vectors |
Merge LineSegment Vector |
Merge LineSegment Lists |
Merge Depth Images |
Merge Depth Maps |
Calc Angle Between Vector3D |
Calc Angles between Vector3Ds |
Mask Cluster |
Mask Clustering |
Cloud Smooth And Normal Estimation |
Smooth Point Cloud and Estimate Normals |
Compose Vector3D From Numbers |
Compose Vector3Ds from Numbers |
Compare Two Depth Image |
Compare Two Depth Maps |
Generate Point Cloud of Ring |
Generate Ring Point Cloud |
Adjust Poses to Obtain Acurate Trajectory |
Adjust Targets to Get Correct Path |
Load Poses in Trajectory and Apply Affine Transform |
Load Targets in Path and Apply Affine Transform |
Calc Poses from Heat Map of Graspability |
Calc Poses from Heat Map of Pickability |
Reverse |
Reverse List |
Cloud Filter By Model And Pose |
Filter Point Cloud by Model and Poses |
Merge Point Clouds with Similar Height |
Merge Point Clouds with Similar Heights |
Calc Mask’s Span on Given Line |
Calc Mask Spans on Given Lines |
Save Local Areas Around Poses as 3D ROI |
Save Regions around Poses as 3D ROIs |
Adjust Trajectory Circular Motion |
Change Circular Motion Direction of Path |
Detect Bin (Inscribed Rect Sides) |
Detect Bin (Max Inscribed Rect) |
Detect Bin (Largest Inscribed Rect) |
Detect Bin (Max Inscribed Rect) V2 |
Filter Poses Outside Bin |
Remove Poses outside Bin |
Pixel-wise Graspability Evaluation |
Pixel-Wise Pickability Evaluation |
Mask Filter |
Filter Masks |
2D Poses To 3D Poses Base Orthographic Projection |
Convert Poses 2D to 3D According to Orthographic Projection |
Get Valid Ring Clouds |
Filter Ring Point Cloud List |
Project A Point onto A Plane |
Project Points onto Plane |
Compose Quaternion From Two Axis (Right-Hand) |
Compose Quaternions from Two Axes (Right Hand Rule) |
Calc Diagonal Length |
Calc Diagonal Lengths |
Generate Rect Traj |
Generate Rect Path |
Generate Traj By Contour |
Generate Path from Contour |
Is Z Value of Input Greater than Threshold |
Compare Z Values of Poses with Threshold |
Rectify Ring Pose |
Rectify Ring Object Poses |
Calc Center Point of Non-zero Areas |
Calc Center Points of Non-Zero Regions |
Calc Rect 2D Pose |
Calc 2D Poses of Rectangles |
Calc Pixel Size at Specified Height |
Calc Pixel Sizes at Specified Heights |
Coherent Line Drawing |
Draw Coherent Lines |
Image Transform |
Adjust Image |
Determine Pixel Size |
Determine Pixel Sizes |
Extract Empty Areas in Depth Image within 3D ROI |
Extract Empty Regions in Depth Map within 3D ROI |
Rotate Images By Provided Poses |
Rotate Images by Specified Poses |
Perspective Transform |
Perspective Transformation |
Clouds In 3d Box |
Extract Point Cloud in 3D Box |
Move Cloud Along Set Dir |
Move Point Cloud along Specified Direction |
Cloud Distortion Correction |
Correct Point Cloud Distortion |
Detect Obscured Objects |
Detect Occluded Objects |
Transform Plane Cloud To Align Direction |
Align Plane Point Clouds |
Cloud Scale |
Scale Point Cloud |
Calc Point Cloud Curvature |
Calc Point Cloud Curvatures |
Calc Edge Points Normal |
Calc Edge Point Cloud Normals |
Pose Transformed by Quaternion in Object Coordinate |
Rotate Poses by Quaternion Vectors in Object Frames |
Calc Length of Vector3D |
Calc Lengths of Vector3Ds |
Pose Transformed by Pose2 in Object Coordinate |
Transform Poses by Matrix in Object Frames |
Calc Cross Product of Vector3D |
Calc Vector3D Cross Products |
Calc Normalized Vector3D |
Calc Normalized Vector3Ds |
Compose Quaternion From Axis and Angle |
Compose Quaternions from Axes and Angles |
Rotate Poses to Directions With Symmetry Constraint |
Rotate Poses’ Axes to Specified Directions under Symmetry Constraints |
Easy Point to Reference Place |
Easy Point Poses to Reference Position |
Easy Coordinate Transform |
Easy Frame Transformation |
Inverse Quaternions |
Get Inverses of Quaternions |
Calc Dot Product of Vector3D |
Calc Vector3D Dot Products |
Calc Distance from 3D Points to Plane |
Calc Distances from 3D Points to Plane |
Measure Circle |
Measure Circles |
Calc Distance from 3D Points to Intersection of Two Planes |
Calc Distances from 3D Points to Intersection of Two Planes |
Replace Element In Vector |
Replace Elements in List |
Generate Test Cloud |
Generate Test Point Cloud |
Save Trajectory Points |
Save Path Targets |
Evaluate Variation of Depth Image |
Evaluate Depth Map Fluctuation |
Calculate Calib-board Pose |
Calc Calibration Board Poses |
Insert End Points And Send Motion Params |
Insert End Target and Send Motion Params |
Load 2d Trajectory |
Load 2D Path |
Generate Spiral Traj |
Generate Spiral Path |
Generate Trajectory Given Depth Image |
Generate Path Given Depth Map |
Generate Zigzag Traj |
Generate Zigzag Path |
Auto Trajectory |
Extract 2D Path |
Merge Label List |
Merge Label Lists |
Adjust Poses by Obstacles |
Adjust Targets by Obstacles |
Trajectory Points Matching |
Path Target Matching |
Adjust Poses by Obstacles V2 |
Adjust Targets by Obstacles V2 |
Validate 2D Poses Within Mask |
Validate 2D Poses by Mask |
Calc Mask Distance |
Calc Mask Distances |
Varying Normal Area |
Extract Regions of Large Normal Deviations |
Map Mask Non-zero Area |
Extract Image Regions by Mask |
Detect Graspable Rectangles |
Detect Pickable Rectangles |
Depth Cluster along Scan Lines |
Depth Clustering along Scan Lines |
Divide Cloud into Smaller Parts Evenly |
Divide Point Cloud into Smaller Parts Evenly |
Deep Learning Inference |
Deep Learning Inference (DLK 2.1.0/2.0.0) |