Step Reference Guide¶

This chapter provides the reference guide for using Steps.

Please refer to corresponding sections for details on how to use a specific Step.

2D Feature Detector
- Circle
  - Detect Circle Centers
  - Detect Inscribed Circles
- Line
- Others
- Blob Analysis
- Caliper Tool
- Convert Lengths Pixel-Wise to Physical
- Detect Vertex
- Detect and Measure Circle
- Detect and Measure Line
- Detect and Measure Oblong Hole
- Fit Circle
- Fit Line
2D General Processing
- Color Image Processing
- Image Transform
- ROI
  - Extract Empty Regions in Depth Map within 3D ROI
  - Invalidate Depth Pixels outside 3D ROI
- Segment Area
- Others
  - Background Subtraction
- 2D Shape Matching
- Crop Image
- Determine Pixel Sizes
- Fill Holes
- OCR
- Read Bar Code
- Straighten Ring Shaped Image Region
2D Matching
- 2D Matching
  - 2D Matching
- Calc Pose
  - Calc Poses and Dimensions of Rectangles
  - Calc 2D Poses of Rectangles
- Generate Template
  - Generate Rectangular Edge Templates of Specified Sizes
  - Load 2D Templates
- Remove Polygons
  - Remove Overlapped Polygons
  - Remove Polygons outside Mask
- Others
- Calc Pixel Sizes at Specified Heights
- Make Template
- Record Criterion Pose and Calc Transformation
- Template Matching
- Transform Image
  - Function
  - Usage Scenario
3D Feature Detector
- Estimate Point Cloud Edges by 2D Method
- Estimate Point Cloud Edges by 3D Method
- Point Cloud Shape Detector
- Calc Normals and Estimate Edges of Point Cloud
3D General Processing
- Calc Pose
  - Calc Cylinder Poses
  - Calc Poses and Dimensions from Planar Point Clouds
- Cluster
  - Cluster Point Clouds and Output Eligible Point Clouds
  - Point Cloud Clustering
- Extract Points by Geometry
- Merge
  - Merge Point Clouds
  - Merge Point Clouds with Similar Heights
- Normal/Curvature
- Remove Points
- Reshape/Transform/Move
- Validate and Get Clouds
- Others
3D Matching
- 3D Coarse Matching
- 3D Coarse Matching (Multiple Models)
- 3D Coarse Matching V2
- 3D Fine Matching
- 3D Fine Matching (Multiple Models)
- Remove Overlapped Objects
- Remove Overlapped Objects V2
- 3D Fine Matching Lite
3d Model Creation
- Create Object Model
- Generate Cloud Wall
- Generate Cylinder Point Cloud Model
- Generate Ring Point Cloud
Advanced Components
- 3D Workpiece Recognition
- Path Planning
- Adjust Poses
Arithmetic
- Compare Values
- Numeric Operation
Bin Detection
- Detect Bin (Four Sides)
- Detect Bin (Max Inscribed Rect) V2
- Detect Bin (Two Sides)
- Remove Poses outside Bin
Camera
- Capture from Camera
  - Camera 2D
  - Capture Images from Camera
- Supplement
- Laser Profiler
Communication
- Bridge
- Notify
- Send Point Cloud to External Service
Deep Learning
- Defect Detection
  - Defect Detection
- Detect Edges
  - Detect Edges
- Image Classification
  - Image Classification
- Instance Segmentation
  - Instance Segmentation
- Novel Objects Picking
- Object Detection
  - Object Detection
- ROI
  - Recover Scaled Images in 2D ROI
  - Scale Image in 2D ROI
- Deep Learning Inference
- Deep Learning Model Package Inference
- Deep Learning Result Parser
Depalletizing/Palletizing
- Pallet Information Recognition
- Validate Box Dimensions
- Validate Box Object Masks
Drawing
- Draw Min Circumscribed Rectangles of Masks
- Draw Polygon Vertices
- Visualize Depth In Range
- Visualize Information on Image
External Devices
- Control Light Source
  - Function
Label
- Add Labels to Poses
- From Variants To Labels
- Join Labels
- Label Mapping
- Stratify Values by Thresholds
- Validate Labels and Output Flags
Map
- Conversion
- Image - Image
  - Apply Masks to Image
  - Map Depth to RGB
- Image - Point Cloud
- Convert Circles To 2d Poses
Mask Processing
- Add/Remove Areas in Masks
- Calc Mask Property
- Mask Logical Operation
  - Mask Logical Operation
  - Merge Mask Images
- Validate Masks by Poses
  - Filter Masks by Poses
  - Validate Masks Containing 2D Poses
- Others
  - Mask Clustering
  - Mask Gridding
- Process 2D Shapes
Measuring
- 2D Measuring
- 2.5D Measuring
- 3D Length/Distance
- Global Dimensioning and Tolerancing
  - Calc Flatness Error
  - Calc Parallelism Error
- Others
- Calc Intersection between Two Line Segments
- Calc Intersections between Line Segment and Circle
- Calc Plane Width
- Calc Profile
- Calc Profile By Sampling
- Depth Clustering Along Scan Lines
- Divide Point Cloud into Smaller Parts Evenly
- Count Color Info
- Evaluate Image Clarity
- Locate Calibration Spheres
- Measure Gap Width
Meta
- Arrange by Index
  - Group Data
  - Reorder by Index List
- Change Data Dimension
- Procedure Out
  - Procedure Out
- Others
Pose
- 2D Pose
  - Evaluate 2D Poses
  - Group 2D Poses
- Adjust Orientation
- Adjust Translation
- Adjust Translation & Orientation
  - Adjust Inaccurate Poses Caused by Camera Distortion
  - Rectify Ring Object Poses
- Collect/Remove
- Conversion
- Generate Pose Offset
- Validate
- Others
Pose2
- ConvenientHelpers
- Coordination Transform
  - Easy Frame Transformation
- Inversion
  - Invert Poses
  - Get Inverses of Quaternions
- Pose Composition & Decomposition
- Pose Rotation
- Pose Sorting
  - Sort Poses by Input Scores
  - Sort Poses by XYZ Values
- Pose Transformation
  - Transform Poses by Matrix in Object Frames
  - Rotate Poses by Quaternion Vectors in Object Frames
- Pose Translation
- Vector3D Composition & Decomposition
  - Compose Vector3Ds from Numbers
  - Decompose Vector3D to Numbers
- Vector3dRelated
Reader and Saver
- Read
- Save
Sort
- Calc Specified Property of Point Clouds
- Sort 2D Poses
- Sort 3D Poses
- Sort List and Output Index List
- Sort and Stratify
Test
- Generate Test Point Cloud
- Generate Test Image
- Replace Elements In List
Tools
- Image
  - Copy Images
  - Evaluate Depth Map Fluctuation
- Pose
- Save
  - Save Result To Xml File
- Script Engine
- Step IO
  - Accept All
  - Allocator
- Trigger
- Others
- External Interface
- From Shape2DList to Pose2DList
- Rectify Image by Frame Transformation
Path
- Adjust Trajectory
- Generate Trajectory
- Load Trajectory
  - Load 2D Path
  - Load Targets in Path and Apply Affine Transform
Transform
- Transform Point Clouds
- Transform Point Clouds for Truss
- Transform Poses
- Transform Poses for Truss
Visualization
- Show Images
- Show Point Clouds and Poses
Others
- Procedure
Legacy
- Collect/Remove
  - Collect Poses in 3D ROI
  - Suppress Neighboring Poses with Low Scores (NMS)
- Extract Points by Geometry
  - Extract Point Cloud in 3D Box
- Image - Image
  - Extract Image Regions by Mask
- Read
  - Read Images
  - Read Point Cloud
- Remove Points
  - Filter Point Cloud by Model and Poses
  - Remove Points from Point Cloud
- Calc Absolute Values
  - Function
  - Usage Scenario
  - Input and Output
- Calc Histogram
  - Function
  - Usage Scenario
  - Input and Output
- Cloud Num Limit
  - Function
  - Usage Scenario
  - Input and Output
- Cloud Processing (GPU)
  - Function
  - Usage Scenario
  - Input and Output
- From CloudXYZ To CloudNormal
  - Function
  - Usage Scenario
  - Input and Output
- Depth Encoding
  - Function
  - Usage Scenario
  - Input and Output
- Detect Bin (Max Inscribed Rect)
  - Function
  - Usage Scenario
  - Input and Output
- Filter by Labels
  - Function
  - Usage Scenario
  - Input and Output
- Get First Image from Image List
  - Function
  - Usage Scenario
  - Input and Output
- Get Highest Score Result
  - Function
  - Usage Scenario
  - Input and Output
- Histogram Matcher
  - Function
  - Usage Scenario
  - Input and Output
- Merge Point Cloud Lists
  - Function
  - Usage Scenario
  - Input and Output
- Merge Label List
  - Function
  - Usage Scenario
  - Input and Output
- Merge LineSegment Lists
  - Function
  - Usage Scenario
  - Input and Output
- Merge Pose Lists
  - Function
  - Usage Scenario
  - Input and Output
- Normal Estimation
  - Function
  - Usage Scenario
  - Input and Output
- Number Scaling
  - Function
  - Usage Scenario
  - Input and Output
- Point Cloud Filter
  - Function
  - Usage Scenario
  - Input and Output
  - Parameters
- Pose Filter
  - Function
  - Usage Scenario
  - Input and Output
- Reorder According to Given Indices
  - Function
  - Usage Scenario
  - Input and Output
- Smooth Depth Map
  - Function
  - Usage Scenario
  - Input and Output
- Sort Point Clouds
  - Function
  - Usage Scenario
  - Input and Output
- Subtract Real Numbers
  - Function
  - Usage Scenario
  - Input and Output
- Path Target Matching
  - Function
  - Usage Scenario
  - Input and Output
- Trim Pose List
  - Function
  - Usage Scenario
  - Input and Output
  - Parameters