Step Reference

Capture from Camera

• Image Acquisition

Preprocessing

• Transform Point Clouds
• Downsample Point Cloud
• Point Filtering
• Calculate Point Cloud Normals
• Merge Point Clouds
• Point Cloud Clustering
• Get Highest Layer Point Clouds
• Convert Depth Image to Point Cloud
• Extract 3D Points in 3D ROI
• Estimate Point Cloud Edges by 3D Method
• Image Morphological Transformation
• Apply Masks to Point Cloud
• Project 3D Point Cloud to 2D Image

Identification

• Deep Learning Model Package Inference
• Calculate Pose and Dimensions from Planar Point Cloud
• 3D Coarse Matching
• 3D Fine Matching

Pose Processing

• Pose Transformation
• Translate Poses Along Given Direction
• Rotate Poses Axes to Specified Directions
• Point Poses to Reference Positions
• 3D Pose Sorting
• Flip Pose Coordinate Directions
• Set Pose Quaternions
• Add Labels to Poses
• Display Point Clouds and Poses
• Calculate Distance Between Poses
• Calculate Distance Between Two Poses Along Specified Direction
• Invert Poses
• Convert PoseList to PoseLists
• Convert 2D Pose to 3D Pose

Trajectory Planning

• Simplify Trajectory

Evaluation

• Filter
• Trigger Control Flow by Flag
• Dichotomize Values by Threshold
• Validate Poses by Included Angles to Reference Direction
• Classify Point Clouds by Dimensions
• Validate Box Dimensions
• Validate Box Object Masks
• Extract Point Cloud Inside Cuboid
• Extract Point Cloud Inside Cylinder
• Filter Poses by ROI
• Validate Point Clouds
• Validate Labels and Output Flags
• Calculate Mask Areas
• Check Pose Repeatability by Statistics

Data Processing

• Trim Output List
• Convert Data Type
• Compare Values
• Numeric Operation
• Count 3D Points
• Count Elements in Specified Dimension in Data List
• Quick Create
• Reorder by Index List
• Sort List and Output Index List
• Decompose Poses to Quaternions and Translation Vectors
• Decompose Object Dimensions
• Merge Data
• Unpack and Merge Data
• Repeat Data and Concatenate Copies
• Label Mapping
• Decompose Rotation Vector to X-Y-Z Axes
• Extract Elements by Index List

File

• Save Images
• Save Results to File
• Read Images
• Read Point Cloud
• Read Poses from File
• Read Object Dimensions

Transmission

• Vision Output

System

• Vision Step Group
• Accept All

Advanced Steps

2D Feature Extraction

• Fill Holes
• Detect and Measure Circle
• Find Circle 2D

3D Feature Extraction

• Estimate Point Cloud Edges by 2D Method
• Find Geometry Element

3D Universal Processing

• Point Cloud Clustering and Output
• Delete Points in Point Cloud
• Generate Point Cloud Template
• Calculate Point Cloud Span Along Axes

3D Matching

• Remove Overlapped Objects

3D Model Acquisition

• Create Object Model
• Get Model Point Cloud

Draw

• Visualize Information on Image

Label

• From Variants to Labels
• Join Labels
• Stratify Values by Thresholds

Mapping

• Convert 2D Points to 3D Points
• Orthogonal Projection from Point Cloud

Mask Processing

• Calculate Mask Center Pose
• Mask Logic Operation

Meta Step

• Group Data
• Pack
• Reverse List
• Unpack Data
• From List to Lists

Pose

• Calculate Included Angles Between Specified Axes of Poses
• Compose New Poses
• Map to Multiple Pick Points
• Move Poses to PCS Along Z
• Rotate Poses Around Axis by Angle
• Remove All Overlapping Poses

Pose2

• Calculate Angle Between Two Vector3Ds
• Calculate Vector3D Cross Products
• Calculate Vector3D Dot Products
• Calculate Lengths of Vector3Ds
• Compose Poses from Quaternions and Translation Vectors
• Compose Vector3Ds from Numbers
• Decompose Vector3D to Numbers
• Vector3D Arithmetic Operations

Sorting

• Sort and Stratify

Tools

• Boolean List Logical Operation
• Get Flange Pose List
• From Shape2DList to Pose2DList

Measurement

• Calculate Object Volume