Logo
  • Overview of RVS 2.0
    • About RVS 2.0
    • Software Installation and Licensing
      • System Requirements
      • Download Software
      • Install Software
      • Obtain Software License
        • Obtain Soft License
        • Obtain USB Dongle
      • Launch Software
    • User Interface
      • Welcome Screen
      • Home Screen
        • Menu Bar
        • Toolbar
        • Project List
        • Step Library
        • Project Programming Workspace
        • Log
        • Debug Output
        • Project Configuration Pane
    • Terms and Concepts
      • Solutions, Projects, and Steps
      • Robots and Communication
      • Hand-Eye Calibration
      • Vision Processing Workflow
      • Deep Learning
      • Data Types
  • Common Operations
    • Managing Solutions
      • New Solution
      • Save Solution
      • Open Solution
      • Rename Solution
      • Add Solution to Solution Assistant
      • Close Solution
      • Solution Directory Structure
    • Managing Projects
      • Create New Project
      • Save Project
      • Open Project
      • Rename Project
      • Close Project
      • Run and Debug Project
      • Delete Project
      • Duplicate Project
      • Reset Project IDs
    • Configuring Projects
      • Select Scene Point Cloud
      • Set Parameter Recipes
        • Context
        • Add a Parameter Recipe
        • Edit a Parameter Recipe
        • Apply or Switch a Parameter Recipe
      • Set 2D ROI
        • Prerequisite
        • Open the Editor
        • Draw the ROI
        • Save the ROI Configuration
        • Switch ROI Configuration
        • Delete ROI Configuration
      • Set 3D ROI
        • Prerequisite
        • Open the Editor
        • Adjust the ROI
        • Save ROI Configuration
        • Switch ROI Configuration
        • Example
      • Save Data
        • Procedures
        • Saved Data Description
    • Managing Steps
      • Search, Add, Copy, and Delete Steps
        • Search for a Step
        • Add a Step
        • Copy a Step
        • Delete a Step
      • View Help Information of Steps
        • View Step Description
        • View Step Parameter Tooltips
      • Create and Delete Step Connections
        • Create a Connection Between Steps
        • Delete Connections Between Steps
      • Run Steps and View Outputs
        • Run Steps
        • View Step Execution Time
        • View Debug Output
      • View Step Status
      • Set Up Control Flow
        • Context
        • Connection Points
        • Scenarios
      • Set Up Step Parameters
        • Context
        • Modify Step Name
        • Set Up Execution Flags
        • Set Up Step-Specific Parameters
      • Group Steps
  • Step Reference
    • Capture from Camera
      • Image Acquisition
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
    • Preprocessing
      • Transform Point Clouds
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Downsample Point Cloud
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Point Filtering
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Calculate Point Cloud Normals
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Merge Point Clouds
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
      • Point Cloud Clustering
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Get Highest Layer Point Clouds
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Convert Depth Image to Point Cloud
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Extract 3D Points in 3D ROI
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Estimate Point Cloud Edges by 3D Method
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Point Cloud Edge Extraction Process
        • Parameters
      • Image Morphological Transformation
        • Function Description
        • Use Cases
        • Inputs and Outputs
        • Parameters
      • Apply Masks to Point Cloud
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
      • Project 3D Point Cloud to 2D Image
        • Function Description
        • Use Cases
        • Inputs and Outputs
        • Parameters
    • Identification
      • Deep Learning Model Package Inference
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Calculate Pose and Dimensions from Planar Point Cloud
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • 3D Coarse Matching
        • Function Description
        • Use Cases
        • Input
        • Output
        • Parameters
      • 3D Fine Matching
        • Function Description
        • Use Cases
        • Input
        • Output
        • Parameters
    • Pose Processing
      • Pose Transformation
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Translate Poses Along Given Direction
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Rotate Poses Axes to Specified Directions
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
        • Example: Making the Camera Z Axis Point to Target Point
      • Point Poses to Reference Positions
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • 3D Pose Sorting
        • Step Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Flip Pose Coordinate Directions
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Set Pose Quaternions
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Add Labels to Poses
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Display Point Clouds and Poses
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Calculate Distance Between Poses
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Calculate Distance Between Two Poses Along Specified Direction
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Invert Poses
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
      • Convert PoseList to PoseLists
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
      • Convert 2D Pose to 3D Pose
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
    • Trajectory Planning
      • Simplify Trajectory
        • Function Description
        • Use Cases
        • Input
        • Output
        • Parameters
    • Evaluation
      • Filter
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Trigger Control Flow by Flag
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Dichotomize Values by Threshold
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
        • Usage Example
      • Validate Poses by Included Angles to Reference Direction
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Classify Point Clouds by Dimensions
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Validate Box Dimensions
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Validate Box Object Masks
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Extract Point Cloud Inside Cuboid
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Extract Point Cloud Inside Cylinder
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Filter Poses by ROI
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Validate Point Clouds
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Validate Labels and Output Flags
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Calculate Mask Areas
        • Function Description
        • Use Cases
        • Inputs and Outputs
        • Parameters
      • Check Pose Repeatability by Statistics
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
    • Data Processing
      • Trim Output List
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
        • Example 1
        • Example 2
      • Convert Data Type
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Compare Values
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Numeric Operation
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Count 3D Points
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
      • Count Elements in Specified Dimension in Data List
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Quick Create
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Reorder by Index List
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
        • Examples
      • Sort List and Output Index List
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Decompose Poses to Quaternions and Translation Vectors
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Decompose Object Dimensions
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
        • Adjustment Example
      • Merge Data
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
        • Examples
      • Unpack and Merge Data
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Step Principle
        • Parameters
        • Examples
      • Repeat Data and Concatenate Copies
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
        • Examples
      • Label Mapping
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Decompose Rotation Vector to X-Y-Z Axes
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
      • Extract Elements by Index List
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
    • File
      • Save Images
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Save Results to File
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Read Images
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Read Point Cloud
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Read Poses from File
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
      • Read Object Dimensions
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
    • Transmission
      • Vision Output
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
    • System
      • Vision Step Group
        • Function Description
        • Use Cases
        • Operation Method
      • Accept All
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
    • 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
        • Function Description
        • Use Cases
        • Inputs
        • Outputs
        • Parameters
  • Hand-Eye Calibration Configuration
    • Select Robot Hand-Eye Calibration Workflow
      • Select a Calibration Workflow for Your Scenario
    • Pre-Calibration Checklist
      • Confirm That the Robot Base Is Securely Installed
      • Confirm That the Camera Bracket and Camera Are Securely Installed
      • Confirm That the Calibration Board Is Securely Installed on the Robot End (ETH)
      • Confirm That the Robot’s Absolute Accuracy Meets the Requirements
      • Confirm That the Camera Has Been Warmed Up
    • Manual Calibration in EIH Scenario (4/5/6-Axis Robots)
      • Calibration Workflow
      • Pre-Calibration Preparation
        • Complete Vision System Hardware Setup
        • Complete Pre-Calibration Checks
      • Calibration Presettings
      • Calibrate
        • Select and Connect to Camera
        • Mount Calibration Board and Check Intrinsic Parameters
        • Capture Images and Poses
        • Calculate Extrinsic Parameters
      • Save and Apply Calibration Results
    • Manual Calibration in ETH Scenario (4/5/6-Axis Robots)
      • Calibration Workflow
      • Pre-Calibration Preparation
        • Complete Vision System Hardware Setup
        • Complete Pre-Calibration Checks
      • Calibration Presettings
      • Calibrate
        • Select and Connect to Camera
        • Mount Calibration Board and Check Intrinsic Parameters
        • Capture Images and Poses
        • Calculate Extrinsic Parameters
      • Save and Apply Calibration Results
    • Manual Calibration for Gantry Robots
      • Understanding Gantry Robots
      • Definitions and Characteristics
        • Degree of Freedom Configuration
        • Camera Mounting and Calibration Key Points
        • Calibration Key Factors
      • Calibration Workflow
      • Pre-Calibration Preparation
        • Complete Vision System Hardware Setup
        • Complete Pre-Calibration Checks
      • Calibration Presettings
      • Calibrate
        • Select and Connect to Camera
        • Mount Calibration Board and Check Intrinsic Parameters
        • Set TCP Value in Flange Coordinate System
        • Capture Calibration Board Images and Flange Poses
        • Calculate Extrinsic Parameters
      • Save and Apply Calibration Results
    • Calibration Board Types and Specifications
      • Checkerboard Calibration Board
      • RCCB Calibration Board
        • RCCB-28
        • RCCB-54
        • RCCB-88
        • RCCB-140
  • Target Object Configuration
    • About Target Object Editor
      • Select Configuration Workflow for Target Objects
      • Open the Target Object Editor
    • Create Point Cloud Model for Target Object
      • Create Point Cloud Model from Camera Data
        • Preparations
        • Acquire Point Cloud
        • Edit Model
        • Set Pick Points
        • Save Model
      • Create Point Cloud Model by Teaching Pick Point
        • Preparations
        • Teach Pick Point
        • Acquire Point Cloud
        • Edit Model
        • Set Pick Points
        • Save Model
      • Create Point Cloud Model from a Point Cloud File
        • Import Point Cloud
        • Edit Model
        • Set Pick Points
        • Save Model
    • Manage Target Object List
      • Create New Target Object
      • View Target Object Status
      • Delete Target Object
      • Edit Target Object
      • Rename Target Object
  • Robot and Communication Configuration
    • Configure Standard Interface Communication
      • Configuration Steps
      • Related Information
    • TCP Standard Command Description
      • Command Overview
      • Command Description
        • Command Sending and Receiving
        • Command Data Transmission Format
        • Command Data Units
      • 101 Command: Run RVS 2.0 Project
        • Function Description
        • Calling Sequence
        • Sending Format
        • Return Format
        • Command Examples
      • 102 Command: Get Vision Results
        • Function Description
        • Calling Sequence
        • Sending Format
        • Return Format
        • Command Examples
      • 103 Command: Switch Parameter Recipe
        • Function Description
        • Calling Sequence
        • Sending Format
        • Return Format
        • Command Example
      • 109 Command: Get User Label Data
        • Function Description
        • Calling Sequence
        • Sending Format
        • Return Format
        • Command Example
      • 110 Command: Get Custom Data
        • Description
        • Calling Sequence
        • Sending Format
        • Return Format
        • Command Example
      • 501 Command: Input Object Dimensions into an RVS 2.0 Project
        • Description
        • Calling Sequence
        • Sending Format
        • Return Format
        • Examples
      • 901 Command: Get System Status
        • Function Description
        • Sending Format
        • Return Format
        • Examples
    • Siemens PLC Snap7 Standard Command Description
      • Command Overview
      • Register Description
        • Command Sending and Receiving
        • Command Data Units
      • 101 Command: Run RVS 2.0 Project
        • Description
        • Calling Sequence
        • Input Parameters
        • Output Parameters
      • 102 Command: Get Vision Results
        • Description
        • Calling Sequence
        • Input Parameters
        • Output Parameters
      • 103 Command: Switch Parameter Recipe
        • Description
        • Calling Sequence
        • Input Parameters
        • Output Parameters
      • 109 Command: Get User Label Data
        • Description
        • Calling Sequence
        • Input Parameters
        • Output Parameters
      • 110 Command: Get Custom Data
        • Description
        • Calling Sequence
        • Input Parameters
        • Output Parameters
      • 501 Command: Input Object Dimensions into an RVS 2.0 Project
        • Description
        • Calling Sequence
        • Input Parameters
        • Output Parameters
      • 901 Command: Get System Status
        • Description
        • Input Parameters
        • Output Parameters
    • Standard Interface Status Code List
      • RVS 2.0 Error Codes
      • RVS 2.0 Success Codes
      • Communication Component Error Codes
  • Supplementary Tools
    • Solution Assistant
      • About Solution Assistant
      • Add a Solution
      • Switch Solutions
      • Automatically Load a Solution
      • Open a Solution in the Background
      • Close a Background Solution
      • Remove a Solution
    • Camera Assistant
      • About Camera Assistant
      • Refresh the Camera List
      • Start Camera Acquisition
      • Add an Initial Configuration File
      • Disconnect and Reconnect
    • Adapter Generator
      • Adapter Generator Guide
        • Generate an Adapter Project
        • Deploy the Adapter Project
        • Joint Debugging of the Adapter Project
        • Example: Robot Triggers Vision and Obtains Pick Poses
        • Example: Setting Vision-Step Parameters Separately
        • Example: ASCII Protocol with Frame Prefix and Suffix
        • Example: Binary Protocol
      • Adapter Programming Guide
        • Prerequisites
        • How the Adapter Works
        • Choose a Development Method
        • Custom Python Adapter
        • Adapter Development API Reference
        • Coding Guidelines
        • Debugging and Testing
        • Troubleshooting
        • Delivery Checklist
        • Related Source Code
  • Technical Support
    • Contact Us
    • Copyright Notice
      • Document Copyright and Disclaimer
    • Release Note
      • 2026.8.12
RVS2026DC
  • Technical Support
  • Copyright Notice

Copyright Notice

Document Copyright and Disclaimer

This document is the user manual for Percipio products and is protected by copyright. Without prior written consent from Percipio, no one may reproduce or modify the content of this document in any form. Percipio assumes no responsibility for any loss or injury caused to anyone by using the tampered product user manual.

This document does not grant any intellectual property rights license in any way, whether express or implied.

Under the permission of current laws:

  1. This user manual is only based on the current state of the product and makes no representations or warranties of any kind regarding whether the product will be merchantable, of good quality, does not infringe the rights of others, or is fit for a particular purpose.

  2. Under no circumstances in the future shall Percipio be liable for any loss or damage caused by using this document (including but not limited to direct losses, indirect losses, special losses, consequential losses, indirect losses, or punitive damages), even if such loss or damage is foreseeable, or Percipio has been informed of the possibility of such loss or damage.

This document may contain typographical errors and errors in product technical descriptions. Percipio reserves the right to modify the product user manual without notifying users. Customers must obtain the latest product user manual from local dealers when purchasing products. Percipio guarantees that this product meets the stated quality standards and assumes product quality assurance responsibility within the warranty period. However, this product can only be used for its designated purpose. Percipio assumes no responsibility for any loss caused by using the product for other purposes.

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