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  • 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

Technical Support

  • Contact Us
  • Copyright Notice
  • Release Note
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