Mech-Vision 2.0 Release Notes
This document introduces the new features, improvements, and resolved issues of Mech-Vision 2.0.
Mech-Vision 2.0.0 Release Notes
This document introduces the new features, improvements, and resolved issues of Mech-Vision 2.0.0.
New Features
Restructured and Improved Solution Library
The solution library has been improved in Mech-Vision 2.0.0. Based on users’ actual requirements, the cases have been re-categorized, and new cases have been added to each category. See the following for details on each category.
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Application templates: General and standardized solution templates are provided for common application scenarios, facilitating rapid on-site deployment and solution tuning.
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Hands-on examples: Frequently used Procedures and workflow fragments are available to fulfill common on-site requirements. They are applicable not only in fundamental teaching but can also be seamlessly copied and pasted to achieve essential functionalities.
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Typical cases:Refined from numerous successful real-life scenarios, typical cases serve as references for enhancing your solution. These solutions can be run with one click, suitable for showcasing 3D robot guidance applications.
Brand New “Target Object Editor”
Mech-Vision 2.0.0 provides a brand new target object editor, which integrates features for configuring target object, including generating and editing the point cloud models, adding pick points, and setting up collision models. With the clear configuration workflows, you can follow the step-by-step instructions to complete the target object configuration and then apply the configured target object in the subsequent matching process. Meanwhile, starting from version 2.0.0, Mech-Viz project must belong to the same solution as the associated Mech-Vision project to share the tool and target object configurations.
For more notes about the target object editor, please refer to Upgrade Notes.
New “3D Target Object Recognition” Step
The 3D Target Object Recognition Step is introduced in Mech-Vision 2.0.0. It integrates the “3D Target Object Recognition” tool, including functions such as point cloud preprocessing, 3D matching, and removing poses of overlapped objects, thereby facilitating rapid target object recognition.
New “3D Matching” Step
The 3D Matching Step, which integrates the functions of fine matching and coarse matching, is introduced in Mech-Vision 2.0.0. This Step matches the point cloud model of the target object with the original point cloud, removes poses of overlapped and coinciding objects, and outputs accurate poses of the target objects. This Step is suitable for most scenarios requiring coarse and fine matching for poses of the same type of objects.
New “Custom Alert” Feature
The Custom Alert feature is introduced in Mech-Vision 2.0.0. It allows users to set trigger conditions, alert codes, and alert messages. When an anomaly is detected in the data during the project’s execution, the system automatically triggers alerts to help users quickly identify and resolve issues, ensuring stable production.
New “System Memory Risk Alert” Feature
Mech-Vision 2.0.0 adds a “System Memory Risk Alert” feature that prompts you to restart the software if it has been running continuously for too long or if system memory is insufficient.
Other New Steps
| No. | Step | Description |
|---|---|---|
1 |
Integrates the functions and usage scenarios of the “Predict Pick Points (Any Objects)” and “Predict Pick Points V2” Steps; applicable to supermarket and box-shaped object picking scenarios. |
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2 |
Generates the picking strategy for the target object based on the pick points,object center points, and other data output by the prior Steps. |
Improvements
Improved Solution and Project-Related Settings
Starting from Mech-Vision 2.0.0, the “solution” will be used as the only storage unit, as explained below.
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When creating a new solution, the projects within it will be automatically registered, i.e., these projects can be called by external services by default.
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Automatically loading projects that do not belong to any solution is no longer supported, i.e., such projects cannot be called by external services.
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The “Save Project As” and “Backup Project” options are no longer supported. To back up a project, please click “Back up Solution” in the context menu.
Improved Production Interface
The production interface has been improved in Mech-Vision 2.0.0. See the following for details.
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Compatibility Issues
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The production interface configured in Mech-Vision prior to version 2.0.0 cannot be opened in Mech-Vision 2.0.0, which requires a re-configure of the production interface in the latest software.
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Improved Production Interface Configurator
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When configuring the Basic info, the limit on the number of production units has been modified. Now up to ten production units can be added.
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When configuring the new target object, you can Import STL file or use the Target object editor to make the point cloud model of the target object. Using the “Matching Model and Pick Point Editor” to make the point cloud model is no longer supported.
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When configuring the New target object, if “Model-making project” is used to make the point cloud model, you should specify the Step port instead of the Step to select the point cloud and pick points.
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When configuring the General settings, you can select the default interface to enter when the software is restarted. This setting will only take effect if the solution is already auto-loaded.
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Improved Production Interface
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Monitoring of the camera network speed is supported, and the camera bandwidth logs can be viewed in the “Troubleshooting” interface of the “Maintenance” window.
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Alert records can be filtered. You can choose to view all alerts, default alerts, or custom alerts.
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The layout for displaying the target object information has been improved to make the information presentation more logical and easier to read.
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Other Improvements
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A new Production interface setting has been added to the in Mech-Vision. You can set whether to display high-quality point clouds in the production interface or use grid view for the standby view.
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Improved Step Library
Mech-Vision 2.0.0 has recategorized and streamlined the Step library, as explained below.
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According to actual project construction requirements, frequently used Steps have been recategorized to better align with user habits.
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Some outdated Steps and all Procedures have been removed to streamline the Step library.
Click here to view other deleted Steps that can be replaced by other Steps
No. Step Alternative Step 1
Remove Cloud Points from Point Cloud
Delete Points in Point Cloud
2
3D Coarse Matching
3D Coarse Matching V2
3
3D Coarse Matching (Multiple Models)
3D Matching and Classification (Multiple Models)
4
3D Fine Matching (Multiple Models)
3D Matching and Classification (Multiple Models)
5
Remove Overlapped Objects
Remove Overlapped Objects (Lite)
6
Remove Overlapped Objects V2
Remove Overlapped Objects (Lite)
7
Generate Cylinder Point Cloud Model
Create Object Model
8
Collect Poses in 3D ROI
Validate Existence of Poses in 3D ROI
9
Extract Point Cloud in 3D Box
Extract 3D Points in Cuboid
10
Extract Image Regions by Mask
Apply Masks to Image
11
Read Images
Read Images V2
12
Read Point Cloud
Read Point Cloud V2
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Calc Absolute Values
Numeric Operation
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Cloud Num Limit
Trim Input List
15
Cloud Processing (GPU)
Calc Normals of Point Cloud and Filter It, Calc Normals and Estimate Edges of Point Cloud
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From CloudXYZ To CloudNormal
Calc Normals of Point Cloud and Filter It, Calc Normals and Estimate Edges of Point Cloud
17
Filter by Labels
Validate Labels and Output Flags + Filter
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Get First Image from Image List
Trim Input List
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Merge Point Cloud Lists
Merge Data
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Merge Label List
Merge Data
21
Merge LineSegment Lists
Merge Data
22
Merge Pose Lists
Merge Data
23
Normal Estimation
Calc Normals of Point Cloud and Filter It, Calc Normals and Estimate Edges of Point Cloud
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Number Scaling
Numeric Operation
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Point Cloud Filter
Validate Point Clouds
26
Pose Filter
Validate Poses by Included Angles to Reference Direction
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Smooth Depth Map
Image Filtering
28
Sort Point Clouds
Calc Specified Property of Point Clouds+Sort List and Output Index List+Reorder by Index List
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Subtract Real Numbers
Numeric Operation
30
Trim Pose List
Trim Input List
31
Map Depth to RGB
Rectify Image by Frame Transformation
32
Sort 3D Poses
Sort 3D Poses V2
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From Variants to Numbers
Convert Data Type
34
From Variants to Variant
Convert Data Type
35
Find Corners
Detect Vertex
36
From Variant to Variants
Convert Data Type
37
Generate Ring Point Cloud
Create Object Model
38
3D Target Object Recognition
3D Target Object Recognition
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Draw Min Circumscribed Rectangles of Masks
Detect Shape Feature of Region
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Adjust Poses
Adjust Poses V2
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Get Highest Layer Regions in Depth Map
Get Highest Layer Clouds
42
Find Corners
Detect Vertex
43
Allocator
Accept All
Click here to view other deleted Steps that cannot be replaced by other Steps
Extract Empty Regions in Depth Map within 3D ROI
Calc Point Cloud Curvatures
Smooth Point Cloud and Estimate Normals
Correct Point Cloud Distortion
Project Points onto Plane
Align Plane Point Clouds
Filter Ring Point Cloud List
Detect Occluded Objects
Generate Cloud Wall
Remove Poses outside Bin
Calc Calibration Matrix of Structured Light Sensor
Draw Polygon Vertices
Suppress Neighboring Poses with Low Scores (NMS)
Calc Histogram
Depth Encoding
Get Highest Score Result
Histogram Matcher
Path Target Matching
Convert 2D Poses to 3D Poses
Calc Mask Distances
Validate Masks Containing 2D Poses
Extract 2D Path Function
Load 2D Path
Group 2D Poses
Adjust Poses by Offsets
Adjust Poses by Tilt
Adjust Inaccurate Poses Caused by Camera Distortion
Rectify Ring Object Poses
Keep Poses Distributed in Regular Polygon
Generate Pose/Offset
Compare Z Values of Poses with Threshold
Validate 2D Poses by Mask
Validate Underlying Poses
Find Correspondence between Poses and Offsets
Read 3D ROI Center
Read STL
Save Regions around Poses as 3D ROIs
Copy Images
Measure Result
Verify Pick Points
Save Result To XML File
Depth Clustering Along Scan Lines
Measure Plane Height Differences Along Direction Parallel To Axes
Measure Gap Width
Calc Plane Width
Calc Profile
Calc Profile By Sampling
Divide Point Cloud into Smaller Parts Evenly
Compare Two Depth Maps
Convert Disparity Image to Depth Map
Merge Depth Maps
Draw Coherent Lines
Background Subtraction
From Actual Dimensions to Dimensions in Pixels
Extract Regions of Large Normal Deviations
Generate Discrete Poses Revolving around Reference Pose
Replace Elements In List
Invalidate Depth Pixels outside 3D ROI
Calc Projection Length along Reference Direction
Generate Test Image
Calc Box Dimensions
Generate Test Point Cloud
Calc Edge Point Cloud Normals
Save Path Targets
Remove All Overlapping Poses
Load Targets in Path and Apply Affine Transform
From Numbers to Variants
Calc Diameter and Thickness
Offset Poses in Cylinder
Detect Line Segments
Test
OCR
Send Point Cloud to External Service
Filter Point Cloud by Model and Poses
Read QR Code
Periodic Trigger
Trigger
Find Hole 2D
Calc Mean Gray Value
Evaluate Image Clarity
Count Color Info
2D Shape Matching
Template Matching
Record Criterion Pose and Calc Transformation
Make Template
Click to view the deleted Procedures
Calc Hole Center Poses and Diameters
Calc Oblong Hole Center Poses and Axis Lengths
Extract Planar Point Clouds
Select Point Cloud from Depth Map
Transform Poses to Custom Frame
Sort Clouds Based on XOY Distance to Camera Center
Sort Pick Points
Sort by Three Values
Sort by Two Values
Point Cloud Preprocessing
Calc Color Image for Highest Layer
Calc Mask for Highest Layer
Transform Clouds from Current Coordinate to Specific Coordinate
3D Matching
Calc and Adjust Poses from Planar Point Clouds
Apply Masks to Color Image
Binary Classification Based on Elements Number
Correct system drift in EIH setup
Filter Out Point Clouds that Exceed the Size Limit
Filter Out Poses Outside ROI
Filter Out Poses that Exceed the Angle Limit
Save Images and Step Parameters
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You can find the corresponding project construction example in the Hands-on Examples category in the Solution Library.
Improved Steps
| No. | Step | Description | ||
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1 |
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Inputting the dimensions of the object model is supported. |
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The “Background Removal Settings” parameter is removed, and removing the background information from the depth map is no longer supported. |
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6 |
The Step has been renamed from “Remove Cloud Points from Point Cloud” to “Delete Points in Point Cloud.” |
Improved Interface and User Interaction
The interface and user interaction have been improved in Mech-Vision 2.0.0. See the following for details.
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Improved Home Interface
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The style and layout of the toolbar has been improved.
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The layout settings of the home interface has been improved. After restarting the software, the interface will revert to the default layout and will not maintain the interface layout as it was before the software was closed.
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Improved Step Section and Interaction
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Added ☆ markers to some important Steps for better identification.
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The connection guidance for Step output ports has been introduced. An arrow will appear when the cursor hovers over an output port.
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A “Config wizard” button is added to super Steps. Clicking this button will open the corresponding tool.
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The method of viewing visual output results by long-pressing and dragging the left mouse button is no longer supported. Visual output results can now only be viewed by enabling Debug Output and the Step visualization feature (by clicking the “eye” icon on the Step block).
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The Run the project down from the current Step feature is no longer supported.
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Improved Visualization Area
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The mouse interaction in the visualization area has been improved and the animated guidance information has been added to the operation prompt window.
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Features No Longer Supported
The following feature are no longer supported from Mech-Vision 2.0.0.
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Camera Calibration (Quick)
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Intrinsic Parameter Calibration
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Measurement Mode
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Glue Wizard
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Camera Viewer
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Matching Model and Pick Point Editor
Please use the target object editor to make the point cloud model and add pick points.
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EIH System Drift Auto-Correction
This feature is under maintenance and is temporarily converted to a plug-in that cannot be selected.
Resolved Issues
The following issues have been resolved in Mech-Vision 2.0.0:
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The software crashed when a new project with the same name as an existing project is created under the solution.
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After configuring permissions for the solution, double-clicking the VIS file could not open the project properly.
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The text and axis size settings in the 3D simulation area of the “Path Planning” tool will only take effect after reopening the “Path Planning” tool.
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Resetting the path planning configuration in the “Path Planning” tool may cause Mech-Vision to crash.
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After modifying the configurations in the deep learning model package management tool, the configurations were lost upon reopening the software.
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In the configuration before calibration for gantry robots, after selecting “Rotation around the Z-axis” as the movement affecting the camera position, the setting did not take effect.
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During the gantry robot calibration process, using multiple calibration boards to add calibration points caused the calibration to fail.
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When manually entering the robot flange pose during calibration, the software failed to update the Euler angle convention based on the robot model information.
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When the graphics card information could not be retrieved properly, the software incorrectly judged the GPU usage as high, resulting in the point cloud not being displayed.
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There was a low probability of software crashes when using the downsampling-related functions.
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When running scripts with the “Calc Results by Python” Step, garbled texts appear in the error message if an exception occurs.
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There was a low probability of software crashes when using the “Mask Gridding” Step to process certain data.
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The path generated by the “Generate Path from Contour” Step was incorrect.
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For more notes after the upgrade, please refer to Mech-Vision 2.0.0 Upgrade Notes. |