The following information holds for Mech-Vision 1.7.x.
Supported Vision data types
- PoseList
- Pose2DList
- NumberList
- StringLis
- Image;Cloud(XYZ)
- Cloud(XYZ-Normal)
- Size3DList
- StringList
- BoolList
- IndexList
Input/Output Port Definition
Define multiple inputs by inserting a “;” (without space after “;” else input after the space gets dismissed)
E.g.: Input Port(s): NumberList;StringList
If the number of output ports does not match the number of outputs of the Python function it will happen that the Vision block (Calc Results by) returns “No Output” and the warning: “The number of parameters in the Python script is inconsistent with the number of output ports defined in the Step’s parameter.”
Data Type Mapping
| Input/Output Port | Shape/len | Type | DataType | Comment |
|---|---|---|---|---|
| PoseList | (N,7) | np.array | np.float64 | |
| Pose2DList | (N,3) | np.array | np.float64 | Order: (x,y,theta) |
| NumberList | N | list | float | |
| StringList | N | list | str | |
| Image/Color | (H,W,3) | np.array | np.uint8 | |
| Image/Depth | (H,W,1) | np.array | np.float32 | |
| Cloud(XYZ) | (N,3) | np.array | np.float32 | x,y,z in m |
| Cloud(XYZ-Normal) | (N,7) | np.array | np.float32 | x,y,z in m; Order: (x,y,z,nx,ny,nz,0) |
| Size3DList | (N,3) | np.array | np.float64 | |
| BoolList | N | List | bool | |
| IndexList | N | List | int |
Mech-Vision Lists
It is possible to also pass a list to the Calc Results By Python block. A list in Mech-Vision will be converted to a nested Python list. E.g. PoseList[.] will be converted to a Python list that contains np.arrays.
