org.openpnp.gui.processes

Class CalibrateCameraProcess

java.lang.Object

org.openpnp.gui.processes.CalibrateCameraProcess

public abstract class CalibrateCameraProcess
extends java.lang.Object

Guides the operator on calibrating a camera with step by step instructions.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	CalibrateCameraProcess.CameraCalibrationProcessProperties

Field Summary

Fields

Modifier and Type	Field and Description
protected CameraWalker	cameraWalker
protected java.util.ArrayList<Point>	expectedImagePointsList
protected java.lang.Boolean	previousProceedActionResult
protected java.util.ArrayList<java.lang.Integer>	testPatternIndiciesList
protected java.util.ArrayList<Location>	testPatternLocationsList
protected Mat	transformImageToMachine

Constructor Summary

Constructors

Constructor and Description
CalibrateCameraProcess(MainFrame mainFrame, CameraView cameraView, java.util.List<Location> calibrationLocations, java.util.ArrayList<java.lang.Integer> detectionDiameters, int automationLevel)

Method Summary

Modifier and Type	Method and Description
protected void	cleanUpWhenCancelled() Clean-up when the process is cancelled
protected void	cleanUpWhenDone() Clean-up when the process is done/cancelled
protected abstract void	processCanceled() This method is called when the raw calibration data collection has been canceled and must be overridden to perform any necessary clean-up
protected abstract void	processRawCalibrationData(double[][][] testPattern3dPoints, double[][][] testPatternImagePoints, Size size, double mirrored, double apparentMotionDirection) This method is called when the raw calibration data collection has completed and must be overridden to process the raw calibration data into a usable form
protected boolean	repeatAction() Action to repeat the calibration collection at another height
protected void	showCircle(org.opencv.core.Point center, int radius, java.awt.Color color) Overlays a circle on the camera's view
protected void	showPoint(org.opencv.core.Point point, java.awt.Color color) Overlays a point (displayed as a +) on the camera's view
protected void	showPointAndCircle(org.opencv.core.Point point, org.opencv.core.Point center, int radius, java.awt.Color color) Overlays a point (displayed as a +) and a circle on the camera's view
protected void	showPointAndCircle(org.opencv.core.Point point, org.opencv.core.Point center, int radius, java.awt.Color pointColor, java.awt.Color circleColor) Overlays a point (displayed as a +) and a circle on the camera's view

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

transformImageToMachine

protected Mat transformImageToMachine

expectedImagePointsList

protected java.util.ArrayList<Point> expectedImagePointsList

testPatternLocationsList

protected java.util.ArrayList<Location> testPatternLocationsList

testPatternIndiciesList

protected java.util.ArrayList<java.lang.Integer> testPatternIndiciesList

previousProceedActionResult

protected java.lang.Boolean previousProceedActionResult

cameraWalker

protected CameraWalker cameraWalker

Constructor Detail

CalibrateCameraProcess

public CalibrateCameraProcess(MainFrame mainFrame,
                              CameraView cameraView,
                              java.util.List<Location> calibrationLocations,
                              java.util.ArrayList<java.lang.Integer> detectionDiameters,
                              int automationLevel)
                       throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

processRawCalibrationData

protected abstract void processRawCalibrationData(double[][][] testPattern3dPoints,
                                                  double[][][] testPatternImagePoints,
                                                  Size size,
                                                  double mirrored,
                                                  double apparentMotionDirection)
                                           throws java.lang.Exception

This method is called when the raw calibration data collection has completed and must be overridden to process the raw calibration data into a usable form

Parameters:

testPattern3dPoints - - A List of N x 1 MatOfPoint3f containing the 3D machine coordinates of the corresponding image points in testPatternImagePoints

testPatternImagePoints - - A List of N x 1 MatOfPoint2f containing the 2D image points of the corresponding machine coordinates in testPatternImagePoints

size - - the size of the images

mirrored - - -1.0 if the raw camera image coordinates are mirrored (flipped) relative to the machine coordinates, +1.0 otherwise

apparentMotionDirection - - +1.0 if the apparent motion of objects in the images moves in the same direction as the machine moves, -1.0 otherwise

Throws:

java.lang.Exception

processCanceled

protected abstract void processCanceled()

This method is called when the raw calibration data collection has been canceled and must be overridden to perform any necessary clean-up

repeatAction

protected boolean repeatAction()

Action to repeat the calibration collection at another height

Returns:

true when complete

cleanUpWhenDone

protected void cleanUpWhenDone()

Clean-up when the process is done/cancelled

cleanUpWhenCancelled

protected void cleanUpWhenCancelled()

Clean-up when the process is cancelled

showPoint

protected void showPoint(org.opencv.core.Point point,
                         java.awt.Color color)

Overlays a point (displayed as a +) on the camera's view

Parameters:

point - - the location, in pixels, of the +

color - - the color of the +

showCircle

protected void showCircle(org.opencv.core.Point center,
                          int radius,
                          java.awt.Color color)

Overlays a circle on the camera's view

Parameters:

center - - the center, in pixels, of the circle

radius - - the radius, in pixels, of the circle

color - - the color of the circle

showPointAndCircle

protected void showPointAndCircle(org.opencv.core.Point point,
                                  org.opencv.core.Point center,
                                  int radius,
                                  java.awt.Color color)

Overlays a point (displayed as a +) and a circle on the camera's view

Parameters:

point - - the center, in pixels, of the +

center - - the center, in pixels, of the circle

radius - - the radius, in pixels, of the circle

color - - the color of the + and the circle

showPointAndCircle

protected void showPointAndCircle(org.opencv.core.Point point,
                                  org.opencv.core.Point center,
                                  int radius,
                                  java.awt.Color pointColor,
                                  java.awt.Color circleColor)

Overlays a point (displayed as a +) and a circle on the camera's view

Parameters:

point - - the center, in pixels, of the +

center - - the center, in pixels, of the circle

radius - - the radius, in pixels, of the circle

pointColor - - the color of the +

circleColor - - the color of the circle