org.openpnp.machine.reference.solutions

Class VisionSolutions

java.lang.Object

org.openpnp.machine.reference.solutions.VisionSolutions

All Implemented Interfaces:

Solutions.Subject

public class VisionSolutions
extends java.lang.Object
implements Solutions.Subject

This helper class implements the Issues & Solutions for the Vision milestone.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	VisionSolutions.VisionFeatureIssue

Field Summary

Fields

Modifier and Type	Field and Description
protected long	diagnosticsMilliseconds

Constructor Summary

Constructors

Constructor and Description
VisionSolutions()

Method Summary

Modifier and Type	Method and Description
Length	autoCalibrateCamera(ReferenceCamera camera, HeadMountable movable, java.lang.Double expectedDiameter, java.lang.String diagnostics, boolean secondary) As we don't know anything about the camera yet, the preliminary auto-calibration is somewhat of a chicken and egg proposition.
void	calibrateVisualHoming(ReferenceHead head, ReferenceCamera defaultCamera, Length fiducialDiameter) Calibrate the visual homing.
Location	centerInOnSubjectLocation(ReferenceCamera camera, HeadMountable movable, Length subjectDiameter, java.lang.String diagnostics, boolean secondary) A fiducial/nozzle tip locator using the same built-in subject detection as the auto-calibration.
void	findIssues(Solutions solutions) Report any detected issue and proposed solution in the list.
long	getDiagnosticsMilliseconds()
CvStage.Result.Circle	getExpectedOffsetsAndDiameter(ReferenceCamera camera, HeadMountable movable, Location location, Length expectedDiameter, boolean secondary)
Length	getHomingFiducialDiameter()
double	getSettleAcceptableComputeTime()
double	getSettleMaximumPixelDiff()
double	getSettleTestMoveMm()
double	getSettleWantedResolutionMm()
CvStage.Result.Circle	getSubjectPixelLocation(ReferenceCamera camera, HeadMountable movable, CvStage.Result.Circle expectedOffsetAndDiameter, double extraSearchRange, java.lang.String diagnostics, DetectCircularSymmetry.ScoreRange scoreRange, boolean rough) Before we know anything about the camera, we cannot use pipelines, so we use the DetectCircularSymmetry stage directly.
int	getSuperSampling()
long	getZeroKnowledgeSettleTimeMs()
boolean	isSolvedPrimaryXY(ReferenceHead head)
boolean	isSolvedPrimaryZ(ReferenceHead head)
boolean	isSolvedSecondaryXY(ReferenceHead head)
boolean	isSolvedSecondaryZ(ReferenceHead head)
VisionSolutions	setMachine(ReferenceMachine machine)
void	zeroKnowledgeMoveTo(HeadMountable hm, Location location, boolean safeZ) Moves the head-mountable to a location at safe Z using a conservative backlash-compensation scheme.

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.openpnp.model.Solutions.Subject

getSubjectIcon, getSubjectText

Field Detail

diagnosticsMilliseconds

protected long diagnosticsMilliseconds

Constructor Detail

VisionSolutions

public VisionSolutions()

Method Detail

setMachine

public VisionSolutions setMachine(ReferenceMachine machine)

getSuperSampling

public int getSuperSampling()

getDiagnosticsMilliseconds

public long getDiagnosticsMilliseconds()

getZeroKnowledgeSettleTimeMs

public long getZeroKnowledgeSettleTimeMs()

getSettleWantedResolutionMm

public double getSettleWantedResolutionMm()

getSettleAcceptableComputeTime

public double getSettleAcceptableComputeTime()

getSettleMaximumPixelDiff

public double getSettleMaximumPixelDiff()

getSettleTestMoveMm

public double getSettleTestMoveMm()

findIssues

public void findIssues(Solutions solutions)

Description copied from interface: Solutions.Subject

Report any detected issue and proposed solution in the list.

Specified by:

findIssues in interface Solutions.Subject

autoCalibrateCamera

public Length autoCalibrateCamera(ReferenceCamera camera,
                                  HeadMountable movable,
                                  java.lang.Double expectedDiameter,
                                  java.lang.String diagnostics,
                                  boolean secondary)
                           throws java.lang.Exception

As we don't know anything about the camera yet, the preliminary auto-calibration is somewhat of a chicken and egg proposition. The current solution is very simple: we just stake out three points in the camera view that we assume will always fit in (see zeroKnowledgeDisplacementMm The three points define the X and Y axis grid.

Parameters:

camera -

movable -

expectedDiameter -

diagnostics -

secondary - true if this should calibrate the secondary units per pixel

Returns:

The diameter of the detected feature.

Throws:

java.lang.Exception

centerInOnSubjectLocation

public Location centerInOnSubjectLocation(ReferenceCamera camera,
                                          HeadMountable movable,
                                          Length subjectDiameter,
                                          java.lang.String diagnostics,
                                          boolean secondary)
                                   throws java.lang.Exception

A fiducial/nozzle tip locator using the same built-in subject detection as the auto-calibration. This supports vision calibration early in the machine setup process, i.e. long before the user should be confronted with editing fiducial locator and nozzle tip calibration pipelines.

Parameters:

camera -

movable -

diagnostics -

secondary -

Returns:

Throws:

java.lang.Exception

getExpectedOffsetsAndDiameter

public CvStage.Result.Circle getExpectedOffsetsAndDiameter(ReferenceCamera camera,
                                                           HeadMountable movable,
                                                           Location location,
                                                           Length expectedDiameter,
                                                           boolean secondary)

getSubjectPixelLocation

public CvStage.Result.Circle getSubjectPixelLocation(ReferenceCamera camera,
                                                     HeadMountable movable,
                                                     CvStage.Result.Circle expectedOffsetAndDiameter,
                                                     double extraSearchRange,
                                                     java.lang.String diagnostics,
                                                     DetectCircularSymmetry.ScoreRange scoreRange,
                                                     boolean rough)
                                              throws java.lang.Exception

Before we know anything about the camera, we cannot use pipelines, so we use the DetectCircularSymmetry stage directly. We can get a pixel locations for now.

Parameters:

camera -

movable -

expectedOffsetAndDiameter -

extraSearchRange - Specifies an extra search range, relative to the camera view size (minimum of width, height).

diagnostics -

scoreRange -

rough - TODO

Returns:

The match as a Circle.

Throws:

java.lang.Exception

zeroKnowledgeMoveTo

public void zeroKnowledgeMoveTo(HeadMountable hm,
                                Location location,
                                boolean safeZ)
                         throws java.lang.Exception

Moves the head-mountable to a location at safe Z using a conservative backlash-compensation scheme. Used to get precise camera and camera subject positioning before proper backlash compensation can be configured and calibrated.

Parameters:

hm -

location -

safeZ -

Throws:

java.lang.Exception

isSolvedPrimaryXY

public boolean isSolvedPrimaryXY(ReferenceHead head)

isSolvedPrimaryZ

public boolean isSolvedPrimaryZ(ReferenceHead head)

isSolvedSecondaryXY

public boolean isSolvedSecondaryXY(ReferenceHead head)

isSolvedSecondaryZ

public boolean isSolvedSecondaryZ(ReferenceHead head)

calibrateVisualHoming

public void calibrateVisualHoming(ReferenceHead head,
                                  ReferenceCamera defaultCamera,
                                  Length fiducialDiameter)
                           throws java.lang.Exception

Calibrate the visual homing.

Parameters:

head -

defaultCamera -

fiducialDiameter -

Throws:

java.lang.Exception

getHomingFiducialDiameter

public Length getHomingFiducialDiameter()