org.openpnp.util

Class VisionUtils

java.lang.Object

org.openpnp.util.VisionUtils

public class VisionUtils
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	PIPELINE_CONTROL_PROPERTY_NAME
static java.lang.String	PIPELINE_RESULTS_NAME

Constructor Summary

Constructors

Constructor and Description
VisionUtils()

Method Summary

Modifier and Type	Method and Description
static long[][]	computeImageHistogram(java.awt.image.BufferedImage image) Compute an RGB histogram over the provided image.
static long[][]	computeImageHistogramHsv(java.awt.image.BufferedImage image) Compute an HSV histogram over the provided image.
static PartAlignment.PartAlignmentOffset	findPartAlignmentOffsets(PartAlignment p, Part part, BoardLocation boardLocation, Location placementLocation, Nozzle nozzle)
static Camera	getBottomVisionCamera()
static Point	getLocationPixelCenterOffsets(Camera camera, HeadMountable tool, Location location) Get a location camera center offsets in pixels.
static Point	getLocationPixelCenterOffsets(Camera camera, Location location) Get a location camera center offsets in pixels.
static Point	getLocationPixels(Camera camera, HeadMountable tool, Location location) Get a location in camera pixels.
static Point	getLocationPixels(Camera camera, Location location) Get a location in camera pixels.
static double	getPixelAngle(Camera camera, double angle) Get an angle in the OpenPNP coordinate system from an angle in the camera pixel coordinate system.
static Location	getPixelCenterOffsets(Camera camera, double x, double y) Given pixel coordinates within the frame of the Camera's image, get the offsets from Camera center to the coordinates in Camera space and units.
static Location	getPixelLocation(Camera camera, double x, double y) Get the Location of a set of pixel coordinates referenced to the center of the given camera.
static Location	getPixelLocation(Camera camera, HeadMountable tool, double x, double y) Same as getPixelLocation() but including the tool specific calibration offset.
static Location	getPixelOffsets(Camera camera, double offsetX, double offsetY) Given pixel offset coordinates, get the same offsets in Camera space and units.
static java.lang.String	readQrCode(Camera camera) Using the given camera, try to find a QR code and return it's text.
static Part	readyHomingFiducialWithDiameter(Length fiducialDiameter, boolean overwrite) Ready the FIDUCIAL-HOME, either by returning the existing part or creating a new part with the given circular fiducialDiameter.
static java.lang.String	scanBarcode(Camera camera) Using the given camera, try to find any supported barcode and return it's text.
static java.util.List<Location>	sortLocationsByDistance(Location origin, java.util.List<Location> locations)
static double	toPixels(Area area, Camera camera)
static double	toPixels(Length length, Camera camera)

Methods inherited from class java.lang.Object

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

Field Detail

PIPELINE_RESULTS_NAME

public static final java.lang.String PIPELINE_RESULTS_NAME

See Also:

Constant Field Values

PIPELINE_CONTROL_PROPERTY_NAME

public static final java.lang.String PIPELINE_CONTROL_PROPERTY_NAME

See Also:

Constant Field Values

Constructor Detail

VisionUtils

public VisionUtils()

Method Detail

getPixelCenterOffsets

public static Location getPixelCenterOffsets(Camera camera,
                                             double x,
                                             double y)

Given pixel coordinates within the frame of the Camera's image, get the offsets from Camera center to the coordinates in Camera space and units. The resulting value is the distance the Camera can be moved to be centered over the pixel coordinates. Example: If the x, y coordinates describe a position above and to the left of the center of the camera the offsets will be -,+. If the coordinates position are below and to the right of center the offsets will be +, -. Calling camera.getLocation().add(getPixelCenterOffsets(...) will give you the location of x, y with respect to the center of the camera.

Parameters:

camera -

x -

y -

Returns:

getPixelOffsets

public static Location getPixelOffsets(Camera camera,
                                       double offsetX,
                                       double offsetY)

Given pixel offset coordinates, get the same offsets in Camera space and units.

Parameters:

camera -

offsetX -

offsetY -

Returns:

getPixelLocation

public static Location getPixelLocation(Camera camera,
                                        double x,
                                        double y)

Get the Location of a set of pixel coordinates referenced to the center of the given camera. This is a helper method that simply adds the offsets from getPixelCenterOffsets(Camera, double, double) to the Camera's current location.

Parameters:

camera -

x -

y -

Returns:

getPixelLocation

public static Location getPixelLocation(Camera camera,
                                        HeadMountable tool,
                                        double x,
                                        double y)

Same as getPixelLocation() but including the tool specific calibration offset.

Parameters:

camera -

tool -

x -

y -

Returns:

getPixelAngle

public static double getPixelAngle(Camera camera,
                                   double angle)

Get an angle in the OpenPNP coordinate system from an angle in the camera pixel coordinate system. The angle needs to be sign reversed to reflect the fact that the Z and Y axis are sign reversed. OpenPNP uses a coordinate system with Z pointing towards the viewer, Y pointing up. OpenCV however uses one with Z pointing away from the viewer, Y pointing downwards. Right-handed rotation must be sign-reversed. See getPixelCenterOffsets(Camera, double, double).

Parameters:

camera -

angle -

Returns:

sortLocationsByDistance

public static java.util.List<Location> sortLocationsByDistance(Location origin,
                                                               java.util.List<Location> locations)

getBottomVisionCamera

public static Camera getBottomVisionCamera()
                                    throws java.lang.Exception

Throws:

java.lang.Exception

toPixels

public static double toPixels(Length length,
                              Camera camera)

toPixels

public static double toPixels(Area area,
                              Camera camera)

getLocationPixels

public static Point getLocationPixels(Camera camera,
                                      Location location)

Get a location in camera pixels. This is the reverse transformation of getPixelLocation().

Parameters:

location -

camera -

Returns:

getLocationPixels

public static Point getLocationPixels(Camera camera,
                                      HeadMountable tool,
                                      Location location)

Get a location in camera pixels. This is the reverse transformation of getPixelLocation(tool). This overload includes the tool specific calibration offset.

Parameters:

camera -

tool -

location -

Returns:

getLocationPixelCenterOffsets

public static Point getLocationPixelCenterOffsets(Camera camera,
                                                  Location location)

Get a location camera center offsets in pixels.

Parameters:

location -

camera -

Returns:

getLocationPixelCenterOffsets

public static Point getLocationPixelCenterOffsets(Camera camera,
                                                  HeadMountable tool,
                                                  Location location)

Get a location camera center offsets in pixels. This overload includes the tool specific calibration offset.

Parameters:

camera -

tool -

location -

Returns:

readQrCode

public static java.lang.String readQrCode(Camera camera)
                                   throws java.lang.Exception

Using the given camera, try to find a QR code and return it's text. This is just a wrapper for the generic scanBarcode(Camera) function. This one was added before the other and I don't want to remove it in case people are using it, but it does the same thing.

Parameters:

camera -

Returns:

Throws:

java.lang.Exception

scanBarcode

public static java.lang.String scanBarcode(Camera camera)
                                    throws java.lang.Exception

Using the given camera, try to find any supported barcode and return it's text.

Parameters:

camera -

Returns:

Throws:

java.lang.Exception

findPartAlignmentOffsets

public static PartAlignment.PartAlignmentOffset findPartAlignmentOffsets(PartAlignment p,
                                                                         Part part,
                                                                         BoardLocation boardLocation,
                                                                         Location placementLocation,
                                                                         Nozzle nozzle)
                                                                  throws java.lang.Exception

Throws:

java.lang.Exception

computeImageHistogram

public static long[][] computeImageHistogram(java.awt.image.BufferedImage image)

Compute an RGB histogram over the provided image.

Parameters:

image -

Returns:

the histogram as long[channel][value] with channel 0=Red 1=Green 2=Blue and value 0...255.

computeImageHistogramHsv

public static long[][] computeImageHistogramHsv(java.awt.image.BufferedImage image)

Compute an HSV histogram over the provided image.

Parameters:

image -

Returns:

the histogram as long[channel][value] with channel 0=Hue 1=Saturation 2=Value and value 0...255.

readyHomingFiducialWithDiameter

public static Part readyHomingFiducialWithDiameter(Length fiducialDiameter,
                                                   boolean overwrite)
                                            throws java.lang.Exception

Ready the FIDUCIAL-HOME, either by returning the existing part or creating a new part with the given circular fiducialDiameter.

Parameters:

fiducialDiameter -

overwrite - If the FIDUCIAL-HOME already exists, overwrite it and make sure it has the given fiducialDiameter and circular shape.

Returns:

The FIDUCIAL-HOME part.

Throws:

java.lang.Exception