org.openpnp.machine.reference.vision

Class ReferenceFiducialLocator

java.lang.Object

org.openpnp.machine.reference.vision.ReferenceFiducialLocator

All Implemented Interfaces:

FiducialLocator, PropertySheetHolder

public class ReferenceFiducialLocator
extends java.lang.Object
implements FiducialLocator

Implements an algorithm for finding a set of fiducials on a board and returning the correct orientation for the board.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ReferenceFiducialLocator.PartSettings

Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder

PropertySheetHolder.PropertySheet

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	enabledAveraging
protected java.util.Map<java.lang.String,ReferenceFiducialLocator.PartSettings>	partSettingsByPartId
protected CvPipeline	pipeline
protected int	repeatFiducialRecognition

Constructor Summary

Constructors

Constructor and Description
ReferenceFiducialLocator()

Method Summary

Modifier and Type	Method and Description
static CvPipeline	createDefaultPipeline()
static java.util.List<Placement>	getBestFiducials(java.util.List<Placement> fiducials) Gets the best fiducials from the given list.
PropertySheetHolder[]	getChildPropertySheetHolders()
Location	getHomeFiducialLocation(Location location, Part part) Given a placement containing a fiducial, attempt to find the fiducial using the vision system.
Wizard	getPartConfigurationWizard(Part part) Get a Wizard for configuring the FiducialLocator instance properties for a specific Part.
ReferenceFiducialLocator.PartSettings	getPartSettings(Part part)
java.util.Map<java.lang.String,ReferenceFiducialLocator.PartSettings>	getPartSettingsByPartId()
CvPipeline	getPipeline()
javax.swing.Action[]	getPropertySheetHolderActions()
javax.swing.Icon	getPropertySheetHolderIcon()
java.lang.String	getPropertySheetHolderTitle()
PropertySheetHolder.PropertySheet[]	getPropertySheets()
int	getRepeatFiducialRecognition()
boolean	isEnabledAveraging()
Location	locateBoard(BoardLocation boardLocation)
Location	locateBoard(BoardLocation boardLocation, boolean checkPanel)
void	setEnabledAveraging(boolean enabledAveraging)
void	setPipeline(CvPipeline pipeline)
void	setRepeatFiducialRecognition(int repeatFiducialRecognition)

Methods inherited from class java.lang.Object

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

Field Detail

pipeline

protected CvPipeline pipeline

partSettingsByPartId

protected java.util.Map<java.lang.String,ReferenceFiducialLocator.PartSettings> partSettingsByPartId

enabledAveraging

protected boolean enabledAveraging

repeatFiducialRecognition

protected int repeatFiducialRecognition

Constructor Detail

ReferenceFiducialLocator

public ReferenceFiducialLocator()

Method Detail

locateBoard

public Location locateBoard(BoardLocation boardLocation)
                     throws java.lang.Exception

Specified by:

locateBoard in interface FiducialLocator

Throws:

java.lang.Exception

locateBoard

public Location locateBoard(BoardLocation boardLocation,
                            boolean checkPanel)
                     throws java.lang.Exception

Specified by:

locateBoard in interface FiducialLocator

Throws:

java.lang.Exception

getBestFiducials

public static java.util.List<Placement> getBestFiducials(java.util.List<Placement> fiducials)

Gets the best fiducials from the given list. If there are at least three fiducials that are non-colinear, the three that are most distant from one another will be returned. Otherwise the two most distant ones will be returned. If there are less than three fiducials in the list altogether then the list is returned unchanged. Note that given the above rules, the returned list can contain 0, 1, 2, or 3 fiducials. No other number of results will be returned.

Parameters:

fiducials -

Returns:

getHomeFiducialLocation

public Location getHomeFiducialLocation(Location location,
                                        Part part)
                                 throws java.lang.Exception

Given a placement containing a fiducial, attempt to find the fiducial using the vision system. The function first moves the camera to the ideal location of the fiducial based on the board location. It then performs a template match against a template generated from the fiducial's footprint. These steps are performed thrice to "home in" on the fiducial. Finally, the location is returned. If the fiducial was not able to be located with any degree of certainty the function returns null.

Specified by:

getHomeFiducialLocation in interface FiducialLocator

Parameters:

location, - part

Returns:

Throws:

java.lang.Exception

isEnabledAveraging

public boolean isEnabledAveraging()

setEnabledAveraging

public void setEnabledAveraging(boolean enabledAveraging)

getRepeatFiducialRecognition

public int getRepeatFiducialRecognition()

setRepeatFiducialRecognition

public void setRepeatFiducialRecognition(int repeatFiducialRecognition)

getPipeline

public CvPipeline getPipeline()

setPipeline

public void setPipeline(CvPipeline pipeline)

createDefaultPipeline

public static CvPipeline createDefaultPipeline()

getPropertySheetHolderTitle

public java.lang.String getPropertySheetHolderTitle()

Specified by:

getPropertySheetHolderTitle in interface PropertySheetHolder

getChildPropertySheetHolders

public PropertySheetHolder[] getChildPropertySheetHolders()

Specified by:

getChildPropertySheetHolders in interface PropertySheetHolder

getPropertySheets

public PropertySheetHolder.PropertySheet[] getPropertySheets()

Specified by:

getPropertySheets in interface PropertySheetHolder

getPropertySheetHolderActions

public javax.swing.Action[] getPropertySheetHolderActions()

Specified by:

getPropertySheetHolderActions in interface PropertySheetHolder

getPropertySheetHolderIcon

public javax.swing.Icon getPropertySheetHolderIcon()

Specified by:

getPropertySheetHolderIcon in interface PropertySheetHolder

getPartSettings

public ReferenceFiducialLocator.PartSettings getPartSettings(Part part)

getPartSettingsByPartId

public java.util.Map<java.lang.String,ReferenceFiducialLocator.PartSettings> getPartSettingsByPartId()

getPartConfigurationWizard

public Wizard getPartConfigurationWizard(Part part)

Description copied from interface: FiducialLocator

Get a Wizard for configuring the FiducialLocator instance properties for a specific Part.

Specified by:

getPartConfigurationWizard in interface FiducialLocator

Returns: