From 0b6f3fdc614af6aa5ed535a4872eb43f8abad666 Mon Sep 17 00:00:00 2001
From: jbussmann <66941457+jbussmann@users.noreply.github.com>
Date: Wed, 1 Jan 2025 16:59:43 +0100
Subject: [PATCH 1/2] remove bottom camera offset in machine.xml

---
 openpnp/machine.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpnp/machine.xml b/openpnp/machine.xml
index 90b640ce5..433362364 100644
--- a/openpnp/machine.xml
+++ b/openpnp/machine.xml
@@ -364,7 +364,7 @@
       <signalers/>
       <feeders/>
       <cameras>
-         <camera class="org.openpnp.machine.reference.camera.OpenPnpCaptureCamera" id="CAM1614803235898" name="Bottom" looking="Up" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" max-relative-motion="0.05" min-motion-template-match-score="0.9" min-contrast-range="16.0" settle-method="FixedTime" settle-time-ms="500" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="10.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="true" flip-y="false" offset-x="-60" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="ACT1605385237291" allow-machine-actuators="false" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" unique-id="LumenPnP Bottom: LumenPnP Botto usb-0000:00:14.0-2" format-id="0" freeze-properties="false">
+         <camera class="org.openpnp.machine.reference.camera.OpenPnpCaptureCamera" id="CAM1614803235898" name="Bottom" looking="Up" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" max-relative-motion="0.05" min-motion-template-match-score="0.9" min-contrast-range="16.0" settle-method="FixedTime" settle-time-ms="500" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="10.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="true" flip-y="false" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="ACT1605385237291" allow-machine-actuators="false" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" unique-id="LumenPnP Bottom: LumenPnP Botto usb-0000:00:14.0-2" format-id="0" freeze-properties="false">
             <units-per-pixel units="Millimeters" x="0.03669725" y="0.03703704" z="0.0" rotation="0.0"/>
             <default-z value="61.0" units="Millimeters"/>
             <vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>

From 8b3472c361674de76dee24fb4a9361b384985121 Mon Sep 17 00:00:00 2001
From: jbussmann <66941457+jbussmann@users.noreply.github.com>
Date: Wed, 1 Jan 2025 17:46:46 +0100
Subject: [PATCH 2/2] improve cv-pipeline for nozzle tips in machine.xml

---
 openpnp/machine.xml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/openpnp/machine.xml b/openpnp/machine.xml
index 433362364..b4bfac24f 100644
--- a/openpnp/machine.xml
+++ b/openpnp/machine.xml
@@ -711,7 +711,7 @@
                   <stages>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="100" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="5" max-diameter="25" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="11" max-diameter="14" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
@@ -766,7 +766,7 @@
                   <stages>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="5" max-diameter="25" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="2.0" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="20" max-diameter="25" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="2.0" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
@@ -816,7 +816,7 @@
                   <stages>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="35" max-diameter="55" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="35" max-diameter="44" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
@@ -866,7 +866,7 @@
                   <stages>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="70" max-diameter="90" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="60" max-diameter="75" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
@@ -921,7 +921,7 @@
                   <stages>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="40" max-diameter="85" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="101" max-diameter="124" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
@@ -971,7 +971,7 @@
                   <stages>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="40" max-diameter="70" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="190" max-diameter="233" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
                      <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>