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fix pipeline defaults for nozzle runout compensation #739

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fix pipeline defaults for nozzle runout compensation #739

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0b6f3fd
remove bottom camera offset in machine.xml
jbussmann Jan 1, 2025
8b3472c
improve cv-pipeline for nozzle tips in machine.xml
jbussmann Jan 1, 2025
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14 changes: 7 additions & 7 deletions openpnp/machine.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand Down