VIS: Visual Inspection System
Repository for the server-side of the Danfoss Visual Inspection System capstone project. This must be compiled and run on a Windows machine. The software is compatibe with the Occipital structure sensor, or a mock recording.
Requirements
This project should be used with Visual Studio 2015 Update 3. Packages are managed using vcpkg. The following packages are neccesary to install:
- cpprestsdk
- pcl
It is additionally required that the Kinect SDK V2 be seperately installed. This may be found at https://www.microsoft.com/en-us/download/details.aspx?id=44561.
Command Line Arguments
| Switch | Description |
|---|---|
| --com | The COM port number to use for platform rotation, unneeded if using a file |
| --oni | Path to a .ONI file to use instead of a physical camera |
| --port | The port to listen on |
| --visualizer | Display a visualizer while doing scans |
SPC Binary Point Clouds
It is possible to receive any point cloud as a custom binary format called SPC. This is a simple format consisting of a header and collection of points. The file header has two unsigned 32-bit fields. The first is the number of components per point, the second is the number of points. Each point is then stored sequentially where each component is represented as a 32 bit float.
Endpoints
Note The following is a work in progress. More endpoints will be added in the future to facilitate calibration and likely mesh upload.
GET /object-scan
Attempt to scan a physical object and compute the square error of points in its point cloud. A centered, aligned, four-component point cloud is returned where the fourth component is square distance to closest physical point. The data is currently mocked. Error handling or interruption is not currently implemented.
Paramters
| Name | Type | Description |
|---|---|---|
| mesh-path | string | A path pointing to a reference mesh file obtained from the /mesh-file/all endpoint |
| spc | boolean | (Optional) Whether to use the spc format |
Return Codes
| Status | Description |
|---|---|
| 200 | Scan was successful |
| 400 | Missing parameter or calibration volume has not been set |
| 404 | The mesh was not found |
Sample Response
{
"points": [
[1.0, -1.0, 1.0, 4.5],
[-1.0, 2.0, 1.0, 8.3]
]
}GET /room-scan
Capture a frame from a camera and send the entire room back as a three-component point cloud.
Paramters
| Name | Type | Description |
|---|---|---|
| spc | boolean | (Optional) Whether to use the spc format |
Return Codes
| Status | Description |
|---|---|
| 200 | Scan was successful |
Sample Response
{
"points": [
[1.0, -1.0, 1.0],
[-1.0, 2.0, 1.0]
]
}GET /mesh-file
Downloads a binary STL file corresponding to a mesh in the VIS mesh folder (in the user's documents directory). This will currently use the raw, uncentered mesh but should eventually move to something more controlled and uploaded.
Paramters
| Name | Type | Description |
|---|---|---|
| path | string | A path pointing to a reference mesh file obtained from the /mesh-file/all endpoint |
Return Codes
| Status | Description |
|---|---|
| 200 | All Okay |
| 403 | The path contained an illegal sequence |
| 404 | The mesh was not found |
GET /mesh-file/all
List all possible mesh files that may be downloaded and used as a scan reference. Both of these currently correspond directly to the files on the filesystem.
Sample Response
{
"files": [
{"path": "motor/2017/top_section.stl", "filename": "top_section.stl"},
{"path": "rubber_duck.stl", "filename": "rubber_duck.stl"}
]
}POST /calibration-volume
Set the volume to look at during object scanning. This is represented as a 4x4 affine transformation matrix on a 1x1x1 cube placed at the origin. The matrix should be represented as a 16 element array composed of the matrix element in column-major order.
Sample Body
{
"transform": [
0.24645, 0.01465, 0.01943, 0,
-0.02306, 0.16352, 0.16924, 0,
-0.00203, -0.12225, 0.11809, 0,
0.01083, 0.11231, -0.67500, 1
]
}Return Codes
| Status | Description |
|---|---|
| 200 | All Okay |
| 400 | The uploaded body is invalid |