Scripts for detecting pin alignment issues from top view camera
Designed by Edwin Lazo, Jean Jakoncic, Herbert J. Bernstein Copyright 29 Jan 2019, Herbert J. Bernstein as a copyleft for the GPL and LGPL Revised 14 Feb 2019, Herbert J. Bernstein, Edwin Lazo improve base tilt detection use pgm instead of jpg Revised 12 Mar 2019, Edwin Lazo, Herbert J. Bernstein Extended configuration after camera realignment
YOU MAY REDISTRIBUTE THE PIN_ALIGN PACKAGE UNDER THE TERMS OF THE GPL
ALTERNATIVELY YOU MAY REDISTRIBUTE THE PIN_ALIGN API UNDER THE TERMS OF THE LGPL
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The pin_align package is a set of scripts the process images from a comera looking down on a mounted pin (with sample) and try to detect issues with the pin and report them before a tilted or bent pin causes collisions.
The approach followed is to take two images, one at omega=0 viewing the X-Z plane, and one at omega=90 viewing the X-Y plane. If the pin is perfectly straight and centered, the two images should superimpose.
The scripts are
pin_align_config.sh -- configurable pin_align settings to be incoroprated in the pin_align scripts all_pin.sh -- a top level example of a script using pin_align.sh pin_align.sh -- the main service script for the run pin_align_prep.sh -- a script to convert a single image into enchanced sub-images showing the tip of the pin, hopefully with sample, the base of the pin, and the cap below the pin. pin_align_split_info.sh -- a script to make the imagemagick image info and populate a list of variable descibing the image geometry
pin_align.sh See the text of the file for details. The important settings are:
# *** UNCOMMENT THE FOLLOWING LINE TO ENABLE DEBUG MODE ***
# export PIN_ALIGN_DEBUG="yes"
# *** EDIT THE FOLLOWING LINE TO CHANGE THE TILT LIMIT ***
PIN_ALIGN_DEFAULT_TILT_LIMIT="25"
# PIN_ALIGN_ROI_WIDTH, PIN_ALIGN_ROI_HEIGHT, in pixels, and
# PIN_ALIGN_ROI_WIDTH_OFFSET and PIN_ALIGN_ROI_HEIGHT__OFFSET
# define the region of interest within which the analysis of
# pin alignment is done. The full image within which the roi
# is defined is implicitly assumed to be 1280x1024, but those
# values are not explicitly used, but the centers
# PIN_ALIGN_IMAGE_WIDTH_CENTER and PIN_ALIGN_IMAGE_HEIGHT_CENTER
# of the original image in pixels are given
# The following six lines give the default values
# *** EDIT THESE LINES TO CHANGE THESE PARAMETERS
PIN_ALIGN_DEFAULT_ROI_WIDTH=$(( 325 ))
PIN_ALIGN_DEFAULT_ROI_HEIGHT=$(( 400 ))
PIN_ALIGN_DEFAULT_ROI_WIDTH_OFFSET=$(( 375 ))
PIN_ALIGN_DEFAULT_ROI_HEIGHT_OFFSET=$(( 312 ))
PIN_ALIGN_DEFAULT_IMAGE_WIDTH_CENTER=$(( 510 ))
PIN_ALIGN_DEFAULT_IMAGE_HEIGHT_CENTER=$((445 ))
# width x height
# + horizontal offset
# + vertical offset
# (offsets origin is top left corner)
# Note: vertical offset must be the same for all.
PIN_ALIGN_PIN_TIP_WINDOW="266x400+375+295"
PIN_ALIGN_BASE_WINDOW="50x400+650+295"
PIN_ALIGN_SUB_BASE_WINDOW="80x400+765+295"
all_pin.sh If not in production environment takes no arguments. Defines PIN_ALIGN_ROOT as the directory from which is has been run and then runs pin_align.sh on the sample images in the kit.
If in production enviroment, takes two arguments, the 0 and
90 degree jpeg images
pin_align.sh image_0 image_90 image_out image_base_out image_sub_base_out [tilt_limit] needs PIN_AIGN_ROOT to have been defined
compare 0 and 90 degree images
writing the resulting pin tip image to image_out
writing the resulting pin base image to image_base_out
writing the resulting pin base cap image to image_sub_base_out
assuming 1280x1024 images
imagemagick convert called as convert
imagemagick compare called as compare
assuming a center at 515 460
assuming 325x400+375+312 ROI
tilt_limit is a limit on the image height in pixels
default 50
export PIN_ALIGN_Y_UP=1; if Y motor axis is up
export PIN_ALIGN_Z_UP=1; if Z motor axis is up
pin_align_prep.sh image_in image_out [base_image_out [sub_base_image_out]] prepare a pin alignment image, image_in, for comparison between omega=0 and 90 degree images writing a 325x400+375+312 sub-image to image_out and optionally a 100x400+650+312 sub-image to base_image_out and optionally a 100x400+750+312 sub-image to sub_base_image_out assuming a 1280x1024 image and imgagemagick convert in the PATH
pin_align_split_info.sh info_string convert an ImgMagick info string in $1 to a set of variable assignments in stdout info_file_name= info_file_type= info_active_image_width= info_active_image_height= info_raw_image_width_offset= info_raw_image_height_offset=
the files mitegenPins_omega_0_centered_001.jpg mitegenPins_omega_90_centered_001.jpg omega_0_001.jpg omega_0_002.jpg omega_0_003.jpg omega_0_004.jpg omega_0_006.jpg omega_0_007.jpg omega_0_008.jpg omega_0_009.jpg omega_0_010.jpg omega_0_011.jpg omega_90_001.jpg omega_90_002.jpg omega_90_003.jpg omega_90_004.jpg omega_90_005.jpg omega_90_006.jpg omega_90_007.jpg omega_90_008.jpg omega_90_009.jpg omega_90_010.jpgmega_90_011.jpg
are the test cases for pin_align, producing what is in all_pin.out