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TinWhiskers / openpnptw

Open Source SMT Pick and Place Hardware and Software
http://openpnp.org
GNU General Public License v3.0
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Strip feeder setup: Use hole vision offsets for more accurate pickup #5

Open FlyingLotus1983 opened 9 years ago

FlyingLotus1983 commented 9 years ago

Currently, OpenPnP gets the start and end hole and then pick blindly along that path.

For more accurate pickup we could look at the holes as we go to correct any weirdness along the way. I think this is less useful, though, with working bottom vision. Bottom vision takes care of the offset better.

vonnieda commented 9 years ago

@FlyingLotus1983 Yep, right now we just get the start and end hole and then pick blindly along that path. For more accurate pickup we could look at the holes as we go to correct any weirdness along the way. I think this is less useful, though, with working bottom vision. Bottom vision takes care of the offset better.

FlyingLotus1983 commented 9 years ago

OK, I updated the description. Personally, I think the best way to do make use of a RANSAC function after capturing all of the candidate circle matches. That can help filter out detected points that clearly can't be part of the tape. It also helps in that it returns a line that most closely represents the true direction of the tape (the least-squares method means that all measured dots have an influence on the line position and slope, not just the start and end detected points.

vonnieda commented 9 years ago

Yep, if we find we need better strip following accuracy that would work well.