Movement	H1	N1	hash(N1)	*
<- X ->	ok	ok	ok	ok
<- Y ->	ok	ok	ok
<- C ->	ok	ok	ok
C-Park	ok	ok	👎 FAIL (up,down)
XY-Park	ok	ok	👎 FAIL (up,down)	👎 FAIL (up,down)
<- Z ->	👎 FAIL (no move)	👎 FAIL (no move)	👎 FAIL (up,down)
Z-Park	👎 FAIL (no move)	👎 FAIL (no move)	👎 FAIL (up,down)	👎 FAIL (up,down)
Camera+Mouse	ok	ok	👎 FAIL (up,down)	👎 FAIL (up,move,down)

• FAIL (up,down)
  • 2 consecutive commands issued by OpenPnp/GCodeDriver (see Log-TAB, LogLevel=TRACE)
  • commands are moving the nozzle up and down
  • distance is 0.0 / 42.0
  • 42.0 is the given Safe-Z value
• FAIL (no move)
  • ReferenceNozzle in Log-TAB is active, but not GCodeDriver command is issued
  • Nozzle does not move the commanded activity

Note

This doc uses "Issues" rather than a "Wiki"-page due to the available PictureUpLoadByClipboard.

OpenCV Pipeline Sequence SMD i0805/m2012

ImageRead

• get the image from the camera (color model: RGB, size: as specified by th camera in OpenPnp)
  

ImageWriteDebug

• Store the captured image on the disc. It is important to collect data to check the OpenCV pipeline if changes are necessary. Especially difficult conditions like this overlapping nozzle-tip need to be processed flawlessly.
• prefix: bv_source_ (default)
• suffix: .png (default)

MaskCircle

• diameter: 200
• The chosen diameter is the same as picture size (assumed square picture). It cuts the corners, but keep the entire content in case of nozzle-tip rotation.
  

ConvertColor

• Convert RGB color model to Gray before convert to BlackWhite using a single threshold value
• conversion: Bgr2Grayl
  

Normalize

• fit the current brightness range (defined by the LED lighting setup) to 0 ... 255 for an easy threshold step
• This step is more important in case of difficult lighting respective color range.
  

Threshold

• Convert the image to B/W color model
• threshold: 150
• auto: not_set
• invert: not_set
  

FindContours

OpenCV returns contour regions with the largest size and no sub-regions by using "External".

• approximationMethod: None
• retrievalMode: External ... returns the "extreme outer flags"
• return: list of contours

FilterContours

• Filter small contours for later removal. The size of the interested main region has a large range due to the SMD devices which makes it difficult to filter for with a static set of parameters.
• contoursStageName: the name of the stage providing a list of contours (e.g. FindContours above)
• maxArea: 300
• minArea: 0 ... (-1 has not been verified for same functionality)
• return: list of contours ... (can be empty if nothing has been detected)

DrawContours

Overdraw the small contours with a thick black line to remove the strutures from the B/W image.

• color: Black
• contoursStageName: name of the stage providing a list of contours (e.g. FilterContours above)
• index: -1 (default)
• thickness: 25
  

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