Re: [Emc-users] opencv for shape recognition

[Gene Heskett]

On Sunday 07 December 2014 12:24:59 Jon Elson did opine
And Gene did reply:
> On 12/07/2014 09:50 AM, Gene Heskett wrote:
> > The lsusb -t (as root) seems to give the needed results:
> > 
> > gene@shop:~/linuxcnc/nc_files$ sudo lsusb  -t
> > /:  Bus 05.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
> > /:  Bus 04.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
> > 
> >  |__ Port 2: Dev 2, If 0, Class=HID, Driver=usbhid, 1.5M
> > 
> > /:  Bus 03.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
> > /:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
> > /:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=ehci_hcd/8p, 480M
> > 
> >  |__ Port 4: Dev 2, If 0, Class='bInterfaceClass 0x0e not yet
> >  |handled',
> > 
> > Driver=uvcvideo, 480M
> > 
> >  |__ Port 4: Dev 2, If 1, Class='bInterfaceClass 0x0e not yet
> >  |handled',
> > 
> > Driver=uvcvideo, 480M
> > 
> > I'd take a wild guess and say that camera actually needs a USB-3.0
> > port?
> 
> No, it probably does not even SUPPORT USB 3.0,  USB 3.0 is a
> 5 gbit/second bit rate!
> USB 1.0 is 1.5 Mbit/sec (called Low Speed), USB 1.1 is 12
> Mbit/sec (Called full speed),
> and USB 2.0 is 480 Mbit/sec (called High Speed).
> It is showing your port 4, Dev 2 as 480 M, so that should be
> USB 2.0.
> So, it may be that your CPU doesn't have enough cycles to
> process the video.
> Are you using software stepping on that machine?  That would
> eat up most
> of the CPU cycles.
> 
> Jon

Yes Jon.  But I played with just the camera by itself, LCNC wasn't running,
and it was not noticeably faster.

And today, with the worldwide button checked, an ebay search did not spit
out one of that style of cameras. 19 megabyte fuji's that look a lot
like my Nikon L120 for under a $100 bill, but nothing in the physical
format of the one I am using.  Christmas demand absorbing them?  Dunno.

Thanks Jon.

And if I can find a suitable motor PSU for my mill that would give me
enough speed to warrant a 5i25 in that box, I'd sure convert it.

And I believe my psu problem was solved by fleabay just now, I found
(one per motor & a spare) & made offer at 22$ for 5, $110 total.



I'll see if it has a trimmer that will turn it down a few volts for safety
with my 2M542 drivers & that will lead to a square tube mount with a fan
blowing down the tube. 3 of those motors are 262oz double stack nema 23's,
and the one on my z axis is a 525oz triple stack, 8 wire, wired in series.
Its timing belt geared down by a 17 to 42 pulley ratio, driving a double
nutted rotating nut assembly what walks itself up and down a piece of 1/2"
10tpi Nook acme screw fixed to the slider casting by rotating the head box
90 degrees to clear access to the casting from above.  Since I put ball
bearing feet on the Z slider, backlash and stiction are essentially gone,
giving me about 2.5 thou for a backlash comp setting in the .ini file.

This mill now is a far cry from the piece of very early Chinese junk I
bought from harbor freight about 20 years ago.

X & Y are ball screw driven now. The Z drive is my own design bolted
to the top of the post that puts the driving screw in front of the post,
and the LMS big tables kit has been installed.  And a rather mickey mouse
overhead pulley for counter weight springing. It's almost a real mill now!
I redo the stuff on it that are the worst itches as I go.  The OEM Z drive
made it useless for anything but a drill press.  Any pressure on a drill
bits tip locked the sled in position on the post so the downforce I was
able to measure maxed out at 5 lbs even if you started to buckle the OEM
screw.  The current lashup can put 155 lbs on a drill bit by the time the
motor slips a cog. An X31 times improvement.

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 
US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS

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Re: [Emc-users] opencv for shape recognition

[Jon Elson]

On 12/07/2014 09:50 AM, Gene Heskett wrote:
>
> The lsusb -t (as root) seems to give the needed results:
>
> gene@shop:~/linuxcnc/nc_files$ sudo lsusb  -t
> /:  Bus 05.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
> /:  Bus 04.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
>  |__ Port 2: Dev 2, If 0, Class=HID, Driver=usbhid, 1.5M
> /:  Bus 03.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
> /:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
> /:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=ehci_hcd/8p, 480M
>  |__ Port 4: Dev 2, If 0, Class='bInterfaceClass 0x0e not yet handled',
> Driver=uvcvideo, 480M
>  |__ Port 4: Dev 2, If 1, Class='bInterfaceClass 0x0e not yet handled',
> Driver=uvcvideo, 480M
>
> I'd take a wild guess and say that camera actually needs a USB-3.0 port?
No, it probably does not even SUPPORT USB 3.0,  USB 3.0 is a 
5 gbit/second bit rate!
USB 1.0 is 1.5 Mbit/sec (called Low Speed), USB 1.1 is 12 
Mbit/sec (Called full speed),
and USB 2.0 is 480 Mbit/sec (called High Speed).
It is showing your port 4, Dev 2 as 480 M, so that should be 
USB 2.0.
So, it may be that your CPU doesn't have enough cycles to 
process the video.
Are you using software stepping on that machine?  That would 
eat up most
of the CPU cycles.

Jon

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Re: [Emc-users] opencv for shape recognition

[Gene Heskett]

On Saturday 06 December 2014 13:23:30 Jon Elson did opine
And Gene did reply:
> On 12/05/2014 10:26 PM, Gene Heskett wrote:
> > Silly Q then. The D525MW board probably has only one usb
> > interface, and since my mouse as also plugged into it,
> > limiting it to USB1.1 speeds, would I gain video speed by
> > sticking a ps2 mouse on the machine, thereby removing the
> > speed limitation the USB1.1 mouse usage imposes
> 
> Probably not.  The USB host port, as far as I know, switches
> to whatever speed the
> device it is talking to at the moment can handle.  Maybe
> not, though, especially
> when you are going through a hub of unknown capability.  It
> is certainly worth
> trying.  You can also get some info on what the host port
> software has configured
> everything as from the lsusb command.
> 
> Jon

The lsusb -t (as root) seems to give the needed results:

gene@shop:~/linuxcnc/nc_files$ sudo lsusb  -t
/:  Bus 05.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
/:  Bus 04.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
|__ Port 2: Dev 2, If 0, Class=HID, Driver=usbhid, 1.5M
/:  Bus 03.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=uhci_hcd/2p, 12M
/:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=ehci_hcd/8p, 480M
|__ Port 4: Dev 2, If 0, Class='bInterfaceClass 0x0e not yet handled', 
Driver=uvcvideo, 480M
|__ Port 4: Dev 2, If 1, Class='bInterfaceClass 0x0e not yet handled', 
Driver=uvcvideo, 480M

I'd take a wild guess and say that camera actually needs a USB-3.0 port?

An lsusb -v is very very verbose, many screens full of stuff from the 
camera as every register in it report about half a screen full of data, 32 
registers for this & that.  Confusing and I am glad emc-camview can sort 
it.
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Cheers, Gene Heskett
-- 
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 soap, ballot, jury, and ammo. Please use in that order."
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Genes Web page 
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Re: [Emc-users] opencv for shape recognition

[Marius Liebenberg]

I love the camera but she mentioned that it is only windows compatible. 
I only use windows where I have no choice but certainly not on any 
machine that I build for myself.
Some very interesting items on that site. And the software looks 
impressive. I will check it our for sure.


On 2014-12-06 18:16, Roland Jollivet wrote:
> Hi Marius
>
> I f you don't have an aversion to M$, then have a look at Roborealm.com .
> It's a very versatile program, and has many interfacing options. You could
> run it on a second pc and have a serial link to process commands.
>
> Also, have a look at this camera. Resolution and colour is quite good.
> Adjustable zoom too !
> http://www.engadget.com/products/microsoft/lifecam/cinema/
>
> It looks much bigger than it is.
>
> See here for a demo;
> https://www.youtube.com/watch?v=-B-PvSuZw3E
>
> Regards
> Roland
>
>
>
> On 5 December 2014 at 15:30, Marius Liebenberg 
> wrote:
>
>> On 2014-12-05 14:17, andy pugh wrote:
>>> On 5 December 2014 at 11:59, Marius Liebenberg 
>> wrote:
 A clever solution. What is the tool table limit?
>>> 56 tools at the moment.
>>>
>> That might not suffice. I had in mind to compare the component to a
>> reference image in a library and then orientate the picked up component
>> to the reference. The offsets are then applied to make the move to the
>> placement location.
>> To set it up one will pick up the component and move to the laction.
>> Once there you would manually adjust the component to fit. This is also
>> done via camera. The component is then not placed but moved to the
>> second camera that will take a picture and save it as reference. The
>> location of the picture in the frame is also saved as it will give the
>> offset later.
>> I will have to play a bit with the image stuff before I commit to a
>> specific implementation method.
>>
>>
>> --
>>
>> Regards /Groete
>>
>> Marius D. Liebenberg
>> +27 82 698 3251
>> +27 12 743 6064
>> QQ 1767394877
>>
>>
>>
>> --
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Regards /Groete

Marius D. Liebenberg
+27 82 698 3251
+27 12 743 6064
QQ 1767394877


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Re: [Emc-users] opencv for shape recognition

[Jon Elson]

On 12/05/2014 10:26 PM, Gene Heskett wrote:
> Silly Q then. The D525MW board probably has only one usb 
> interface, and since my mouse as also plugged into it, 
> limiting it to USB1.1 speeds, would I gain video speed by 
> sticking a ps2 mouse on the machine, thereby removing the 
> speed limitation the USB1.1 mouse usage imposes
Probably not.  The USB host port, as far as I know, switches 
to whatever speed the
device it is talking to at the moment can handle.  Maybe 
not, though, especially
when you are going through a hub of unknown capability.  It 
is certainly worth
trying.  You can also get some info on what the host port 
software has configured
everything as from the lsusb command.

Jon

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[Emc-users] opencv for shape recognition

[Roland Jollivet]

Hi Marius

I f you don't have an aversion to M$, then have a look at Roborealm.com .
It's a very versatile program, and has many interfacing options. You could
run it on a second pc and have a serial link to process commands.

Also, have a look at this camera. Resolution and colour is quite good.
Adjustable zoom too !
http://www.engadget.com/products/microsoft/lifecam/cinema/

It looks much bigger than it is.

See here for a demo;
https://www.youtube.com/watch?v=-B-PvSuZw3E

Regards
Roland



On 5 December 2014 at 15:30, Marius Liebenberg 
wrote:

>
> On 2014-12-05 14:17, andy pugh wrote:
> > On 5 December 2014 at 11:59, Marius Liebenberg 
> wrote:
> >> A clever solution. What is the tool table limit?
> > 56 tools at the moment.
> >
> That might not suffice. I had in mind to compare the component to a
> reference image in a library and then orientate the picked up component
> to the reference. The offsets are then applied to make the move to the
> placement location.
> To set it up one will pick up the component and move to the laction.
> Once there you would manually adjust the component to fit. This is also
> done via camera. The component is then not placed but moved to the
> second camera that will take a picture and save it as reference. The
> location of the picture in the frame is also saved as it will give the
> offset later.
> I will have to play a bit with the image stuff before I commit to a
> specific implementation method.
>
>
> --
>
> Regards /Groete
>
> Marius D. Liebenberg
> +27 82 698 3251
> +27 12 743 6064
> QQ 1767394877
>
>
>
> --
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Re: [Emc-users] opencv for shape recognition

[Gregg Eshelman]

On 12/5/2014 12:49 PM, Dave Cole wrote:

> OpenCV is on my watch list as well.
> I just sent out an estimate for a pick and place using a 3 axis gantry
> robot with gripper and rotator along with some other machinery.
> It's PLC driven at the moment.   It needs move around 1200 parts to do a
> full batch (load and unload a machine)
> The motion programming is not difficult since the parts are held in an
> grid array so the position movements can be calculated.
> In fact, it will be a fairly boring machine to observe and take about 8
> hours to process the 1200 part batch.

Eight hours to move 1200 parts? Look on Youtube for flexpicker robot. 
The Flexpicker gripper can lift odd shaped items and handle things as 
delicate as pancakes without damaging them. One of the videos shows a 
pancake packaging line at Honey Top, using a vision system to sort the 
cakes by size so each package will be as close to the specified wweight 
as possible. It has a temporary storage shelf for when not enough of the 
right sizes have come along to make up the correct weight.

You'll also find videos of similar overhead three and four link systems 
with grippers picking up randomly oriented items and arranging them 
precisely at very high speed.

The speed comes from the very simple mechanical design. One arm mounted 
directly at a 90 degree angle to each motor shaft. At the end of that 
arm is a ball joint connecting a longer arm and at the bottom end of 
that is another ball joint connecting to the tool/effector platform.

Copy that three or four times and you have a robot with no lash or slop 
in any direction and capable of extreme speeds and accuracy.

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Re: [Emc-users] opencv for shape recognition

[Gene Heskett]

On Friday 05 December 2014 21:49:26 Jon Elson did opine
And Gene did reply:
> On 12/05/2014 05:27 PM, Gene Heskett wrote:
> > The thing that impresses the hell out of me was the
> > response time of the video. I have a setup using
> > emc-camview, and it takes 4 or so seconds for the video to
> > show a stable machine position after a move has been done.
> > So while it can be made to work as a homing device with
> > the align buttons, I think, unless a rotation is needed,
> > that I can do it faster and just as accurately by hand.
> 
> I updated the computer on my Bridgeport, and specifically
> got a machine with
> USB 2.0 ports so the camera would update faster.  I'm using
> one of these:

Silly Q then.  The D525MW board probably has only one usb interface, and 
since my mouse as also plugged into it, limiting it to USB1.1 speeds, 
would I gain video speed by sticking a ps2 mouse on the machine, thereby 
removing the speed limitation the USB1.1 mouse usage imposes?

It's a thought that hasn't come up, till you mentioned it, that certainly 
needs investigation.

I might be able to find a ps2 mouse in my midden heap of electronics here. 
But in half an hours excavating, I haven't even found a usb>ps2 adapter & 
I know well there are at least 3 here. I did find a din to ps2 though. And 
indicator of just how old my midden heap in here really is.  I really need 
to do some serious rattlesnake sorting here...  If I don't find one, I'll 
check at Staples the next time I am in Bridgeport.

But its one of those Murphy's Laws, that when I walk back in from buying 
one of those, my eye will catch sight of one of the old ones, and it will 
be right where I put it an unknown amount of calendars thrown away ago.  
Murphy lives here, hell he even drinks my last beer now and again. ;-)
> 
> http://www.ebay.com/itm/200-x-Mini-Portable-USB-Digital-Microscope-Endo
> scope-Otoscope-Camera-with-LED-/271520292928?pt=LH_DefaultDomain_0&hash
> =item3f37dee040
> 
> Although a bunch of the specs are a bit bogus, it is really
> about 640 x 480 pixels,
> but refreshes quite rapidly.  I would guess on this Dell
> GX270 i get at least
> 15 frames/second, in the emc-camview window, with the
> clipping scheme
> that performs the zoom-in.
> 
> Jon

Looks nice, but that mount is as bogus as a 3 dollar bill.  And its 3" 
longer than the one I bought and I couldn't mount it on my toy mill 
without shortening that probably nearly empty tube down to about 1.25" or 
less.
> 
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Cheers, Gene Heskett
-- 
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Genes Web page 
US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS

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Re: [Emc-users] opencv for shape recognition

[Jon Elson]

On 12/05/2014 05:27 PM, Gene Heskett wrote:
> The thing that impresses the hell out of me was the 
> response time of the video. I have a setup using 
> emc-camview, and it takes 4 or so seconds for the video to 
> show a stable machine position after a move has been done. 
> So while it can be made to work as a homing device with 
> the align buttons, I think, unless a rotation is needed, 
> that I can do it faster and just as accurately by hand.
I updated the computer on my Bridgeport, and specifically 
got a machine with
USB 2.0 ports so the camera would update faster.  I'm using 
one of these:

http://www.ebay.com/itm/200-x-Mini-Portable-USB-Digital-Microscope-Endoscope-Otoscope-Camera-with-LED-/271520292928?pt=LH_DefaultDomain_0&hash=item3f37dee040

Although a bunch of the specs are a bit bogus, it is really 
about 640 x 480 pixels,
but refreshes quite rapidly.  I would guess on this Dell 
GX270 i get at least
15 frames/second, in the emc-camview window, with the 
clipping scheme
that performs the zoom-in.

Jon

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Re: [Emc-users] opencv for shape recognition

[Gene Heskett]

On Friday 05 December 2014 04:05:13 Marius Liebenberg did opine
And Gene did reply:
> On 2014-12-05 06:01, sam sokolik wrote:
> > Finally got some time to take a video..  The implementation is pretty
> > embarrassing..
> > 
> > Small hal file that runs opencv - sets some parameters for the
> > houghcircle finder, bluring and some tolerances..
> > 
> > Gcode program tells the hal component to find a circle
> > Hal componant finds circle and sets hal pins of its location
> > Gcode program continues and reads the position from the hal pins.
> > Gcode program calculates how much to move to center the frame
> > 
> > I am not too impressed with the houghcircle function.  I think it
> > should work better but might not understand it.
> > 
> > The view is about .001"/pixel the circle is .25" diameter
> > 
> > http://youtu.be/Pe2RACwiEbg
> > 
> > I will post the hal file and gcode program when I get back to it.
> > 
> > sam
> 
> Sam this is looking good. I am watching this thread with keen interest
> as I will be doing a pick and place machine in the new year.
> 
> > On 10/07/2014 01:06 PM, sam sokolik wrote:
> >> in the future one of my projects is shape recognition.  I have been
> >> wanting to play with it for a while now.
> >> 
> >> bari on irc mentioned
> >> https://github.com/firepick1/FireSight/wiki/firesight
> >> which is based on opencv.  I installed it and it seems to work as
> >> expected.  you can use a command line to test pipelines.  It uses a
> >> c++ library and json for communication.  It is mainly used for pick
> >> and place machines.
> >> 
> >> I wanted to play with python and found that opencv natively has a
> >> python wrapper.. (I may not be using the terms correctly)
> >> 
> >> so I created a small program (mainly a copy and paste from some
> >> examples)
> >> 
> >> http://pastebin.com/AUKgyhAh
> >> 
> >> it takes video from input 0 (my web cam)  looks for circles that are
> >> between 10 and 15 pixels radius and draws a bulls eye.
> >> 
> >> http://electronicsam.com/images/KandT/testing/Screenshot%20from%2020
> >> 14-10-07%2011:27:48.png
> >> 
> >> this is my first real exposure to python. the next step is to see
> >> how I can fidldle hal stuff with it..
> >> 
> >> This seems like it would have some real applications.  There are
> >> different detectors - circles are just one of many..
> >> 
> >> sam

The thing that impresses the hell out of me was the response time of the 
video.  I have a setup using emc-camview, and it takes 4 or so seconds for 
the video to show a stable machine position after a move has been done. So 
while it can be made to work as a homing device with the align buttons, I 
think, unless a rotation is needed, that I can do it faster and just as 
accurately by hand.  And yesterday, after I had mounted a jig to clamp 
work on the table, I ran one of the 3/8" bolts in the end of the clamp 
into my camera, knocking it loose from its super glued position on the 
side of the head.  So I haven't found a round tuit to reglue it and 
recalibrate it.  And the camera itself was so poorly built that I'll need 
to super glue it back into its housing.  A rather gentle tug on the cable 
dislodged it months ago.  Now that the camera and all is no longer "fixed" 
in position, I'll fix it again before I remount & recal.  So many things 
to do, and so little time to do it in. :(

Cheers, Gene Heskett
-- 
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 soap, ballot, jury, and ammo. Please use in that order."
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Genes Web page 
US V Castleman, SCOTUS, Mar 2014 is grounds for Impeaching SCOTUS

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Re: [Emc-users] opencv for shape recognition

[Dave Cole]

On 12/5/2014 8:37 AM, andy pugh wrote:
 A clever solution. What is the tool table limit?
>>> 56 tools at the moment.
>>>
>> That might not suffice. I had in mind to compare the component to a
>> reference image in a library and then orientate the picked up component
>> to the reference.
> If it doesn't need to refer to an actual tool then I think that the
> T-word is unbounded. It certainly can be with a remapped M6. The
> lathe-fanuccy sample config is happy with M6 T (I didn't think to
> try going any higher)
OpenCV is on my watch list as well.
I just sent out an estimate for a pick and place using a 3 axis gantry 
robot with gripper and rotator along with some other machinery.
It's PLC driven at the moment.   It needs move around 1200 parts to do a 
full batch (load and unload a machine)
The motion programming is not difficult since the parts are held in an 
grid array so the position movements can be calculated.
In fact, it will be a fairly boring machine to observe and take about 8 
hours to process the 1200 part batch.

The OpenCV software could be potentially useful for checking parts and 
even more useful for picking up non-oriented parts.

These feeders are being proposed by Fanuc these days along with their 
robots and vision systems.
https://www.youtube.com/watch?v=QA3SYiOcDr4

There is nothing cheap about the Fanuc robot solutions.   And they tack 
on a big premium for a vision assisted robot.
If you can do something similar with a pick and place, it's a LOT cheaper.

Dave








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Re: [Emc-users] opencv for shape recognition

[andy pugh]

>>> A clever solution. What is the tool table limit?
>> 56 tools at the moment.
>>
> That might not suffice. I had in mind to compare the component to a
> reference image in a library and then orientate the picked up component
> to the reference.

If it doesn't need to refer to an actual tool then I think that the
T-word is unbounded. It certainly can be with a remapped M6. The
lathe-fanuccy sample config is happy with M6 T (I didn't think to
try going any higher)

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Re: [Emc-users] opencv for shape recognition

[Marius Liebenberg]

On 2014-12-05 14:17, andy pugh wrote:
> On 5 December 2014 at 11:59, Marius Liebenberg  wrote:
>> A clever solution. What is the tool table limit?
> 56 tools at the moment.
>
That might not suffice. I had in mind to compare the component to a 
reference image in a library and then orientate the picked up component 
to the reference. The offsets are then applied to make the move to the 
placement location.
To set it up one will pick up the component and move to the laction. 
Once there you would manually adjust the component to fit. This is also 
done via camera. The component is then not placed but moved to the 
second camera that will take a picture and save it as reference. The 
location of the picture in the frame is also saved as it will give the 
offset later.
I will have to play a bit with the image stuff before I commit to a 
specific implementation method.


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Re: [Emc-users] opencv for shape recognition

[andy pugh]

On 5 December 2014 at 11:59, Marius Liebenberg  wrote:
> A clever solution. What is the tool table limit?

56 tools at the moment.

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Re: [Emc-users] opencv for shape recognition

[Marius Liebenberg]

On 2014-12-05 12:54, andy pugh wrote:
> On 5 December 2014 at 04:01, sam sokolik  wrote:
>> Finally got some time to take a video..  The implementation is pretty
>> embarrassing..
> For pick-and-place perhaps the way to approach this is as a tool-change?
>
> M6 signals the component to make an acquisition
> (iocontrol.0.tool-change-request ) The tool number could indicate what
> shape to search for.
>
> The Python component performs the shape recognition and sets the XY
> tool offsets:
>
> import linuxcnc
> import opencv
> c = linuxcnc.command()
>
> {opencv magic}
>
> c.tool_offset(toolno, z_offset,  x_offset, diameter, frontangle,
> backangle, orientation)
>
> Then the G-code could issue a G43 and a second move to the original location.

A clever solution. What is the tool table limit?

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Re: [Emc-users] opencv for shape recognition

[andy pugh]

On 5 December 2014 at 04:01, sam sokolik  wrote:
> Finally got some time to take a video..  The implementation is pretty
> embarrassing..

For pick-and-place perhaps the way to approach this is as a tool-change?

M6 signals the component to make an acquisition
(iocontrol.0.tool-change-request ) The tool number could indicate what
shape to search for.

The Python component performs the shape recognition and sets the XY
tool offsets:

import linuxcnc
import opencv
c = linuxcnc.command()

{opencv magic}

c.tool_offset(toolno, z_offset,  x_offset, diameter, frontangle,
backangle, orientation)

Then the G-code could issue a G43 and a second move to the original location.

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Re: [Emc-users] opencv for shape recognition

[Marius Liebenberg]

On 2014-12-05 06:01, sam sokolik wrote:
> Finally got some time to take a video..  The implementation is pretty
> embarrassing..
>
> Small hal file that runs opencv - sets some parameters for the
> houghcircle finder, bluring and some tolerances..
>
> Gcode program tells the hal component to find a circle
> Hal componant finds circle and sets hal pins of its location
> Gcode program continues and reads the position from the hal pins.
> Gcode program calculates how much to move to center the frame
>
> I am not too impressed with the houghcircle function.  I think it should
> work better but might not understand it.
>
> The view is about .001"/pixel the circle is .25" diameter
>
> http://youtu.be/Pe2RACwiEbg
>
> I will post the hal file and gcode program when I get back to it.
>
> sam
>
Sam this is looking good. I am watching this thread with keen interest 
as I will be doing a pick and place machine in the new year.

>
> On 10/07/2014 01:06 PM, sam sokolik wrote:
>> in the future one of my projects is shape recognition.  I have been
>> wanting to play with it for a while now.
>>
>> bari on irc mentioned
>> https://github.com/firepick1/FireSight/wiki/firesight
>> which is based on opencv.  I installed it and it seems to work as
>> expected.  you can use a command line to test pipelines.  It uses a c++
>> library and json for communication.  It is mainly used for pick and
>> place machines.
>>
>> I wanted to play with python and found that opencv natively has a python
>> wrapper.. (I may not be using the terms correctly)
>>
>> so I created a small program (mainly a copy and paste from some examples)
>>
>> http://pastebin.com/AUKgyhAh
>>
>> it takes video from input 0 (my web cam)  looks for circles that are
>> between 10 and 15 pixels radius and draws a bulls eye.
>>
>> http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png
>>
>> this is my first real exposure to python. the next step is to see how I
>> can fidldle hal stuff with it..
>>
>> This seems like it would have some real applications.  There are
>> different detectors - circles are just one of many..
>>
>> sam
>>
>>
>>
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Re: [Emc-users] opencv for shape recognition

[sam sokolik]

Finally got some time to take a video..  The implementation is pretty
embarrassing..

Small hal file that runs opencv - sets some parameters for the
houghcircle finder, bluring and some tolerances..

Gcode program tells the hal component to find a circle
Hal componant finds circle and sets hal pins of its location
Gcode program continues and reads the position from the hal pins.
Gcode program calculates how much to move to center the frame

I am not too impressed with the houghcircle function.  I think it should
work better but might not understand it.

The view is about .001"/pixel the circle is .25" diameter

http://youtu.be/Pe2RACwiEbg

I will post the hal file and gcode program when I get back to it.

sam



On 10/07/2014 01:06 PM, sam sokolik wrote:
> in the future one of my projects is shape recognition.  I have been 
> wanting to play with it for a while now.
>
> bari on irc mentioned
> https://github.com/firepick1/FireSight/wiki/firesight
> which is based on opencv.  I installed it and it seems to work as 
> expected.  you can use a command line to test pipelines.  It uses a c++ 
> library and json for communication.  It is mainly used for pick and 
> place machines.
>
> I wanted to play with python and found that opencv natively has a python 
> wrapper.. (I may not be using the terms correctly)
>
> so I created a small program (mainly a copy and paste from some examples)
>
> http://pastebin.com/AUKgyhAh
>
> it takes video from input 0 (my web cam)  looks for circles that are 
> between 10 and 15 pixels radius and draws a bulls eye.
>
> http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png
>
> this is my first real exposure to python. the next step is to see how I 
> can fidldle hal stuff with it..
>
> This seems like it would have some real applications.  There are 
> different detectors - circles are just one of many..
>
> sam
>
>
>
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Re: [Emc-users] opencv for shape recognition (Scheduling, important for real time)

[Karlsson & Wang]

"Unless you get into custom high-speed cameras or sensors, it takes over 15 mS 
to capture an image (60 Hz video), plus whatever processing time you incur."

This is a typical real time example. If assumption is made one CPU is used 
built into a micro with peripherals or not and same processing is required for 
all images. Dead line will be equal to period which is one of basic 
requirements for 
http://en.wikipedia.org/wiki/Earliest_deadline_first_scheduling and 
http://en.wikipedia.org/wiki/Rate-monotonic_scheduling schedulers. These 
schedulers also happens to be optimal under some assumptions so they should be 
rather important.

How important dead line is not missed is a little bit different matter. For a 
recieve buffer in serial communication it must be kept unless data should be 
lost, it may however be resent again. For a servo loop I guess one missing 
update or extra delay sometimes will not matter to much for most cases in real 
life although it degrade of course degrade performance at least theoretically.


Nicklas Karlsson




On Wed, 08 Oct 2014 08:40:16 -0500
Charles Steinkuehler  wrote:

> On 10/8/2014 8:25 AM, Ralph Stirling wrote:
> > Running OpenCV code in a real time thread would be an entirely different
> > matter, I suspect.  I do not know if the cv2 library would be compatible
> > with real time requirements, or what level of processing could be 
> > accomplished
> > in a reasonable fraction of a servo period.  You would also need to think
> > carefully about what camera you use.  I used a USB2 microscope camera, and
> > I suspect USB2 would be entirely incompatible with the realtime 
> > requirements.
> > Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
> > could talk to it.  I normally just get UVC compatible cameras, but those 
> > are all
> > USB2.
> 
> Unless you get into custom high-speed cameras or sensors, it takes over
> 15 mS to capture an image (60 Hz video), plus whatever processing time
> you incur.  That said, folks have done some pretty amazing things within
> the limitations of standard video and camera systems (sampling at a
> specific point in time and using the calculated "where we were" to
> update the "where we're going" sometime later after a significant
> processing delay while the system is still moving).
> 
> > If you wanted to really get into it, you could work with the machinekit 
> > fork, 
> > and use the Parallella board as your platform. That has a 16 core (or 64 
> > core) 
> > processor that has had OpenCV ported already. There is also a Xilinx fpga 
> > (which contains two Arm cores that run Linux) that could be used for CNC 
> > tasks.  I have one sitting on my desk, but don't know when I'm going to 
> > have 
> > time to play with it.  There would still be the matter of camera 
> > communications.
> 
> Altera has similar parts I'm playing with for work.  Dual-core ARM
> Cortex A9, PCIe, and big chunks of FPGA.  I'm very interested in getting
> the HM2 VHDL code running on this device, but no so concerned with
> OpenCV (even though I already have hardware to run HD-SDI video via the
> high-speed transceivers).  Just not enough time for all the cool
> projects...  :)
> 
> -- 
> Charles Steinkuehler
> char...@steinkuehler.net
> 

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Re: [Emc-users] opencv for shape recognition

[Karlsson & Wang]

You are totally right. There is no imposed constraint on execution time since 
you wait for the image to be acquired and processed before execution continue.

It is exactly as on an ordinary computer where you have to wait for example for 
the home page to load before you read it, up to a certain not well defined 
limit faster is however better.

Nicklas Karlsson



On Wed, 08 Oct 2014 09:01:20 -0500
sam sokolik  wrote:

> I don't need realtime.  The process in my mind would go like this.
> 
> Move camera to target - wait for opencv to acquire target (maybe 
> averaging over a number acuisitions..)  Calculate based on camera 
> location and target location where the target actually is.
> 
> we have some glorified vinyl cutters at work that use target 
> acquisitions to align the sheet.  They are defiantly not realtime. The 
> video processing is done on the windows xp computer - and then gets sent 
> to the machine over a serial connection.
> 
> sam
> 
> 
> On 10/8/2014 8:25 AM, Ralph Stirling wrote:
> > Running OpenCV code in a real time thread would be an entirely different
> > matter, I suspect.  I do not know if the cv2 library would be compatible
> > with real time requirements, or what level of processing could be 
> > accomplished
> > in a reasonable fraction of a servo period.  You would also need to think
> > carefully about what camera you use.  I used a USB2 microscope camera, and
> > I suspect USB2 would be entirely incompatible with the realtime 
> > requirements.
> > Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
> > could talk to it.  I normally just get UVC compatible cameras, but those 
> > are all
> > USB2.
> >
> > If you wanted to really get into it, you could work with the machinekit 
> > fork,
> > and use the Parallella board as your platform. That has a 16 core (or 64 
> > core)
> > processor that has had OpenCV ported already. There is also a Xilinx fpga
> > (which contains two Arm cores that run Linux) that could be used for CNC
> > tasks.  I have one sitting on my desk, but don't know when I'm going to have
> > time to play with it.  There would still be the matter of camera 
> > communications.
> >
> > -- Ralph
> > ____
> > From: Javier Ros [j...@unavarra.es]
> > Sent: Wednesday, October 08, 2014 1:00 AM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] opencv for shape recognition
> >
> > Very interesting Ralph.
> >
> > I always wandered if it would be possible to do head position tracking for
> > robot calibration based on OpenCV. Do you think that this would be possible
> > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > real time based kernel?. If it is possible, I suppose that GPU power could
> > theoretically be made available to OpenCV operations.
> >
> > What is you opinion?.
> >
> > Thanks,
> >
> > Javier
> >
> >
> > On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
> > ralph.stirl...@wallawalla.edu> wrote:
> >
> >> This is what I used to do machine vision homing a couple of years ago:
> >> FitElipse is a function that finds the best fit circle in the frame.  I
> >> can supply
> >> that function too if you like. It is adapted from examples I found online.
> >>
> >> 
> >> # homecart.py
> >> import sys
> >> import urllib2
> >> import random
> >> import cv2.cv as cv
> >> import time
> >> import hal
> >>
> >> if __name__ == '__main__':
> >>
> >>  h = hal.component("homecart")
> >>  h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> >>  h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> >>  h.ready()
> >>
> >>  capture = cv.CaptureFromCAM(0)
> >>
> >>  while True:
> >>  img = cv.QueryFrame(capture)
> >>
> >>  gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
> >>
> >>  cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
> >>
> >>  fe = FitEllipse(gimg, 116)
> >>  h['offset'] = fe.offset
> >>  h['located'] = fe.located
> >>
> >> In the hal file, I have:
> >>
> >> loadusr ./homecart  # Can't have .py on the end of the filename
> >>
> >> then I can use homecart.located and homecard.offset pins.  I can&

Re: [Emc-users] opencv for shape recognition

[Gene Heskett]

On Wednesday 08 October 2014 09:25:56 Ralph Stirling did opine
And Gene did reply:
> Running OpenCV code in a real time thread would be an entirely
> different matter, I suspect.  I do not know if the cv2 library would
> be compatible with real time requirements, or what level of processing
> could be accomplished in a reasonable fraction of a servo period.  You
> would also need to think carefully about what camera you use.  I used
> a USB2 microscope camera, and I suspect USB2 would be entirely
> incompatible with the realtime requirements. Perhaps some PCI bus
> board with internal frame buffer could work, if OpenCV could talk to
> it.  I normally just get UVC compatible cameras, but those are all
> USB2.
> 
> If you wanted to really get into it, you could work with the machinekit
> fork, and use the Parallella board as your platform. That has a 16
> core (or 64 core) processor that has had OpenCV ported already. There
> is also a Xilinx fpga (which contains two Arm cores that run Linux)
> that could be used for CNC tasks.  I have one sitting on my desk, but
> don't know when I'm going to have time to play with it.  There would
> still be the matter of camera communications.
> 
> -- Ralph

I have the camunits kit running on my mill and would make some comments.
1. It does not appear to impinge on my mills performance thru a parport 
interface.

2. Its slow as hell, several seconds expire between a machine move, and 
seeing the final stop on the monitor, so when manually driving the mill to 
a target, the lag in the video processing path means you have to use very 
slow feeds, else you get there, take your finger off the key, and the 
video keeps on going so you have to run it back a teeny peck at a time.

3. My colonoscopy camera is falling apart, it needs to be stuffed back 
into the tube with a drop of superglue. I think I pulled on the cable too 
hard when lowering the head because I was trying to hold it up out of 
harms way.  So much for plans...  Mice & men category. :)

> From: Javier Ros [j...@unavarra.es]
> Sent: Wednesday, October 08, 2014 1:00 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
> 
> Very interesting Ralph.
> 
> I always wandered if it would be possible to do head position tracking
> for robot calibration based on OpenCV. Do you think that this would be
> possible using a real time HAL module, written in C, using the a
> PREEMPT RT PATH real time based kernel?. If it is possible, I suppose
> that GPU power could theoretically be made available to OpenCV
> operations.

That probably would help, a lot.  But not on the kernel we are now using.  
And it introduces another rather large bag of housekeeping LCNC would have 
to do because there are so darned many video cards out there. Our pet 
motherboard ATM is based the atom family, probably using the i915 driver, 
which works, but I've no clue if it can share its gpu core for off chip 
usages.
 
> What is you opinion?.

I think its a software problem, so it can be done. But it will take 
someone more familiar with the requirements, and interfacing those 
requirements with LCNC than I can bring to the table.

> Thanks,
> 
> Javier
> 
> 
> On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
> 
> ralph.stirl...@wallawalla.edu> wrote:
> > This is what I used to do machine vision homing a couple of years
> > ago: FitElipse is a function that finds the best fit circle in the
> > frame.  I can supply
> > that function too if you like. It is adapted from examples I found
> > online.
> > 
> > 
> > # homecart.py
> > import sys
> > import urllib2
> > import random
> > import cv2.cv as cv
> > import time
> > import hal
> > 
> > if __name__ == '__main__':
> > h = hal.component("homecart")
> > h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> > h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> > h.ready()
> > 
> > capture = cv.CaptureFromCAM(0)
> > 
> > while True:
> > img = cv.QueryFrame(capture)
> > 
> > gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
> > 
> > cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
> > 
> > fe = FitEllipse(gimg, 116)
> > h['offset'] = fe.offset
> > h['located'] = fe.located
> > 
> > In the hal file, I have:
> > 
> > loadusr ./homecart  # Can't have .py on the end of the
> > filename
> > 
> > then I can use homecart.located and homecard.offset pins.  I can't
> > fi

Re: [Emc-users] opencv for shape recognition

[Charles Steinkuehler]

On 10/8/2014 8:25 AM, Ralph Stirling wrote:
> Running OpenCV code in a real time thread would be an entirely different
> matter, I suspect.  I do not know if the cv2 library would be compatible
> with real time requirements, or what level of processing could be accomplished
> in a reasonable fraction of a servo period.  You would also need to think
> carefully about what camera you use.  I used a USB2 microscope camera, and
> I suspect USB2 would be entirely incompatible with the realtime requirements.
> Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
> could talk to it.  I normally just get UVC compatible cameras, but those are 
> all
> USB2.

Unless you get into custom high-speed cameras or sensors, it takes over
15 mS to capture an image (60 Hz video), plus whatever processing time
you incur.  That said, folks have done some pretty amazing things within
the limitations of standard video and camera systems (sampling at a
specific point in time and using the calculated "where we were" to
update the "where we're going" sometime later after a significant
processing delay while the system is still moving).

> If you wanted to really get into it, you could work with the machinekit fork, 
> and use the Parallella board as your platform. That has a 16 core (or 64 
> core) 
> processor that has had OpenCV ported already. There is also a Xilinx fpga 
> (which contains two Arm cores that run Linux) that could be used for CNC 
> tasks.  I have one sitting on my desk, but don't know when I'm going to have 
> time to play with it.  There would still be the matter of camera 
> communications.

Altera has similar parts I'm playing with for work.  Dual-core ARM
Cortex A9, PCIe, and big chunks of FPGA.  I'm very interested in getting
the HM2 VHDL code running on this device, but no so concerned with
OpenCV (even though I already have hardware to run HD-SDI video via the
high-speed transceivers).  Just not enough time for all the cool
projects...  :)

-- 
Charles Steinkuehler
char...@steinkuehler.net



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Re: [Emc-users] opencv for shape recognition

[sam sokolik]

I don't need realtime.  The process in my mind would go like this.

Move camera to target - wait for opencv to acquire target (maybe 
averaging over a number acuisitions..)  Calculate based on camera 
location and target location where the target actually is.

we have some glorified vinyl cutters at work that use target 
acquisitions to align the sheet.  They are defiantly not realtime. The 
video processing is done on the windows xp computer - and then gets sent 
to the machine over a serial connection.

sam


On 10/8/2014 8:25 AM, Ralph Stirling wrote:
> Running OpenCV code in a real time thread would be an entirely different
> matter, I suspect.  I do not know if the cv2 library would be compatible
> with real time requirements, or what level of processing could be accomplished
> in a reasonable fraction of a servo period.  You would also need to think
> carefully about what camera you use.  I used a USB2 microscope camera, and
> I suspect USB2 would be entirely incompatible with the realtime requirements.
> Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
> could talk to it.  I normally just get UVC compatible cameras, but those are 
> all
> USB2.
>
> If you wanted to really get into it, you could work with the machinekit fork,
> and use the Parallella board as your platform. That has a 16 core (or 64 core)
> processor that has had OpenCV ported already. There is also a Xilinx fpga
> (which contains two Arm cores that run Linux) that could be used for CNC
> tasks.  I have one sitting on my desk, but don't know when I'm going to have
> time to play with it.  There would still be the matter of camera 
> communications.
>
> -- Ralph
> 
> From: Javier Ros [j...@unavarra.es]
> Sent: Wednesday, October 08, 2014 1:00 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
>
> Very interesting Ralph.
>
> I always wandered if it would be possible to do head position tracking for
> robot calibration based on OpenCV. Do you think that this would be possible
> using a real time HAL module, written in C, using the a PREEMPT RT PATH
> real time based kernel?. If it is possible, I suppose that GPU power could
> theoretically be made available to OpenCV operations.
>
> What is you opinion?.
>
> Thanks,
>
> Javier
>
>
> On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
> ralph.stirl...@wallawalla.edu> wrote:
>
>> This is what I used to do machine vision homing a couple of years ago:
>> FitElipse is a function that finds the best fit circle in the frame.  I
>> can supply
>> that function too if you like. It is adapted from examples I found online.
>>
>> 
>> # homecart.py
>> import sys
>> import urllib2
>> import random
>> import cv2.cv as cv
>> import time
>> import hal
>>
>> if __name__ == '__main__':
>>
>>  h = hal.component("homecart")
>>  h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
>>  h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
>>  h.ready()
>>
>>  capture = cv.CaptureFromCAM(0)
>>
>>  while True:
>>  img = cv.QueryFrame(capture)
>>
>>  gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
>>
>>  cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
>>
>>  fe = FitEllipse(gimg, 116)
>>  h['offset'] = fe.offset
>>  h['located'] = fe.located
>>
>> In the hal file, I have:
>>
>> loadusr ./homecart  # Can't have .py on the end of the filename
>>
>> then I can use homecart.located and homecard.offset pins.  I can't find
>> an example where I actually used it to do the homing though.  I must have
>> gotten distracted by something else before I got that step completed.
>>
>> Hope this is useful.
>>
>> -- Ralph
>>
>>
>>
>> -- Ralph
>> 
>> From: sam sokolik [sa...@empirescreen.com]
>> Sent: Tuesday, October 07, 2014 11:59 AM
>> To: Enhanced Machine Controller (EMC)
>> Subject: Re: [Emc-users] opencv for shape recognition
>>
>> You make it sound /so/ easy...  :)
>>
>> sam
>> On 10/7/2014 1:09 PM, andy pugh wrote:
>>> On 7 October 2014 19:06, sam sokolik  wrote:
>>>> this is my first real exposure to python. the next step is to see how I
>>>> can fidldle hal stuff with it..
>>> import hal
>>>
>>> make hal pins, job done

Re: [Emc-users] opencv for shape recognition

[Ralph Stirling]

Running OpenCV code in a real time thread would be an entirely different
matter, I suspect.  I do not know if the cv2 library would be compatible
with real time requirements, or what level of processing could be accomplished
in a reasonable fraction of a servo period.  You would also need to think
carefully about what camera you use.  I used a USB2 microscope camera, and
I suspect USB2 would be entirely incompatible with the realtime requirements.
Perhaps some PCI bus board with internal frame buffer could work, if OpenCV
could talk to it.  I normally just get UVC compatible cameras, but those are all
USB2.

If you wanted to really get into it, you could work with the machinekit fork, 
and use the Parallella board as your platform. That has a 16 core (or 64 core) 
processor that has had OpenCV ported already. There is also a Xilinx fpga 
(which contains two Arm cores that run Linux) that could be used for CNC 
tasks.  I have one sitting on my desk, but don't know when I'm going to have 
time to play with it.  There would still be the matter of camera communications.

-- Ralph

From: Javier Ros [j...@unavarra.es]
Sent: Wednesday, October 08, 2014 1:00 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] opencv for shape recognition

Very interesting Ralph.

I always wandered if it would be possible to do head position tracking for
robot calibration based on OpenCV. Do you think that this would be possible
using a real time HAL module, written in C, using the a PREEMPT RT PATH
real time based kernel?. If it is possible, I suppose that GPU power could
theoretically be made available to OpenCV operations.

What is you opinion?.

Thanks,

Javier


On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
ralph.stirl...@wallawalla.edu> wrote:

> This is what I used to do machine vision homing a couple of years ago:
> FitElipse is a function that finds the best fit circle in the frame.  I
> can supply
> that function too if you like. It is adapted from examples I found online.
>
> 
> # homecart.py
> import sys
> import urllib2
> import random
> import cv2.cv as cv
> import time
> import hal
>
> if __name__ == '__main__':
>
> h = hal.component("homecart")
> h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> h.ready()
>
> capture = cv.CaptureFromCAM(0)
>
> while True:
> img = cv.QueryFrame(capture)
>
> gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
>
> cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
>
> fe = FitEllipse(gimg, 116)
> h['offset'] = fe.offset
> h['located'] = fe.located
>
> In the hal file, I have:
>
> loadusr ./homecart  # Can't have .py on the end of the filename
>
> then I can use homecart.located and homecard.offset pins.  I can't find
> an example where I actually used it to do the homing though.  I must have
> gotten distracted by something else before I got that step completed.
>
> Hope this is useful.
>
> -- Ralph
>
>
>
> -- Ralph
> 
> From: sam sokolik [sa...@empirescreen.com]
> Sent: Tuesday, October 07, 2014 11:59 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
>
> You make it sound /so/ easy...  :)
>
> sam
> On 10/7/2014 1:09 PM, andy pugh wrote:
> > On 7 October 2014 19:06, sam sokolik  wrote:
> >> this is my first real exposure to python. the next step is to see how I
> >> can fidldle hal stuff with it..
> > import hal
> >
> > make hal pins, job done :-)
> >
> >
>
>
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Re: [Emc-users] opencv for shape recognition

[Karlsson & Wang]

For scheduling in EDF or Rate-monotonic lower frequency threads get lower 
priority so for the scheduling part it should be OK if this is the method used 
for scheduling. If round robin is used which I do not call real time operating 
system it might however and actually will if execution take to much time delay 
other threads. There might of course be other problems.

Do you know how the threads are scheduled?


Nicklas Karlsson



On Wed, 8 Oct 2014 11:55:14 +0200
Javier Ros  wrote:

> So, would that imply that the OpneCV calling module is doable in RT, at
> least if scheduling at a low enough frequency?
> 
> Thanks,
> 
> Javier
> 
> On Wed, Oct 8, 2014 at 11:09 AM, Karlsson & Wang <
> nicklas.karls...@karlssonwang.se> wrote:
> 
> > I do not know about the scheduling for the hal but for ordinary preemptive
> > real time system with EDF or Rate-Monotonic scheduling a suitable priority
> > is the way to do it all the way down to GUI or even slower.
> >
> > Nicklas Karlsson
> >
> >
> >
> >
> > On Wed, 8 Oct 2014 10:05:04 +0100
> > andy pugh  wrote:
> >
> > > On 8 October 2014 09:00, Javier Ros  wrote:
> > > > Do you think that this would be possible
> > > > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > > > real time based kernel?
> > >
> > > I would be surprised if OpenCV was thread-safe or deterministic enough
> > > to run in a real-time thread.
> > >
> > > A userspace HAL module could export pins for use by the real-time
> > > code. This might work well enough.
> > >
> > > --
> > > atp
> > > If you can't fix it, you don't own it.
> > > http://www.ifixit.com/Manifesto
> > >
> > >
> > --
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Re: [Emc-users] opencv for shape recognition

[David Armstrong]

theirs quite a lot of people using opencv for robotic head tracking ,
although iv'e not used it within linuxcnc context as yet

On 8 October 2014 10:09, Karlsson & Wang 
wrote:

> I do not know about the scheduling for the hal but for ordinary preemptive
> real time system with EDF or Rate-Monotonic scheduling a suitable priority
> is the way to do it all the way down to GUI or even slower.
>
> Nicklas Karlsson
>
>
>
>
> On Wed, 8 Oct 2014 10:05:04 +0100
> andy pugh  wrote:
>
> > On 8 October 2014 09:00, Javier Ros  wrote:
> > > Do you think that this would be possible
> > > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > > real time based kernel?
> >
> > I would be surprised if OpenCV was thread-safe or deterministic enough
> > to run in a real-time thread.
> >
> > A userspace HAL module could export pins for use by the real-time
> > code. This might work well enough.
> >
> > --
> > atp
> > If you can't fix it, you don't own it.
> > http://www.ifixit.com/Manifesto
> >
> >
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Re: [Emc-users] opencv for shape recognition

[Javier Ros]

So, would that imply that the OpneCV calling module is doable in RT, at
least if scheduling at a low enough frequency?

Thanks,

Javier

On Wed, Oct 8, 2014 at 11:09 AM, Karlsson & Wang <
nicklas.karls...@karlssonwang.se> wrote:

> I do not know about the scheduling for the hal but for ordinary preemptive
> real time system with EDF or Rate-Monotonic scheduling a suitable priority
> is the way to do it all the way down to GUI or even slower.
>
> Nicklas Karlsson
>
>
>
>
> On Wed, 8 Oct 2014 10:05:04 +0100
> andy pugh  wrote:
>
> > On 8 October 2014 09:00, Javier Ros  wrote:
> > > Do you think that this would be possible
> > > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > > real time based kernel?
> >
> > I would be surprised if OpenCV was thread-safe or deterministic enough
> > to run in a real-time thread.
> >
> > A userspace HAL module could export pins for use by the real-time
> > code. This might work well enough.
> >
> > --
> > atp
> > If you can't fix it, you don't own it.
> > http://www.ifixit.com/Manifesto
> >
> >
> --
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Re: [Emc-users] opencv for shape recognition

[Karlsson & Wang]

I do not know about the scheduling for the hal but for ordinary preemptive real 
time system with EDF or Rate-Monotonic scheduling a suitable priority is the 
way to do it all the way down to GUI or even slower.

Nicklas Karlsson




On Wed, 8 Oct 2014 10:05:04 +0100
andy pugh  wrote:

> On 8 October 2014 09:00, Javier Ros  wrote:
> > Do you think that this would be possible
> > using a real time HAL module, written in C, using the a PREEMPT RT PATH
> > real time based kernel?
> 
> I would be surprised if OpenCV was thread-safe or deterministic enough
> to run in a real-time thread.
> 
> A userspace HAL module could export pins for use by the real-time
> code. This might work well enough.
> 
> -- 
> atp
> If you can't fix it, you don't own it.
> http://www.ifixit.com/Manifesto
> 
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Re: [Emc-users] opencv for shape recognition

[andy pugh]

On 8 October 2014 09:00, Javier Ros  wrote:
> Do you think that this would be possible
> using a real time HAL module, written in C, using the a PREEMPT RT PATH
> real time based kernel?

I would be surprised if OpenCV was thread-safe or deterministic enough
to run in a real-time thread.

A userspace HAL module could export pins for use by the real-time
code. This might work well enough.

-- 
atp
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

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Re: [Emc-users] opencv for shape recognition

[Javier Ros]

Very interesting Ralph.

I always wandered if it would be possible to do head position tracking for
robot calibration based on OpenCV. Do you think that this would be possible
using a real time HAL module, written in C, using the a PREEMPT RT PATH
real time based kernel?. If it is possible, I suppose that GPU power could
theoretically be made available to OpenCV operations.

What is you opinion?.

Thanks,

Javier


On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
ralph.stirl...@wallawalla.edu> wrote:

> This is what I used to do machine vision homing a couple of years ago:
> FitElipse is a function that finds the best fit circle in the frame.  I
> can supply
> that function too if you like. It is adapted from examples I found online.
>
> 
> # homecart.py
> import sys
> import urllib2
> import random
> import cv2.cv as cv
> import time
> import hal
>
> if __name__ == '__main__':
>
> h = hal.component("homecart")
> h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> h.ready()
>
> capture = cv.CaptureFromCAM(0)
>
> while True:
> img = cv.QueryFrame(capture)
>
> gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
>
> cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
>
> fe = FitEllipse(gimg, 116)
> h['offset'] = fe.offset
> h['located'] = fe.located
>
> In the hal file, I have:
>
> loadusr ./homecart  # Can't have .py on the end of the filename
>
> then I can use homecart.located and homecard.offset pins.  I can't find
> an example where I actually used it to do the homing though.  I must have
> gotten distracted by something else before I got that step completed.
>
> Hope this is useful.
>
> -- Ralph
>
>
>
> -- Ralph
> 
> From: sam sokolik [sa...@empirescreen.com]
> Sent: Tuesday, October 07, 2014 11:59 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
>
> You make it sound /so/ easy...  :)
>
> sam
> On 10/7/2014 1:09 PM, andy pugh wrote:
> > On 7 October 2014 19:06, sam sokolik  wrote:
> >> this is my first real exposure to python. the next step is to see how I
> >> can fidldle hal stuff with it..
> > import hal
> >
> > make hal pins, job done :-)
> >
> >
>
>
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Re: [Emc-users] opencv for shape recognition

[TJoseph Powderly]

On 10/07/2014 01:09 PM, andy pugh wrote:
> On 7 October 2014 19:06, sam sokolik  wrote:
>> this is my first real exposure to python. the next step is to see how I
>> can fidldle hal stuff with it..
>
> import hal
>
> make hal pins, job done :-)
>
>
how about
make hal pins do stuff?

cmd='halcmd sets mysignalname '+str(myValue)
subprocess.call(cmd, shell=True)


tjtr33
tomp

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Re: [Emc-users] opencv for shape recognition

[Charles Buckley]

http://www.reddit.com/r/3Dprinting/comments/2ighl5/what_is_your_biggest_complaint_about_3d_printing/

Charles

On Tue, Oct 7, 2014 at 1:20 PM, sam sokolik  wrote:

> I have not seen the reddit discussion.. Link?
>
> sam
> On 10/7/2014 2:12 PM, Charles Buckley wrote:
> > Is this related to the discussion on reddit?
> >
> > Charles Buckley
> >
> > On Tue, Oct 7, 2014 at 12:06 PM, sam sokolik 
> wrote:
> >
> >> in the future one of my projects is shape recognition.  I have been
> >> wanting to play with it for a while now.
> >>
> >> bari on irc mentioned
> >> https://github.com/firepick1/FireSight/wiki/firesight
> >> which is based on opencv.  I installed it and it seems to work as
> >> expected.  you can use a command line to test pipelines.  It uses a c++
> >> library and json for communication.  It is mainly used for pick and
> >> place machines.
> >>
> >> I wanted to play with python and found that opencv natively has a python
> >> wrapper.. (I may not be using the terms correctly)
> >>
> >> so I created a small program (mainly a copy and paste from some
> examples)
> >>
> >> http://pastebin.com/AUKgyhAh
> >>
> >> it takes video from input 0 (my web cam)  looks for circles that are
> >> between 10 and 15 pixels radius and draws a bulls eye.
> >>
> >>
> >>
> http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png
> >>
> >> this is my first real exposure to python. the next step is to see how I
> >> can fidldle hal stuff with it..
> >>
> >> This seems like it would have some real applications.  There are
> >> different detectors - circles are just one of many..
> >>
> >> sam
> >>
> >>
> >>
> >>
> >>
> --
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Re: [Emc-users] opencv for shape recognition

[Bari]

When I get some more time I'd like to integrate OpenCV into Linuxnc for 
vision guided pick-n-place rather than work on the firepick
http://delta.firepick.org/  project. It's just too much of a toy for my 
applications.

Some may find this of interest as well:
https://github.com/firepick1/FireREST/wiki

I

On 10/07/2014 01:06 PM, sam sokolik wrote:
> in the future one of my projects is shape recognition.  I have been
> wanting to play with it for a while now.
>
> bari on irc mentioned
> https://github.com/firepick1/FireSight/wiki/firesight
> which is based on opencv.  I installed it and it seems to work as
> expected.  you can use a command line to test pipelines.  It uses a c++
> library and json for communication.  It is mainly used for pick and
> place machines.
>
> I wanted to play with python and found that opencv natively has a python
> wrapper.. (I may not be using the terms correctly)
>
> so I created a small program (mainly a copy and paste from some examples)
>
> http://pastebin.com/AUKgyhAh
>
> it takes video from input 0 (my web cam)  looks for circles that are
> between 10 and 15 pixels radius and draws a bulls eye.
>
> http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png
>
> this is my first real exposure to python. the next step is to see how I
> can fidldle hal stuff with it..
>
> This seems like it would have some real applications.  There are
> different detectors - circles are just one of many..
>
> sam
>
>
>
> --
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Re: [Emc-users] opencv for shape recognition

[Ralph Stirling]

This is what I used to do machine vision homing a couple of years ago:
FitElipse is a function that finds the best fit circle in the frame.  I can 
supply
that function too if you like. It is adapted from examples I found online.


# homecart.py
import sys
import urllib2
import random
import cv2.cv as cv
import time
import hal

if __name__ == '__main__':

h = hal.component("homecart")
h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
h.ready()

capture = cv.CaptureFromCAM(0)

while True:
img = cv.QueryFrame(capture)

gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)

cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)

fe = FitEllipse(gimg, 116)
h['offset'] = fe.offset
h['located'] = fe.located

In the hal file, I have:

loadusr ./homecart  # Can't have .py on the end of the filename

then I can use homecart.located and homecard.offset pins.  I can't find
an example where I actually used it to do the homing though.  I must have
gotten distracted by something else before I got that step completed.

Hope this is useful.

-- Ralph



-- Ralph

From: sam sokolik [sa...@empirescreen.com]
Sent: Tuesday, October 07, 2014 11:59 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] opencv for shape recognition

You make it sound /so/ easy...  :)

sam
On 10/7/2014 1:09 PM, andy pugh wrote:
> On 7 October 2014 19:06, sam sokolik  wrote:
>> this is my first real exposure to python. the next step is to see how I
>> can fidldle hal stuff with it..
> import hal
>
> make hal pins, job done :-)
>
>

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Re: [Emc-users] opencv for shape recognition

[sam sokolik]

I have not seen the reddit discussion.. Link?

sam
On 10/7/2014 2:12 PM, Charles Buckley wrote:
> Is this related to the discussion on reddit?
>
> Charles Buckley
>
> On Tue, Oct 7, 2014 at 12:06 PM, sam sokolik  wrote:
>
>> in the future one of my projects is shape recognition.  I have been
>> wanting to play with it for a while now.
>>
>> bari on irc mentioned
>> https://github.com/firepick1/FireSight/wiki/firesight
>> which is based on opencv.  I installed it and it seems to work as
>> expected.  you can use a command line to test pipelines.  It uses a c++
>> library and json for communication.  It is mainly used for pick and
>> place machines.
>>
>> I wanted to play with python and found that opencv natively has a python
>> wrapper.. (I may not be using the terms correctly)
>>
>> so I created a small program (mainly a copy and paste from some examples)
>>
>> http://pastebin.com/AUKgyhAh
>>
>> it takes video from input 0 (my web cam)  looks for circles that are
>> between 10 and 15 pixels radius and draws a bulls eye.
>>
>>
>> http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png
>>
>> this is my first real exposure to python. the next step is to see how I
>> can fidldle hal stuff with it..
>>
>> This seems like it would have some real applications.  There are
>> different detectors - circles are just one of many..
>>
>> sam
>>
>>
>>
>>
>> --
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Re: [Emc-users] opencv for shape recognition

[Charles Buckley]

Is this related to the discussion on reddit?

Charles Buckley

On Tue, Oct 7, 2014 at 12:06 PM, sam sokolik  wrote:

> in the future one of my projects is shape recognition.  I have been
> wanting to play with it for a while now.
>
> bari on irc mentioned
> https://github.com/firepick1/FireSight/wiki/firesight
> which is based on opencv.  I installed it and it seems to work as
> expected.  you can use a command line to test pipelines.  It uses a c++
> library and json for communication.  It is mainly used for pick and
> place machines.
>
> I wanted to play with python and found that opencv natively has a python
> wrapper.. (I may not be using the terms correctly)
>
> so I created a small program (mainly a copy and paste from some examples)
>
> http://pastebin.com/AUKgyhAh
>
> it takes video from input 0 (my web cam)  looks for circles that are
> between 10 and 15 pixels radius and draws a bulls eye.
>
>
> http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png
>
> this is my first real exposure to python. the next step is to see how I
> can fidldle hal stuff with it..
>
> This seems like it would have some real applications.  There are
> different detectors - circles are just one of many..
>
> sam
>
>
>
>
> --
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Re: [Emc-users] opencv for shape recognition

[sam sokolik]

You make it sound /so/ easy...  :)

sam
On 10/7/2014 1:09 PM, andy pugh wrote:
> On 7 October 2014 19:06, sam sokolik  wrote:
>> this is my first real exposure to python. the next step is to see how I
>> can fidldle hal stuff with it..
> import hal
>
> make hal pins, job done :-)
>
>

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Re: [Emc-users] opencv for shape recognition

[Bari]

If you can draw templates of what the expected shape of the gear 
cutters, then with a good enough camera and lighting, pattern match the 
cutters for best fit.


On 10/07/2014 01:14 PM, Dave Caroline wrote:
> I have a number of gear cutters, only marking is a serial no, I want
> to measure and quantify... I wonder if I can draw calculated curves,
> sizes and forms, and work out what they are.
>
> Dave Caroline
>
> On 07/10/2014, sam sokolik  wrote:
>> in the future one of my projects is shape recognition.  I have been
>> wanting to play with it for a while now.
>>
>> bari on irc mentioned
>> https://github.com/firepick1/FireSight/wiki/firesight
>> which is based on opencv.  I installed it and it seems to work as
>> expected.  you can use a command line to test pipelines.  It uses a c++
>> library and json for communication.  It is mainly used for pick and
>> place machines.
>>
>> I wanted to play with python and found that opencv natively has a python
>> wrapper.. (I may not be using the terms correctly)
>>
>> so I created a small program (mainly a copy and paste from some examples)
>>
>> http://pastebin.com/AUKgyhAh
>>
>> it takes video from input 0 (my web cam)  looks for circles that are
>> between 10 and 15 pixels radius and draws a bulls eye.
>>
>> http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png
>>
>> this is my first real exposure to python. the next step is to see how I
>> can fidldle hal stuff with it..
>>
>> This seems like it would have some real applications.  There are
>> different detectors - circles are just one of many..
>>
>> sam
>>
>>
>>
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Re: [Emc-users] opencv for shape recognition

[Dave Caroline]

I have a number of gear cutters, only marking is a serial no, I want
to measure and quantify... I wonder if I can draw calculated curves,
sizes and forms, and work out what they are.

Dave Caroline

On 07/10/2014, sam sokolik  wrote:
> in the future one of my projects is shape recognition.  I have been
> wanting to play with it for a while now.
>
> bari on irc mentioned
> https://github.com/firepick1/FireSight/wiki/firesight
> which is based on opencv.  I installed it and it seems to work as
> expected.  you can use a command line to test pipelines.  It uses a c++
> library and json for communication.  It is mainly used for pick and
> place machines.
>
> I wanted to play with python and found that opencv natively has a python
> wrapper.. (I may not be using the terms correctly)
>
> so I created a small program (mainly a copy and paste from some examples)
>
> http://pastebin.com/AUKgyhAh
>
> it takes video from input 0 (my web cam)  looks for circles that are
> between 10 and 15 pixels radius and draws a bulls eye.
>
> http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png
>
> this is my first real exposure to python. the next step is to see how I
> can fidldle hal stuff with it..
>
> This seems like it would have some real applications.  There are
> different detectors - circles are just one of many..
>
> sam
>
>
>
> --
> Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer
> Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports
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> Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer
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> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>

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Re: [Emc-users] opencv for shape recognition

[andy pugh]

On 7 October 2014 19:06, sam sokolik  wrote:
> this is my first real exposure to python. the next step is to see how I
> can fidldle hal stuff with it..

import hal

make hal pins, job done :-)


-- 
atp
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

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[Emc-users] opencv for shape recognition

[sam sokolik]

in the future one of my projects is shape recognition.  I have been 
wanting to play with it for a while now.

bari on irc mentioned
https://github.com/firepick1/FireSight/wiki/firesight
which is based on opencv.  I installed it and it seems to work as 
expected.  you can use a command line to test pipelines.  It uses a c++ 
library and json for communication.  It is mainly used for pick and 
place machines.

I wanted to play with python and found that opencv natively has a python 
wrapper.. (I may not be using the terms correctly)

so I created a small program (mainly a copy and paste from some examples)

http://pastebin.com/AUKgyhAh

it takes video from input 0 (my web cam)  looks for circles that are 
between 10 and 15 pixels radius and draws a bulls eye.

http://electronicsam.com/images/KandT/testing/Screenshot%20from%202014-10-07%2011:27:48.png

this is my first real exposure to python. the next step is to see how I 
can fidldle hal stuff with it..

This seems like it would have some real applications.  There are 
different detectors - circles are just one of many..

sam



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