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shape and size fred from United States [2 posts] |
16 year
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Hello Steven:
Nice program. this newbie is trying to isolate the edges of pieces of roofing slate such as the one attached. I hope to use the edge data to feed a robot which will pick the slate, trim it, and drill it, and then repalletize it. I get most of the way there with a flood fill and convolution filter but the high contrast in this pic is throwing me off. Also I'd like to be able to measure size in inches and not just in pixels as most of the tutorial/doc pages I've found detail. This piece is 6" by 8".
Thanks
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fred from United States [2 posts] |
16 year
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OK a bit more reading on some of the shape recognition stuff and I discovered automatic thresholding. Here is the result I wanted. l need more flexibility to handle irregular pieces coming down a converyor and do a line probe on an unknown size piece. Thx.
program.robo
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Anonymous |
16 year
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Fred,
What is the gripper on the robot like? Is it a suction cup? Or a XY type of gripper? The reason for the question is what the desired location in the slate is needed. COG would be fine for a suction cup, but actual square coord are needed for XY type.
I think you're going in the right direction using the line probes ... but what we came up with might be a little more forgiving in terms of orientation. Basically we isolate the slate in very much the same way you do and then use the Blob_Replace module to replace the detected shape with a best match quadrilateral (a four sided shape that does not need each side to be equal in length or any particular angle). This then produces an MEQ variable with the coordinates of the quad that encompasses the slate. From here on you'd need to take those 4 coordinates and determine where and how the robot would lift the slate. (see attached robofile).
This is making a big assumption that whatever comes down the line is somewhat a square/rect/quad ... if this is not the case do you have pictures of those that break this assumption and/or perhaps an indication of if these should be discarded? Perhaps if the quad had a confidence factor you might be able to use this for QA?
The cool thing about vision is there are many ways to solve one problem ... the bad this is there are many ways to solve a problem ... so keep experimenting!
STeven.
program.robo
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