Origin Probe

The three probes are means to be used to specify two lines whose intersection is considered the origin or 0,0 position. Use the two probes to specify the X axis and the third to specify the Y axis. By dragging the probes around your image you will see the generated axis lines in the main RoboRealm window being generated. Once complete you can then add additional probe modules into the processing pipeline and select the "Use Origin Variable" within that probe to base its position from the origin specified in this module.

Interface

Instructions

1. Current Image - move the three lines such that they specify the 0,0 location correctly. Note that the two parallel lines should be used to specify a single axis with the third being used to specify an orthogonal axis. You can use the red square to move the entire line, the endpoint squares to move each endpoint individually or change the coordinates using the text boxes below in the Coordinates area.

2. Precision - the precision specifies how each pixel should be divided in order to determine the exact place that the edge occurs. If you have a blurred image you may need to reduce the precision to negative numbers. Negative numbers mean that a edge is comprised of several pixels (i.e. white to black transition occurs slowly over several pixels). If positive the precision will determine where the edge most likely exists between two successive pixels by interpolating values between the two pixel intensities.

3. Smooth Edge - to reduce noisy edges select the amount of smoothing that should be applied to the edge prior to edge detection. This prevents a single sharp noise pixel from being detected as an edge.

4. Edge Threshold - to eliminate very weak edges select an appropriate edge threshold (0-255) that will remove edges whose edge intensity is below the threshold. Note that smoothing the edge will also reduce the edge intensity and thus the Edge Threshold will need to be adjusted after the smoothness is specified.

5. Black to White/White to Black/Any - Specify what kind of transition you would like to detect as an edge. If you have backlit part then the transition from background to object will be White to Black. Any will detect either transition.

6. Show Edges - to visually see which edges are being detected select the appropriate Shape, Color and Size of the marker that will indicate where in the image the edges have been detected. Note that this appears in the main RoboRealm GUI window.

7. Show Axis - Specify the color you want to use to show the origin reference frame in the main RoboRealm GUI window.

8. Coordinates - To fine tune the probe positions you can type in numbers into the appropriate coordinate boxes (they are labeled with the color of the box as seen in the Current Image area) or use the up/down spin controls to increment or decrement the numbers accordingly.

9. Variable - The variables generated specify the translation and rotation needed in order to create a position relative to this new origin. The three variables are then used by other modules to create the reference position. Note that you can also generate or modify these variables in other modules as needed as they are just regular RoboRealm variables.

Variables

ORIGIN_X - the X (horizontal) offset of the generated origin
ORIGIN_Y - the Y (vertical) offset of the generated origin
ORIGIN_ANGLE - the radian angle (rotation) of the generated origin

See Also