Videos

(862 KB) 22 seconds video of the original images moving over the conveyor.

(534 KB) 33 seconds video of the processed results of the parts (note that the video is slowed for viewing purposes).

Notice how the shapes will suddenly appear and disappear when approaching the border. This is the blob filter removing objects whose shape may be altered by the image borders which may cause mismatches.

Pipeline

The following is the processing pipeline as seen within RoboRealm to accomplish the part processing.

Notes:

1. You will need to train the Shape_Match module on a folder that contains the database of images to be matched. You can do this by copying all the images into a single folder, edit the Shape_Match module, press the train button, change the path to your folder and press start.

2. You can view the final variables (like part orientation or COG) by adding in a Watch_Variables module or selecting the appropriate checkbox in the Shape Matching module.

3. You can add in the firewire camera module or other modules to capture images. Or if you have a webcam connected just press the "Camera" button for a live feed.

Robofile

Want to try this yourself? Following is the robofile that should launch RoboRealm with the original image we used in this tutorial. You can click on each of the steps in the pipeline to review what the processing looks like up to that point.

 Download .robo file

To use a video download the top view above and configure the media reader module in this robofile to point to that video. Note that you can slow the video speed down in the media reader to get a slower frame by frame view.

The End

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