haimer_probe

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Automate LinuxCNC with machine vision by detecting and probing holes while reading the dial of a Haimer 3D Sensor

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# haimer_probe
Use webcams to read a Haimer 3D Sensor and to estimate dimensions of holes, and interface both to LinuxCNC.

Use machine vision to 1) read the mechanical gauge dial face of a Haimer 3D Sensor probe and create an electronic probe for LinuxCNC; and with a second webcam estimate the positions of holes that are then verified with automated sensing of the Haimer 3D Sensor.

A Microsoft LifeCam Cinema webcam is attached to a Haimer 3D Taser with a 3d printed part. The software monitors the two hands of the dial face, presenting debug views, and returning the combined value of the two dials. Keyboard commands begin edge probing and circle center locating. This code is then extended with a second downward facing webcam that detects and estimates dimensions of holes. The dimensions of the holes are then directly measured with the Haimer probe.

Examples of identifying and probing holes: https://www.youtube.com/watch?v=7mBQwIzaiaQ
Examples of reading mechanical gauge: https://www.youtube.com/watch?v=w3novypPqos

## Keyboard commands (haimer_camera.py)
* p: toggle display updates, image analysis continues
* r: toggle recording raw and displayed frames (overwriting)
* s: save current raw and displayed frames (non-overwriting)
* z: toggle tare (zeroing) calculations
* d: toggle debug view stages of image analysis
* q: quit
* KEY_LEFT: move pivot point to the left
* KEY_UP: move pivot point up
* KEY_RIGHT: move pivot point to the right
* KEY_DOWN: move pivot point down

## Keyboard commands (z_camera.py)
* p: toggle display updates, image analysis continues
* l: lock in holes (identical to 'p', no longer needed?)
* r: toggle recording raw and displayed frames (overwriting)
* s: save current raw and displayed frames (non-overwriting)
* a: perform alignment of a plate by selecting four corners and entering physical dimensions
* q: quit
* 0, 1, 2, 3: change view (change to 'd' of haimer_camera.py?)

## Keyboard commands (linuxcnc_driver.py)
These commands are in addition to those inherited from haimer_camera.py (highest priority) and z_camera.py.

The additional commands are best seen on a numeric keypad. The direction shown on the keypad indicates the direction the probe approaches the part.

* g: probe the dimensions of all the holes found by z_camera.py
* t: toggle touch-off mode, if touch-off mode is active, the following commands have priority
* 0: find center of hole, internal edges
* 4: find edge moving to the left, -x
* 6: find edge moving to the right, +x
* 8: find edge moving forward, away from operator, +y
* 2: find edge moving aft, towards the operator, -y
* 5: find top surface, moving down, towards part
* 1: find upper-right corner, moving to the left, then around the corner, and then towards the operator
* 3: find upper-left corner, moving to the right, then around the corner, and then towards the operator
* 7: find lower-right corner, moving to the left, then around the corner, and then away from the operator
* 9: find lower-left corner, moving to the right, then around the corner, and then away from the operator

## Some references
http://www.insticc.org/Primoris/Resources/PaperPdf.ashx?idPaper=73860
https://github.com/intel-iot-devkit/python-cv-samples/tree/master/examples/analog-gauge-reader
https://www.researchgate.net/publication/282582478_Machine_Vision_Based_Automatic_Detection_Method_of_Indicating_Values_of_a_Pointer_Gauge/fulltext/5686db1508ae051f9af42749/Machine-Vision-Based-Automatic-Detection-Method-of-Indicating-Values-of-a-Pointer-Gauge.pdf
https://www.degruyter.com/view/j/phys.2019.17.issue-1/phys-2019-0010/phys-2019-0010.xml
https://pdfs.semanticscholar.org/639e/d0c018925e6b900e6ddd2956b63ffd5f56dc.pdf
https://pdfs.semanticscholar.org/7083/1ea22f494e044c4861b3fb2bbfad578dd9a1.pdf

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