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Grady_Turner
Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Posts: 67 Handy
Is it possible to offset snapshot positions after calibration? |
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Answered | |
/ Most recent by PierreOlivier_Proulx |
7 comments |

I have seen a need for this several times. An example would be a pallet where the nests do not perfectly locate the parts. I have used the robot to iterate through the pallet and take a picture at each pallet position to find the part in the nest.
Is this possible (or could it be possible) to do with the RQ camera kit?
Is this possible (or could it be possible) to do with the RQ camera kit?
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Alexandre_Pare Posts: 56 Crew
@Grady_Turner
This is a good question and I got a similar application where we would need to empty various trays that are stacked one of top of the other. I will have to run some tests on this. This will basically depend on how the math is handled in the camera software. The technique that I am going to try Monday is to offset the snapshot position by a fixed amount every time the code runs through this node, let's say 20mm in a specific direction. And I will share results here. The snapshot position would be the waypoint that is just above the camera locate node. -
PierreOlivier_Proulx Beta Tester VIsion 1.1 Program, Vacuum Beta tester Posts: 69 Handy
@Grady_Turner As it is now, the vision server supports only slight translations on the snapshot position. Let me know what are the results of your tests.
However, I added something in the Camera Locate that makes it possible to offset not only the snapshot position but also the calibration plane. With that modification I was able to unload a stack of three trays. Basically, the plane on which the part detection was made was indexed with the stack height.
I'm short on time but I plan on sending a video of this.
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PierreOlivier_Proulx Beta Tester VIsion 1.1 Program, Vacuum Beta tester Posts: 69 Handy
It is something you will achieve through scripting. In short, hidden in the Camera Locate node, there is variable named snapshot_position_offset that is initialized to p[0,0,0,0,0,0]. If you set this variable, it will offset the calibration plane. You have then to manually offset the snapshot position (tray_var in that case) and move to the new snapshot position. With this example, the teaching was made at the height of the first tray.
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