IDS XS TOOLS - UiS

Class and functions for processing images and puck objects

installation

pip install IDS-XS-TOOLS-UiS

contents

ImageFunctions

Functions to capture image, find pucks and test if image is blurry.

Puck Class

Used to define a Puck object. 
Happens automatically when a puck is detected using QR-Reader.

Puck class contains:
puck number
puck position
puck angle
puck height

function examples;

capture_image(cam, gripper_height)
Captures an image and returns image array Gripper height is needed.

findPucks(cam, robot, robtarget_pucks, cam_comp=False)
Finds all pucks in the frame of the camera by capturing an image and scanning the image for QR codes. After the codes have been pinpointed, a series of transformations happen to finally create robtargets which can be sent to RobotWare. Robot, previous found pucks and wether camera compensation has been performed or not is needed.

set_position(self, position)
Set the [x,y] coordinate belonging to the puck.

example of use

# Two ways to import:
import ids_xs_tools

# or
from ids_xs_tools import ImageFunctions, Puck

# Then again two ways to excecute wanted commands:
ids_xs_tools.ImageFunctions.findPucks(config.cam, norbert, robtarget_pucks, 195)

# or
ImageFunctions.findPucks(config.cam, norbert, robtarget_pucks, 195)