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machine_default_clean.xml
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machine_default_clean.xml
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<openpnp-machine>
<machine class="org.openpnp.machine.reference.ReferenceMachine" speed="1.0" auto-tool-select="true">
<axes>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS16bd85ee0f945014" name="x" type="X" driver-id="DRV16bd85ee0f68e988" backlash-compensation-method="None" backlash-speed-factor="0.25" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="false" soft-limit-high-enabled="false" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="0.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="0.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="333.3333333333333" units="Millimeters"/>
<acceleration-per-second-2 value="666.6666666666666" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>1.0E-4</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS16bd85ee0f9a6454" name="y" type="Y" driver-id="DRV16bd85ee0f68e988" backlash-compensation-method="None" backlash-speed-factor="0.25" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="false" soft-limit-high-enabled="false" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="0.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="0.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="333.3333333333333" units="Millimeters"/>
<acceleration-per-second-2 value="666.6666666666666" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>1.0E-4</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceVirtualAxis" id="AXS16bd85ee0f9bf1fc" name="zTop" type="Z">
<home-coordinate value="0.0" units="Millimeters"/>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceVirtualAxis" id="AXS16bd85ee0f9c7ab4" name="rotationTop" type="Rotation">
<home-coordinate value="0.0" units="Millimeters"/>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS16bd85ee0f9cf494" name="zN1" type="Z" driver-id="DRV16bd85ee0f68e988" backlash-compensation-method="None" backlash-speed-factor="0.25" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="false" soft-limit-high-enabled="false" safe-zone-low-enabled="true" safe-zone-high-enabled="true" version="0.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="0.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="333.3333333333333" units="Millimeters"/>
<acceleration-per-second-2 value="666.6666666666666" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>1.0E-4</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS16bd85ee0f9db654" name="rotationN1" type="Rotation" driver-id="DRV16bd85ee0f68e988" backlash-compensation-method="None" backlash-speed-factor="0.25" limit-rotation="true" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="false" soft-limit-high-enabled="false" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="0.0">
<home-coordinate value="0.0" units="Millimeters"/>
<acceptable-tolerance value="0.025" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<sneak-up-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="0.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="3333.3333333333335" units="Millimeters"/>
<acceleration-per-second-2 value="6666.666666666667" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>1.0E-4</resolution>
</axis>
</axes>
<heads>
<head class="org.openpnp.machine.reference.ReferenceHead" id="H1" name="H1" visual-homing-method="None" nozzle-solution="Standalone" nozzle-solutions-multiplier="1">
<nozzles>
<nozzle class="org.openpnp.machine.reference.ReferenceNozzle" axis-X-id="AXS16bd85ee0f945014" axis-Y-id="AXS16bd85ee0f9a6454" axis-Z-id="AXS16bd85ee0f9cf494" axis-rotation-id="AXS16bd85ee0f9db654" id="N1" name="N1" rotation-mode="AbsolutePartAngle" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" current-nozzle-tip-id="NT1" changer-enabled="false" nozzle-tip-changed-on-manual-feed="false" enable-dynamic-safe-z="false" version="200" limit-rotation="true">
<compatible-nozzle-tip-ids class="java.util.ArrayList">
<string>NT1</string>
</compatible-nozzle-tip-ids>
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<manual-nozzle-tip-change-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<vacuum-sense-actuator-name>A1</vacuum-sense-actuator-name>
<vacuum-actuator-name>A1</vacuum-actuator-name>
</nozzle>
</nozzles>
<actuators>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="AL1" name="LIGHT_TOP" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" coordinated-before-actuate="false" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="ActuateOff" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="A1" name="A1" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="0">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
</actuators>
<cameras>
<camera class="org.openpnp.machine.reference.camera.ImageCamera" axis-X-id="AXS16bd85ee0f945014" axis-Y-id="AXS16bd85ee0f9a6454" axis-Z-id="AXS16bd85ee0f9bf1fc" axis-rotation-id="AXS16bd85ee0f9c7ab4" id="C1" name="Top" looking="Down" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="true" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" settle-method="FixedTime" settle-time-ms="250" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="24.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="false" flip-y="false" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="AL1" allow-machine-actuators="false" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" width="640" height="480" simulated-rotation="0.0" simulated-scale="1.0" simulated-distortion="0.0" simulated-Y-rotation="0.0" simulated-flipped="false" pick-location-tolerance-mm="0.1" pick-location-minimum-score="0.87" place-location-tolerance-mm="0.1" place-location-minimum-score="0.58" filter-test-image-vision="true" sub-pixel-rendering="true">
<units-per-pixel units="Millimeters" x="0.04233" y="0.04233" z="0.0" rotation="0.0"/>
<vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<calibration enabled="false">
<camera-matrix length="9">9.790664507948598E-307, 8.901049178745824E-307, 1.3796232038413928E-306, 1.7802139097116895E-306, 8.066380802661206E-308, 1.7802016869952074E-306, 9.456945872663062E-308, 1.056949128135162E-307, 1.6021849138205E-306</camera-matrix>
<distortion-coefficients length="5">4.9E-324, 0.0, 3.3951932661E-313, 0.0, 0.0</distortion-coefficients>
</calibration>
<advanced-calibration enabled="false" overriding-old-transforms-and-distortion-correction-settings="false" valid="false" data-available="false" alpha-percent="100" rotation-error-z="0.0" rotation-error-y="0.0" rotation-error-x="0.0" rms-error="0.0" desired-radial-lines-per-test-pattern="32" test-pattern-fill-fraction="0.9" walking-loop-gain="0.5" approximate-camera-f="1000.0" mirrored="1.0" apparent-motion-direction="1.0" width-fov="0.0" height-fov="0.0" virtual-width-fov="0.0" virtual-height-fov="0.0">
<camera-matrix length="9">0.0, 3.81E-321, 0.0, 0.0, 0.0, 1.07730105E-316, 1.0773153E-316, 6.9518776323124E-310, 6.9518776323124E-310</camera-matrix>
<distortion-coefficients length="5">4.9E-324, 0.0, 8.487983166E-314, 0.0, 0.0</distortion-coefficients>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-first="true" count="3"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="detect_circle" enabled="true" min-diameter="18" max-diameter="25" max-distance="100" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" property-name="DetectCircularSymmetry" outer-margin="0.1" inner-margin="0.1" sub-sampling="8" super-sampling="8" diagnostics="false" heat-map="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="detect_circle"/>
</stages>
</pipeline>
<virtual-camera-matrix length="9">1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0</virtual-camera-matrix>
<rectification-matrix length="9">1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0</rectification-matrix>
<vector-from-mach-to-phy-cam-in-mach-ref-frame length="3">0.0, 0.0, 0.0</vector-from-mach-to-phy-cam-in-mach-ref-frame>
<unit-vector-phy-cam-Z-in-mach-ref-frame length="3">0.0, 0.0, 0.0</unit-vector-phy-cam-Z-in-mach-ref-frame>
<vector-from-mach-to-vir-cam-in-mach-ref-frame length="3">0.0, 0.0, 0.0</vector-from-mach-to-vir-cam-in-mach-ref-frame>
<vector-from-phy-cam-to-desired-principal-point-in-phy-cam-ref-frame length="3">0.0, 0.0, 0.0</vector-from-phy-cam-to-desired-principal-point-in-phy-cam-ref-frame>
<saved-test-pattern-3-d-points-list length="0"/>
<saved-test-pattern-image-points-list length="0"/>
<modeled-test-pattern-image-points-list length="0"/>
<outlier-points length="0"/>
<trial-step value="0.5" units="Millimeters"/>
<calibrated-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</advanced-calibration>
<focus-provider class="org.openpnp.machine.reference.camera.AutoFocusProvider" averaged-frames="1" focus-speed="0.5" show-diagnostics="true">
<focal-resolution value="0.05" units="Millimeters"/>
</focus-provider>
<source-uri>classpath://samples/pnp-test/pnp-test.png</source-uri>
<image-units-per-pixel units="Millimeters" x="0.04233" y="0.04233" z="0.0" rotation="0.0"/>
<focal-length value="6.0" units="Millimeters"/>
<sensor-diagonal value="4.4" units="Millimeters"/>
<primary-fiducial units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<secondary-fiducial units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</camera>
</cameras>
<park-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<soft-limits-enabled>false</soft-limits-enabled>
<homing-fiducial-location units="Millimeters" x="5.736" y="6.112" z="0.0" rotation="0.0"/>
<calibration-primary-fiducial-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<calibration-secondary-fiducial-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</head>
</heads>
<signalers/>
<feeders>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F5" name="Upper Strips - 1" enabled="true" part-id="R0805-1K" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="138.715" y="88.244" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="139.057" y="84.226" z="0.0" rotation="0.0"/>
<part-pitch value="4.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F6" name="Upper Strips - 2" enabled="true" part-id="R0805-1K" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="155.055" y="87.275" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="154.713" y="83.314" z="0.0" rotation="0.0"/>
<part-pitch value="4.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F7" name="Upper Strips - 3" enabled="true" part-id="R0805-1K" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
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<camera class="org.openpnp.machine.reference.camera.SimulatedUpCamera" id="C2" name="Bottom" looking="Up" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="true" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" settle-method="FixedTime" settle-time-ms="250" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="5.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="false" flip-y="false" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="AL2" allow-machine-actuators="false" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" width="640" height="480" simulate-focal-blur="false" simulated-flipped="false">
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<vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
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<safe-z value="0.0" units="Millimeters"/>
<calibration enabled="false">
<camera-matrix length="9">3.5E-323, 0.0, 2.5E-323, NaN, 6.93224685617292E-310, 6.932247478583E-310, 0.0, 0.0, 0.0</camera-matrix>
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</calibration>
<advanced-calibration enabled="false" overriding-old-transforms-and-distortion-correction-settings="false" valid="false" data-available="false" alpha-percent="100" rotation-error-z="0.0" rotation-error-y="0.0" rotation-error-x="0.0" rms-error="0.0" desired-radial-lines-per-test-pattern="32" test-pattern-fill-fraction="0.9" walking-loop-gain="0.5" approximate-camera-f="1000.0" mirrored="1.0" apparent-motion-direction="1.0" width-fov="0.0" height-fov="0.0" virtual-width-fov="0.0" virtual-height-fov="0.0">
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<pipeline>
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<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="detect_circle"/>
</stages>
</pipeline>
<virtual-camera-matrix length="9">1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0</virtual-camera-matrix>
<rectification-matrix length="9">1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0</rectification-matrix>
<vector-from-mach-to-phy-cam-in-mach-ref-frame length="3">0.0, 0.0, 0.0</vector-from-mach-to-phy-cam-in-mach-ref-frame>
<unit-vector-phy-cam-Z-in-mach-ref-frame length="3">0.0, 0.0, 0.0</unit-vector-phy-cam-Z-in-mach-ref-frame>
<vector-from-mach-to-vir-cam-in-mach-ref-frame length="3">0.0, 0.0, 0.0</vector-from-mach-to-vir-cam-in-mach-ref-frame>
<vector-from-phy-cam-to-desired-principal-point-in-phy-cam-ref-frame length="3">0.0, 0.0, 0.0</vector-from-phy-cam-to-desired-principal-point-in-phy-cam-ref-frame>
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<focus-provider class="org.openpnp.machine.reference.camera.AutoFocusProvider" averaged-frames="1" focus-speed="0.5" show-diagnostics="true">
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</focus-provider>
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<focal-length value="6.0" units="Millimeters"/>
<sensor-diagonal value="4.4" units="Millimeters"/>
</camera>
</cameras>
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<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="AL2" name="LIGHT_BOTTOM" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" coordinated-before-actuate="false" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="ActuateOff" index="0">
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<part-alignment class="org.openpnp.machine.reference.vision.ReferenceBottomVision" enabled="true" pre-rotate="false" max-vision-passes="3" max-angular-offset="10.0" test-alignment-angle="0.0">
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<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="10" enabled="true" kernel-size="9"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="4" enabled="true" diameter="525"/>
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<cv-stage class="org.openpnp.vision.pipeline.stages.MaskHsv" name="2" enabled="true" auto="false" fraction-to-mask="0.0" hue-min="60" hue-max="130" saturation-min="0" saturation-max="255" value-min="0" value-max="255" invert="false" binary-mask="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="3" enabled="true" conversion="Hsv2BgrFull"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="6" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="12" enabled="true" threshold="100" auto="false" invert="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.FindContours" name="5" enabled="true" retrieval-mode="List" approximation-method="None"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.FilterContours" name="9" enabled="true" contours-stage-name="5" min-area="50.0" max-area="900000.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="11" enabled="true" diameter="0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawContours" name="7" enabled="true" contours-stage-name="9" thickness="2" index="-1">
<color r="255" g="255" b="255" a="255"/>
</cv-stage>
<cv-stage class="org.openpnp.vision.pipeline.stages.MinAreaRect" name="results" enabled="true" threshold-min="100" threshold-max="255"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="14" enabled="true" image-stage-name="0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawRotatedRects" name="8" enabled="true" rotated-rects-stage-name="results" thickness="2" draw-rect-center="false" rect-center-radius="20" show-orientation="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="15" enabled="true" prefix="bv_result_" suffix=".png"/>
</stages>
</pipeline>
<max-linear-offset value="1.0" units="Millimeters"/>
<part-settings-by-part-id class="java.util.HashMap"/>
</part-alignment>
</part-alignments>
<drivers>
<driver class="org.openpnp.machine.reference.driver.NullDriver" id="DRV16bd85ee0f68e988" name="NullDriver" feed-rate-mm-per-minute="0.0"/>
</drivers>
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<properties>
<entry>
<string>Welcome2_0_Dialog_Shown</string>
<object class="java.lang.Boolean">true</object>
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</properties>
<nozzle-tips>
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="NT1" name="NT1" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="false" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-to-mid-2-speed>1.0</changer-mid-to-mid-2-speed>
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-2-to-end-speed>1.0</changer-mid-2-to-end-speed>
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<vision-calibration-Z-adjust value="0.0" units="Millimeters"/>
<vision-template-dimension-x value="10.0" units="Millimeters"/>
<vision-template-dimension-y value="10.0" units="Millimeters"/>
<vision-template-tolerance value="4.0" units="Millimeters"/>
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
<max-part-diameter value="20.0" units="Millimeters"/>
<max-part-height value="10.0" units="Millimeters"/>
<calibration angle-subdivisions="6" allow-misdetections="0" angle-start="-180.0" angle-stop="180.0" excenter-ratio="0.25" enabled="false" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="1.0" recalibration-trigger="NozzleTipChangeInJob" offset-threshold="0.0" detection-threshold-margin="0.4">
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="1" enabled="true" diameter="250"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="2" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="15" auto="false" invert="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="4" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="results" enabled="true" min-distance="50" min-diameter="40" max-diameter="50" dp="1.0" param-1="120.0" param-2="5.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="5" enabled="true" image-stage-name="0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="6" enabled="true" circles-stage-name="results" thickness="2">
<color r="255" g="0" b="51" a="255"/>
<center-color r="0" g="204" b="255" a="255"/>
</cv-stage>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="7" enabled="false" prefix="runoutCalibration" suffix=".png"/>
</stages>
</pipeline>
<runout-compensation-lookup class="java.util.HashMap"/>
<offset-threshold-length value="0.5" units="Millimeters"/>
<calibration-Z-offset value="0.0" units="Millimeters"/>
<calibration-tip-diameter value="0.0" units="Millimeters"/>
</calibration>
<method-part-on>None</method-part-on>
<part-on-check-after-pick>true</part-on-check-after-pick>
<part-on-check-align>true</part-on-check-align>
<part-on-check-before-place>true</part-on-check-before-place>
<vacuum-level-part-on-low>0.0</vacuum-level-part-on-low>
<vacuum-level-part-on-high>0.0</vacuum-level-part-on-high>
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
<method-part-off>None</method-part-off>
<part-off-check-after-place>true</part-off-check-after-place>
<part-off-check-before-pick>true</part-off-check-before-pick>
<vacuum-level-part-off-low>0.0</vacuum-level-part-off-low>
<vacuum-level-part-off-high>0.0</vacuum-level-part-off-high>
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
<diameter-low value="0.0" units="Millimeters"/>
</nozzle-tip>
</nozzle-tips>
<pnp-job-processor class="org.openpnp.machine.reference.ReferencePnpJobProcessor" job-order="PartHeight" max-vision-retries="3">
<planner class="org.openpnp.machine.reference.ReferencePnpJobProcessor$SimplePnpJobPlanner"/>
</pnp-job-processor>
<fiducial-locator class="org.openpnp.machine.reference.vision.ReferenceFiducialLocator" enabled-averaging="false" repeat-fiducial-recognition="3">
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.CreateFootprintTemplateImage" name="template" enabled="true" footprint-view="Fiducial" minimal-image-size="false">
<pads-color r="255" g="255" b="255" a="255"/>
<body-color r="0" g="0" b="0" a="255"/>
<background-color r="0" g="0" b="0" a="255"/>
</cv-stage>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_template" enabled="true" prefix="fidloc_template_" suffix=".png"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="template_gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="image_gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_original" enabled="true" prefix="fidloc_original_" suffix=".png"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MatchTemplate" name="match_template" enabled="true" template-stage-name="template_gray" threshold="0.699999988079071" corr="0.8500000238418579" normalize="true"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recall_image" enabled="true" image-stage-name="image"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawTemplateMatches" name="draw_matches" enabled="true" template-matches-stage-name="match_template"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="match_template"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawKeyPoints" name="draw_keypoints" enabled="true" key-points-stage-name="results"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_results" enabled="true" prefix="fidloc_results_" suffix=".png"/>
</stages>
</pipeline>
<part-settings-by-part-id class="java.util.HashMap"/>
<max-distance value="4.0" units="Millimeters"/>
<tolerances>
<scaling-tolerance>0.05</scaling-tolerance>
<shearing-tolerance>0.05</shearing-tolerance>
<board-location-tolerance value="5.0" units="Millimeters"/>
</tolerances>
</fiducial-locator>
<motion-planner class="org.openpnp.machine.reference.driver.NullMotionPlanner" maximum-plan-history="60.0"/>
<home-after-enabled>false</home-after-enabled>
<solutions show-indicator="true" target-milestone="Welcome">
<dismissed-solutions class="java.util.HashSet"/>
<solved-solutions class="java.util.HashSet"/>
</solutions>
<visual-solutions min-symmetry="1.5" sub-sampling="4" super-sampling="8" diagnostics-milliseconds="4000" max-camera-relative-fiducial-area-diameter="0.2" max-camera-relative-subject-diameter="0.5" zero-knowledge-displacement-ratio="0.2" zero-knowledge-displacement-mm="1.0" zero-knowledge-fiducial-locator-passes="3" fiducial-margin="1.1" zero-knowledge-runout-compensation-shots="6" zero-knowledge-auto-focus-depth-mm="2.0" zero-knowledge-backlash-speed="0.2">
<zero-knowledge-backlash-offsets units="Millimeters" x="-1.0" y="-1.0" z="0.0" rotation="-5.0"/>
</visual-solutions>
<calibration-solutions backlash-calibration-passes="4" error-dampening="0.9" backlash-test-move-mm="10.0" backlash-test-move-large-mm="90.0" step-test-mm="1.0" max-sneak-up-offset-mm="2.5" acceptable-sneak-up-offset-mm="0.8" backlash-distance-factor="1.4142135623730951" nozzle-offset-angles="6" extra-vacuum-dwell-ms="300" machine-settle-ms="500" up-looking-secondary-offset-Z-mm="2.0">
<backlash-probing-speeds length="5">0.25, 0.33, 0.5, 0.75, 1.0</backlash-probing-speeds>
</calibration-solutions>
</machine>
</openpnp-machine>