The Photoneo camera has been set with a static IP of 192.168.1.27. This is OK with the CampX network, but it makes the device undiscoverable on other networks. If for some reason this has to be changed, the static IP has to be changed on a Windows computer that has PhoXiControl installed. The static IP is necessary for the Docker setup.
In the 'docker' folder, build all the dockes images with:
sudo docker compose build
To completely rebuild everything, add the "--no-cache" suffix:
sudo docker compose build --no-cache
To manually specify up to which point to cache the previous build, a CACHE_BUST variable was added in the Dockerfile. Change its position and value to trigger a rebuild after its position.
Launch:
sudo docker compose up
Stop everything:
Ctrl+C
And then to make sure:
sudo docker compose down
The PhoXiControl has to run in order for the camera to be able to scan. Unfortunately it is not possible only to use API calls to trigger scanning, PhoXiControl has to be running. More information in the manual.
- Make a shared folder.
mkdir docker_mount
- Open the docker-compose.yml and change the shared folder path from:
volumes:
- /home/endre/docker_mount/:/root/Desktop
to:
volumes:
- /PATH/docker_mount/:/root/Desktop
where PATH is your path to the shared folder.
- Start the docker with:
sudo docker compose up
- Open a web browsed and go to vnc:
0.0.0.0:6901
- In the docker, open a new terminal and type:
PhoXiControl
- The PhoXiControl interface should start. Now add the scanner:
menu -> Add Device via IP
- Enter the device id:
volvo_photoneo -> 1708011
chalmers_photoneo -> 2019-08-079-LC3
- Enter the device static IP:
volvo_photoneo -> 192.168.1.27
chalmers_photoneo -> 192.168.1.103
The device should now be connected as:
DirectConnection-1708011
We are using the Conect program to test the connection. The result should be a Succesfull connection result in the Photoneo RAW output (check in the View State tab in micro_sp_ui). To test this, go to the Set State tab in micro_sp_ui and set the following 5 values:
photoneo_command_type -> Connect
photoneo_hardware_identification -> DirectConnection-1708011
photoneo_ip_identification -> 192.168.1.27
photoneo_request_state -> initial
photoneo_request_trigger -> True
And then press Set State.
Going back to the View State tab, the photoneo_phoxi_raw_info variable should have the following value:
Connection to the device DirectConnection-1708011 was Succesfull!
There is also a shared folder that everyone should be able to access. Here we will store the CADS, the prepared items, the scans, the results, metadata, meshes, etc.
The idea is to have Redis instance in a Docker and connecto to it from the Photoneo docker, Streamlit, etc. Goal is also to try to have the phoxi interface in another docker, and the localization interface in a third docker. Lets see if this can be done...
This step is optional, we can still use the CAD files original origin frame, and prepare the secondary pick points in relation to that.
IMPORTANT: In neither case should the Localization origin shown when preparing a .plcf in the PhoLocConfig be moved. This is because is has to match the CAD file's origin, and it is the origin that we use to calculate transformations to the actual pick points.
MOTIVATION: Prepared CAD files come with origins that are placed in assembly origins positions, often outside the actual component (as they have probably been exported in batch as parts of a bigger assembly). In order to properly visualize meshes and picking frames during detection, it is preferred that the origins are adjusted to match the main picking point and that the meshes used for vizualization have the same origin as the CAD files or meshes used for localization.
A CAD software is needed here, Autocad, Freecad, or similar, I am for example using Auodesk Inventor. In Autodesk Inventor, create a new Assembly.
Select the new assembly and place a component into it. This will enable us to align the component to the coordinate frame of the assembly and export the CAD with a newly defined origin.
For example, let's prepare this "silver_gun".
Selecting the assembly origin, we can visualize the origin planes of the assembly. We can do the sme things for the component we want to prepare, in this case "silver_gun".
Let's say that we want to prepare the new origin coordinates to match the ones drawn on the figure below. The work now consists of aligning the frame of the assembly (shown in the bottom left of the figure) to match the drawn frame.
We can use tools such as "Constrain" to align different planes.
For example, if we would like the Z coordinate to point "out" from the selected plane, we can use the flush constrain tool to align the selected plane and the "XY plane" of the assembly.
The next figure shows that the target plane and XY plane are flushed, and that the Z coordinate is pointing outwards from the target plane as intended (lower left corner).
Switching to the top view, we see that we first have to align the roration arounf the Z axis.
To do that, we cn again use the constrain tool to fluh the selected plane below with the YZ plane of the assembly.
Switching again to the top view, we see that the angles are aligned as intended.
The XY assembly plane is now locked to the first target plane, ensuring the good placement of the Z coordinate, and the YZ assembly plane is locked to the second target plane, ensuring a good angle of the Y and X coordinates. However, now we would like to move the origin of only the X and Y to the desired position, and to do so, we leave the XY flush locked, and supress the second flush with the YZ plane. This will allow us to move the component with its current oprientation in the XY plane.
Like so, now we have the desired origin like we have drawn it above.
Export the assembly now in a .stp CAD format for localization, and a .stl MESH file for visualization.
This is necessary for preparation pursposes only, since we can perform localiation only with API calls. Note that the licence key has to be inserted even if the GUI is not used.
- Insert blue licence USB stick
- Steps 3 and 4 as above
- In the docker, open a new terminal and type:
PhoLocConfig
Start the Photoneo Localization software and import the prepared CAD file Do not manipulate the origin in the localization software, so all the coordinates and angles should be left as 0 even if the pick point is outsode the item (matching the CAD origin frame).
Next, connect the Photoneo scanner and open the Phoxi Control software. Position the scanner so that the components are visible. Note that the scanning volume of the photoneo model S is quite small. Trigger a scan.
Scan the items in advance and then search for the scans in th Localization Config instead of doing it live. The advantage of doing it live is that it allows saving of specific parameters for each individual item in order to achive best detection.
The Phoxi control software should now visualize the point cloud. Make sure that the components to be localized are visible. If so, save the current scan, either in .ply or .praw. (.praw might hold more information, and it can be later converted to other formats if necessary, so .praw might be favored).
Open the localization software and select the prepared CAD file. After inspecting that the origin is correct, go next while leaving the positions and orientations at 0. The software now allows a "live" scanner view, or a saved scan in order to test the localization and prepare a localization file (.plcf). Since we have saved a scan where the parts are visible, select "file" in the testing window and find the saved .praw file. The point cloud should now be loaded.
Select a number od instances you would like to test for and start the localization. The localized items should now be highlightd and the overlap confidences displayed.
Tweak the setting so see if the confidences can be increased and save the settings. This can be done per prepared item and later used as a parameter. TODO: Expland this and show how to.