Homing Fiducials Pipeline
If you receive the error message FIDUCIAL-HOME no matches found
when homing your LumenPnP, you likely need to adjust your homing vision pipeline. Follow the steps below for a guide on the iterative approach. See also our setup video.
Open the Pipeline
-
Click on the "Position Camera over location" icon button show below. This will move the top camera to where your datum board is mounted.
-
Confirm that your top camera is positioned exactly over the homing fiducial.
-
Adjust the exposure of your camera image as mentioned in the Homing Fiducial Section.
-
Select
- Default Machine Fiducial Locator -
from the pipeline list.
Check the debug results
-
The main view will show a circle if OpenPnP was able to identify what it thinks is the homing fiducial.
- If there are more than one circle, then we need to more clearly distinguish the real homing fiducial.
- If there is one circle, but it is not correctly drawn around the homing fiducial, then we need to more clearly distinguish the homing fiducial.
- If there are no circles, we need to loosen the filtering to make the real homing fiducial easier to identify.
- If the image looks like the good one above, your pipeline is properly tuned. If you've still been getting failures when homing, you may need to slightly loosen the filtering.
Adjust Pipeline
-
Raise or lower the
threshold
parameter as necessary until the image is precise.- If the image is too black, raise the
threshold
setting. - If the image is too bright, lower the
threshold
setting.
- If the image is too black, raise the
-
Click on the
DrawCircles
stage and check if the fiducial has been correctly identified. -
Raise or lower the
param2
parameter as necessary until the correct number of circles are identified.- If there are no circles, lower the
param2
setting. - If there are too many circles, raise the
param2
setting.
- If there are no circles, lower the
Review Pipeline Output
-
When the fiducial is correctly identified, close the pipeline editor.
-
Try homing the machine to see if it can identify the homing fiducial.
-
If you receive the same
FIDUCIAL-HOME no matches found
error, you'll need to keep tuning your pipeline. Go back to Check the debug results