ABB PickMaster Twin - PowerPac Applications Manual page 262

4 Working with PickMaster PowerPac
4.3.9.3 Configuring blob models
Continued
Continues on next page
262
• Opening preserves holes. Eliminates small object features. A dilation
operation is applied to the image, followed by an erosion operation.
Clean up settings:
• Prune is used to ignore, but not remove features, that are below a
specified size (connectivity size). When an image is pruned of all
features below a certain size, the blob measures returned for the blob
that enclosed the pruned features are computed as though the pruned
features still existed, but the pruned features themselves are not
counted.
• Fill is used to fill in pruned features with gray values from neighboring
pixels on the left. The pixels value that is used to fill the feature is the
value of the pixel to the immediate left of the feature being filled. As
each row of pixels in the feature is filled, the pixel value to the
immediate left of that row of pixels is used as the fill value for that row.
• Connectivity defines the minimum size (in pixels) that a blob can have
to be considered. Is used with either prune or fill.
7 In the Item region part, select the Activate checkbox and click Define. Adjust
the polygon showed around the found object using vertices. Then click Train.
The polygon can have 2 to 16 vertices.
8 Click Search in the Display Options
Tip
If the search result matches with the Image Dialog, the configuration
success.
xx1900000930
In the Display options part, select Segmentation image to display the
processed image. Select how the result will be displayed.
• Item angle displays the angle of the item that will be sent to the robot.
• Item score displays the score for the selected item in the image window.
• Item area displays the area of the blob in the image window.
© Copyright 2021 ABB. All rights reserved.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B