Pin Matching

Operator Function

This operator is used to compare the X, Y coordinates and height information of pins using a recipe, and output the pins' X, Y coordinates, height and spacing information, as well as the comparison results with the recipe. Note: The standard part point cloud used must be preprocessed.

Parameter Introduction

Input Parameters

Parameter	Range	Default Value	Description	Illustration
Input Image	0-8	0	The IM number for image input

Calculation Parameters

Parameter	Range	Default Value	Description	Illustration
Use Region Parameters	true/false	false	If enabled, use Region as input; if not enabled, use Input Image as input
Region	2D Window/2D Circular Window/2D Polygon Window/Box/Cylinder Box/Rotated Box/Point Set (binding only)	Box	Manually select an appropriate ROI region Can bind to select existing ROI regions
Pin Minimum Spacing		0.5	Minimum distance between two pins
Pin Minimum Points		50	Minimum number of points for a pin
Sorting Method	+X/-X/+Y/-Y	+X	+X: Pins sorted from left to right, top to bottom -X: Pins sorted from right to left, bottom to top+Y: Pins sorted from right to left, bottom to top -Y: Pins sorted from right to left, bottom to top
Pin Height	true/false	false	If enabled, output pin height information
Outlier Removal	Percentile Filter/None		Only enabled when pin height measurement is enabled; select filtering method
Low Removal Percentage	0.000-50.000	10.000	Remove noise points in the low Z direction according to this ratio. For example, when the ratio is set to 10%, remove the lowest 10% of points
High Removal Percentage	0.000-50.000	10.000	Remove noise points in the high Z direction according to this ratio. For example, when the ratio is set to 10%, remove the highest 10% of points
Height Mode	Minimum, Maximum, Mean, Median, Standard Deviation, Percentile	Median	Provide 6 methods for calculating height
Percentage		10	Enabled when mode is Percentile; input percentile, e.g., input 50 to take the middle 50% of points for height calculation
Pin Spacing	true/false	false	If enabled, output pin spacing information
Recipe Comparison	true/false	false	If enabled, output comparison information with the pin recipe
Recipe Path	true/false	false	Enabled when recipe comparison is enabled; input the path of the pin recipe (only supports .json recipe files with array named "recipe")
Measurement Result	true/false	false	Can be enabled when recipe comparison is enabled; when enabled, output the comparison result with the pin recipe, displayed on the interface and saved in global variables
Pin Offset		1.000	Set the offset in X or Y direction for pin sorting; if within the offset range, considered in the same row/column

Result Display

Parameter	Range	Default Value	Description	Illustration
Sequence Number	true/false	false	Pin sequence number; if enabled, displayed in the image
X Coordinate	true/false	false	Pin X coordinate; if enabled, displayed in the image
Y Coordinate	true/false	false	Pin Y coordinate; if enabled, displayed in the image
Height	true/false	false	Pin height; if enabled, displayed in the image
X Offset Value	true/false	false	Pin X offset value; if enabled, displayed in the image
Y Offset Value	true/false	false	Pin Y offset value; if enabled, displayed in the image
Height Offset Value	true/false	false	Pin height offset value; if enabled, displayed in the image
Matching Result	true/false	false	Pin matching result; if enabled, display pin sequence number and OK or NG in the image
ROI Point Set	true/false	false	Only effective when Use Region Parameters is selected; the point set of the ROI selected region; if enabled, displayed in the image

Output Parameters

Name	Type	Range	Description
Result	bool	true/false	true for success false for failure
Warning	bool	true/false	true indicates there is a warning false indicates there is none
Message	string		Outputs success, error, or warning information; if there is no error or warning, it is empty
Time	float		Operator execution time, unit: ms
pin	int[]		Output pin sequence numbers
key	int[]		Output pin key positions
pin_position_x	float[]		Output pin X coordinates
pin_position_y	float[]		Output pin Y coordinates
pin_position_height	float[]		Output pin height values
pin_position_side_x	float[]		Output pin spacing in X direction
pin_position_side_y	float[]		Output pin spacing in Y direction
pin_position_side_height	float[]		Output pin height spacing
pin_result	string[]		Output pin matching results

Tip

For more detailed explanations of parameter types, please refer to Type Definitions

Exception Troubleshooting

No.	Exception Information	Corresponding Parameter	Solution
1	Input region type is {0}, invalid region type	Region Type	Region input type must be one of: 2D Window/2D Circular Window/2D Polygon Window/Box/Cylinder Box/Rotated Box/Point Set
2	Region is empty		1. Check if selection is empty 2. Check if point set is empty
3	Input point cloud is empty		Confirm if IM contains valid points; if no valid points, load point cloud or switch to IM with valid points
4	Pin extraction failed		Modify pin setting parameters
5	Input sorting method is {0}, invalid sorting method	Sorting Method	Select sorting method as one of +X/-X/+Y/-Y
6	Input height mode is {0}, invalid sorting method	Height Mode	Select mode as Maximum/Minimum/Median/Mean/Removal Percentage
7	File "{0}" does not exist or cannot be accessed	File Path	Input valid recipe path
8	File "{0}" failed to load	File Path	Input valid path and must be a json file
9	File does not contain "recipe"		Use a json file with the "recipe" key
10	Recipe count does not match the number of detected pins		The recipe array must match the number of detected pins
11	The {0}th pin does not have the {1} field	Sequence number, recipe variable name	Use the i-th set of recipe files with recipe variable parameters
12	Input polygon vertex count is less than 3, cannot form a polygon		Add 2D polygon window vertices so that the vertex count is at least three

Example Introduction

Engineering Design

1. Select the Load Point Cloud tool to load the 3D point cloud image to be processed into IM0;

2. Select the 3D Region tool to select the region for plane fitting;

3. Select the 3D Plane tool, using the output of the 3D Region tool as input, fit a plane and transform the point cloud;

4. Select the 3D Square Probe tool to search for positioning points;

5. Select the 3D Position Adjustment tool, using the positioning point as the new origin, adjust the point cloud position;

6. Select the 3D Crop tool to crop the pin point cloud;

7. Select the 3D Transformation tool to adjust the pin point cloud to a suitable position;

8. Select the Pin Recipe Creation tool to obtain the pin recipe file;

9. Select the Pin Matching tool to detect pins.

Tool Usage

1. Select the input image for operation; the image number must match the IM number where the image is located in the project.

2. Either do not enable Use Region Parameters, or enable region and select region type as Box, move the box to the position to be measured, enclosing the point cloud to be measured.

3. Set parameters.

4. Check the content you want to display in the result display section.

5. Click Test to check if the image window and parameters meet expectations.

6. If there are no issues, click Save, then run the operator in the run list to view the results in the corresponding IM.