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PLANNER.md

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This is an internal API Most users should not need to use it This structure is called "config

Here is a very basic example:

{
    "imager": {
        "x_view": 1.0,
    },
    "contour": {
        "start": {
            "x": 0.0,
            "y": 0.0,
        },
        "end": {
            "x": 2.0,
            "y": 1.0,
        },
    },
}

List of parameters

  • imager
    • x_view:
      • Default: none / required
    • scalar: an expected (but not applied) image scalar
      • Default: 1.0
      • Makes displayed pano information correct if you are post processing the image
      • Currently planner itself doesn't apply scaling but rather returns the raw image
  • contour: defines the scan area
    • start
      • Default: none / required
      • x: x minimum position imaged
      • y: y minimum position imaged
    • end
      • Default: none / required
      • x: x maximum position imaged
      • y: y maximum position imaged
  • tsettle: how long to wait between motion and image
    • Default: 0.0
  • step: ideal faction of image to move between images Default: 0.7 => only overlap adjacent image by 30%
  • border: automatically add this many mm to the edges of the contour (panorama)
  • end_at: where to return at the end of a job
    • zero: return to 0, 0
    • start: return to start coordinate (default)
  • motion
    • backlash: how much is requires to compensate for consistent motion
      • Can be a single number to apply to all or a dict of axes
    • backlash_compensate: whether all moves should be backlash compensated
      • Default: False
      • By default a serpintine is done but will have backlash
    • origin: where row 0, column 0 is on the image plane
      • Background: image coordinates tend to be upper left, but CNC machines lower left origin
      • Options:
        • ll: lower left
        • ul: upper left
      • Default: ll. This will make a standard CNC machine translate to image coordinates
  • exclude: inclusive row / column ranges to ignore
    • Default: []
    • Advanced / not well supported
    • Intended for resuming a scan to correct a bad area
    • items: {"r0": r0, "r1": r1, "c0": c0, "c1": c1}