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Krypton Help Pages on Geoloc

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1. BI WA A olla Zb 2 om e lk AA ken Ss y IW el pe mme Resenrch Pork Hagstde Z inierleuventod Bb 3001 Lauen Balalum f l 32 0016 400 410 fox 32 01640038 lg a gil Ho gionke SC j z hip eg KRY PION page 2 49 KRYPTON Help Pages on GEOLOG KRY PION page 3 49 Table of contents 1 SON REN 6 2 INTRODUCTION croinra a a E 7 3 INSTALLING THE GEOLOC SOFTWARE ennnnnvnnavennnnnnnnennnnnnnnennnnnnnnennnennnnennnnnnnnennnennnnennnennnnnnn 9 4 ACTIONS BEFORE CONDUCTING MEASUREMENTS erenvevnvennvennvennvennvnnnvnnnvnnvvnnvennvenneennr 14 4 1 Contiquiing the Cameras oasis ii 14 4 2 Checking LED visibility amp environment ssrrnnvennnnennnnvnnnnnennnnennnnnnnnnnennnnennnnennnnnennnnennnnennnnnnn 14 4 3 CHECKING 146 Probe cnica 14 4 4 Calibrating the Probe vasse 14 5 USING GEOLOG oo 15 5 1 The Camera O UE 15 5 2 The GeoLoc user nt EE 15 5 2 1 The main menu ICON bar 17 5 2 2 The command Dali 17 5 2 4 The operand inte el 18 5 2 5 The output wimndow 19 5 3 Measuring constructing amp defining geometric elementS rravrrnavrrnnnvennnnnnnnnennnnnennnnennnn 19 5 3 1 Measuring basic geometrical elements rrrrrnvnrnnvvrnnnvennnvnrnnvvrnnnvernnvnnnnnnrnnnversnvnrrnnnennnne 20 5 3 2 Measuring advanced geometrical ODJEectS cccccccociccccooccnocncannnoonnnornnonnnnoronnrnnnannnnnnncnns 21 53 3 Manipulating amp constructing geo
2. myCloud createCloud Point1 Point2 local Parameter result fitPlane myCloud In case you would run a function script as top level script DMM Modular will show you a pop up box asking for the required in and output parameters The function BAR would invoke this pop up box Input parameters BAR Figure 26 Scripting parameters field form These parameters can be selected from combo boxes in the pop up or can be drag and dropped from the data window KRYPTON Help Pages on GEOLOC KRY PION 6 page 46 47 Troubleshooting This chapter describes the problems that are most likely to arise and the way to solve them Should any problem not occur in the list please notify your nearest Krypton representative This chapter is ordered parallel to all chapters and subchapters of this manual 2 After how many points measured does Geoloc start to calculate my element The number of expected points is listed in the output window during the measurement See chapter Measuring basic geometrical elements on page 20 I want to measure an element with less points than expected by GeoLoc Click the Finish button see chapter Miscellaneous functions on page 42 this will calculate the element anyway with the points measured until now The position and orientation of my element is not what I expected Make sure you are using the correct datum or reference fram
3. ararnrnrnanannnrnnnanennnnener 31 deleted eme 37 dynamic frame ararnnnanannnnnnnnanennenener 21 CO sd See script editor element window 16 SPA sea See teleport fit element ae es er Eege gue ASA 29 EEE 8 TUNCUOA le E 45 leede TE 44 GEOLOG EE 7 8 geometrical obiect eens 8 Ve 20 installation oooooccocccccccccncccnnnnnnnnnnnos 10 Lo A 26 INTOAUCUION sorteados 8 keyboard rrarnanannrnrnananrnenenenennen 38 KRYPTON Help Pages on GEOLOG page 47 47 LED VISP ur rte 13 Ta GE capa sailor 19 Macro MENU E 41 make NaMe eneen T 22 manipulate elemente 24 map element EE 30 measure element 18 20 measurement options 19 40 VU II 35 NEW Droe 36 open Droe 36 operand WINAOW csceeeeeeeeeeeeeees 17 OPTIONS menu 39 output WINKOW ceceeeeeee seen sneer 18 PPP E A 20 A 19 DOMME ClO UG EE 19 project element 28 project menu 36 properties rrrrarerarararnenenenenenenensne 17 A A 37 SAVE project EE 36 Script editor rrarnrnrnavarnrnnranennenener 43 SPIN ee eege Ee 8 42 Space Probe 13 S16 LE ane ee Po S Ann An 19 statie FAME air nao aia 27 teaching scripts o occocococononononanonos 42 teleport NE NR 18 37 TOODA eae NER 37 TOOIS MONU EE 39 Ee un 6 transformation rnrnrnnnnnnanananrnrnvnnener 8 Iroubleshbootng 0 cececeeeeeeeeeeeeees 47 user interface E 14 VIEW menu 37
4. depending on the type of trigger this option says when exactly to take the snapshot e g after every 5 mm movement or every 2 seconds KRYPTON Help Pages on GEOLOG KRY PION Stop after stop criterium based on the type of trigger The sample every parameter and the stop criterium together determine the number of snapshots that are taken Comment optional description of the element Clicking OK will start the controller and will command the camera to look for the LED s Should any of the LED s not be visible the measurement is halted until all LED s are visible GeoLoc reports the invisibilities in the feedback window page 20 47 Note when using a path generated point cloud in typical fittings the ordering in channels is discarded Measure path Name Pahl LED s Humber of lede i O O First led ID Part fot Dar c Triggering Trigger Sample every Stop after Number of measurement Comment p Cancel Figure 8 GeoLoc path measurement form Dynamic frame a dynamic frame is a cloud of static LED positions with respect to a chosen external coordinate system These LED s are assumed to be rigidly mounted onto the coordinate system If the camera can see the LED s in a later stadium the software can calculate the momentary position of the external coordinate system This option is used in dynamic measurements where 6D motions of objects are measured When a dynamic f
5. Lt Quit the application prompts to save documents Figure 22 GeoLoc Customize keyboard form Select a category in the listbox Commands a list of all functions for that category appear Select the command you want to create a shortcut for In the Description window you ll get a description for the chosen command Should a shortcut already be defined for this command it will appear in the list box Current keys Click with the mouse in the text box labeled Press new shortcut key Just press the key combination you d like to use to activate the command this text box will show the key combination you just pressed If this key combination was not yet assigned a message will appear below the text box Click on the assign button to confirm the assignment The shortcut will be added to the Current keys listbox KRYPTON Help Pages on GEOLOG KRYPTON page 38 47 If a key combination was already assigned a message will appear indicating which command is already linked to that shortcut It will be impossible to re assign this shortcut If you wish to remove a shortcut select it in the Current keys listbox and click on Remove It is suggested not to change the default settings for the following 3 menus Menu this menu allows to configure some menu animations or context menus or to reset the default menu and all toolbars for additional modules Mouse allows to configure the doub
6. Parameters Name name of the object to express into another reference frame New new frame of reference no need to enter the old reference frame GeoLoc knows in which frame the object was initially expressed Warning The object itself will be affected by the operation Only if the function Change reference is used in a script see chapter Scripting writing and using macro s on page 43 an output parameter can be specified e g myCopy ChangeReference myObject otherStaticFrame In this case first an exact copy myCopy of element myObject is made next myCopy will be expressed in otherStaticFrame instead of myObject Intersect two or more elements this operation intersects two or more geometric elements and generates the intersection element The type of the element depends on the intersecting elements 2 intersecting planes yield a line but 3 intersecting planes yield a point A plane and an intersecting line yield a point and two intersecting lines yield a point Parameters Name name of the constructed element Element 1 first element that participates in the intersection Element 2 second element that participates in the intersection KRYPTON Help Pages on GEOLOG KRYPTON page 26 47 intersection of 2 elements Name mylntersectionPoint element 1 element 2 Es Figure 14 GeoLoc Intersection form Notes Intersection with this po
7. Z is 0 Therefore the plane will be equal to the XY plane but inverted its positive vector is opposite to the Z axis Export this function exports an element into a text file Extension does not necessarily have to be TXT If the exported element is a point cloud of n points the text file is a matrix with n rows The layout of each row is as follows Column 1 sequence number of the point Columns 2 3 and 4 X Y and Zcoordinates of the point with respect to the frame of reference in which the element is expressed Columns 5 6 and 7 directional weight factors in X Y and Z of the point This is useful if the point was measured with a Space Probe since the probe direction is stored in these columns If the exported element is a dynamic frame with n LED s the text file is a matrix with n columns The layout of each column is as follows Row 1 Xcoordinate of the LED in the frame to which the dynamic frame was attached KRYPTON Help Pages on GEOLOG KRY PTON Row 2 Y coordinate of the LED in the frame to which the dynamic frame was attached Row 3 Z coordinate of the LED in the frame to which the dynamic frame was attached Row 4 1 This is required for mathematical manipulations after this file will be imported page 33 47 If the exported element is another type of element plane static frame the text file will hold the transformation matrix between the frame and the frame of refer
8. are explained on a once only basis The main menu holds a number of features that allow us to organize and configure settings that are not likely to change often GeoLoc has the ability to detect new calculation modules Every time such a module is found it will be added to the menu This manual will only describe the standard menu options The standard menu options are Project menu this menu allows for organizing measurement sessions into projects It also gives the user access to the deleted items bin and the ability to return geometric elements to another Krypton software product View this menu allows the user to customize the user interface hide show toolbars adding removing icons status bars Tools this menu allows the user to configure the measurement of some geometric elements Macro this menu holds all tools to record play or edit scripts macro s that can automate repetitive tasks Baseloc this is the basic localisation module in fact every measurement or construction operation we ve seen until now in chapter Measuring constructing amp defining geometric elements on page 19 KRYPTON Help Pages on GEOLOG 5 4 1 page 35 47 Project menu The project menu deals with three features organizing projects managing deleted elements and exporting elements to other Krypton products In general GeoLoc sorts all measurements in projects FEE New These ar
9. case sensitive Most functions are of the form element function parameter Return parameters are put between square brackets parameters are put between normal brackets It is possible to use multiple parameters parameters are separated by commas It is possible to return multiple return values return values are separated by commas Elements can be put between double quotes or not Users are advised though to put element names ALWAYS between double quotes E g myPoint or myPoint Variables have to be put between double quotes if their name contains spaces or if they are constants e g my Point or 0 5 If in the function selector a function s syntax is depicted as lt element gt than this means it is optional Optional elements should NOT be written in the script E g Right mySphere fitError fitSphere measuredCloud mySphere fitSphere measuredCloud Wrong mySphere lt fitError gt fitSphere measuredCloud Using scripts within scripts A script can be regarded in two ways as a fixed set of operations or as a function that calculates one specific sort of data The single level script see chapter Writing a single level script on page 43 usually is a fixed set of operations When using nested scripts the top level script usually also is just a fixed set but the branches can be of two sorts We ll clarify th
10. on the plane Make frame Origin N A Direction perpendicular to the plane Positive sense is equal to positive Z vector of the measurement probe Tolerance applicable when more than 3 points are fitted on Operate KRYPTON Help Pages on GEOLOG KRY PION 5 3 2 page 19 47 either plane or shaft Probe tip compensation opposite to the positive Z vector NOTE n equals the number of points configured for a normal plane The number of points configured for a cylinder onlyrefers to the points taken on the cylinder shaft If a plane was dragged into the operand window before measuring the cylinder GeoLoc will still ask to measure the plane contrary to a hole measurement Hole center of a bore in a surface First a temporary plane is measured on the surface Then the probe sinks into the bore where a centerpoint measurement is taken This point is then projected on the measured plane Origin bore center 1 Direction N A The temporary plane has a direction see Plane Tolerance applicable when more than 3 points are fitted into a plane E Probe tip compensation not necessary For the temporary plane the compensation is the same as for a Plane NOTE To measure the plane the settings for the geometric primitive plane do NOT apply hole has different settings small hole gt plane and small hole gt centerpoint 27 If a previously measured plane was dr
11. only be Cae Cee Far Dies known by three of its points this wm EE mg plane can be constructed using three wen i defined points and a plane fit Parameters Name name of the defined line Expressed in name of the static reference frame in which the plane is aa i The direction it relser do the Faneinsvt ch the pane E expressed ad N a reference 00 vha E qresa Mitt hen Fe pana wibe steel i ihe tmeia co ke yaen TAES are listed in the combo box Cokin deed itn values faust ba entered 3308 cd co vector perperdicula do ha plane including camera frame Far samde 0 0 1 species the Y plane Position Cartesian coordinates of the point on the plane expressed in Corel the static reference frame Direction direction of the plane The user has two possibilities A plane perfectly parallel to and equal in direction as one of the planes formed by the axes of the static ref Frame XY plane XZ plane or YZ plane Custom direction values of the vector perpendicular to the plane according to entered weight factors for each axis of the coordinate system in which the object is expressed Comment optional description of the element When working with weight factors GeoLoc will set the vector direction taking into account the ratio between that direction and the weight of the 3D motion For example The weight of the 3D motion is 1 02 02 1 1 The weight for the Zmotion is 1 The weight for Y and
12. 0 000 0 000 0 000 is expressed All available reference 5 0 000 0 000 0 000 frames are listed in the combo box 6 0 000 0 000 0 000 including the camera frame Er 7 0 000 0 000 0 000 Number of number of points in the point ee 8 0 000 0 000 0 000 cloud It isn t until the user clicks on the Sen 000 SECH Se Get button that the matrix size is dated Only then th 10 0 000 0 000 0 000 updated Only then the user can enter ees FR See E the coordinates of each point in the cloud Comment optional description of the element Line this option defines a line This type of line is defined by a point on the line and three direction values Should a defined line only be known by two of its points it can be constructed using two defined points and a line fit Parameters Name name of the defined line Expressed in name of the static reference frame in which the line is expressed All available reference frames are listed in the combo box including camera frame Posi tion Cartesian coordinates of the point on the line expressed in the static reference frame Direction direction of the line The user has two possibilities A line perfectly parallel to and equal in direction as one of the axes of the static ref frame Custom direction according to entered weight factors for each axis of the coordinate system in which the object is expressed Comment optional description of the element KRYPTON Hel
13. 7 0 500 If the actual residual error exceeds the tolerance this message Is red instead of black The settings can be saved to file or can be loaded from a previously stored file by clicking on the buttons Load settings and save settings Notes The number of points for a cylinder are only the points measured on the shaft For measuring the base plane of the cylinder the number of points for a plane apply The Number of points for a dynamic frame is the number of snapshots that will be taken of the LED s on the frame Every LED position gets averaged over this number of snapshots Measuring a bore consists of measuring a plane and then measuring the probe as it rests into the bore For measuring the plane of the bore GeoLoc does NOT use the number of points of a plane but uses the number of points set in small hole gt plane KRYPTON Help Pages on GEOLOG KRY PION 5 4 4 5 4 5 5 4 6 5 5 page 40 47 Macro menu Although the macro s themselves are fully described in chapter Scripting writing and using macro s on page 43 we ll list the menu possibilities here already F Play 9 Edit sf iter uit Record ua Record when this option is chosen the macro teach mode is toggled If the teach mode is active the icon will look as if it is pushed in From this moment on every action performed is recorded into a macro and can be replayed late
14. Divulgation of any kind of information described in this manual is strictly forbidden No warranty is given on damages including but not limited to loss of profit and special incidental consequential or other similar claims ROCAL RODYM GeoLoc and SPACE PROBE are registered trademarks of KRYPTON N V Microsoft and Windows are registered trademarks of Microsoft Corporation KRYPTON Help Pages on GEOLOG KRY PION page 6 49 1 Start here Welcome to the GeoLoc user manual GeoLoc is a software package intended for measurement and localization of geometrical objects Its primary use is to supply other Krypton software packages with an easy and consistent tool to localize geometric objects that are in the field of view of the Krypton camera and need to be identified This guide is intended for all users working with GeoLoc This document will guide you through all the features this software has to offer This guide will follow a top down approach starting off as would a user approaching the system for the first time Step by step we ll go through all of the possibilities starting with the obvious features and ending with the most powerful and versatile features This guide assumes you have a basic knowledge of the Krypton camera system that all the hardware is installed and that you have some basic experience with the Windows operating system If you are interested in the principles of GeoLoc please refer to chapter
15. KRY PION 5 9 1 9 2 page 13 47 Using GeoLoc This chapter will describe all options and features of GeoLoc This chapter is written assuming that all default values for directories program groups and such where chosen during installation First we ll take a closer look into the GeoLoc user interface so we know what information can be found or expected in what screen location Next we ll discuss the left vertical operation bar all geometrical operations we can perform Finally well discuss possibilities of the main menu The camera driver GeoLoc uses a camera driver to obtain his coordinates from This driver might pop in front of the GeoLoc user interface during the measurement and might be useful from time to time since he gives feedback on the Probe stability of the last measurement KRYPTON RODYM CHM JE View Settings Commands Help About Temperature C Figure 2 camera driver the user interface In general this driver can be neglected Although it is possible to start or stop this driver manually it is not advised to do so GeoLoc will handle all start and stop control over this driver Should the driver pop in front of GeoLoc you can manually click on the GeoLoc interface somewhere to restore GeoLoc as foreground running task The GeoLoc user interface In this chapter we ll look at the GeoLoc user interface and the division into different zones The use and yield of each zone is inde
16. LED visibility and the quality of the measurement environment 3 Calibrating and checking the Space Probe The following steps must be repeated for each camera PC on the test bench Configuring the cameras If you purchased a Rodym 6D camera refer to Rodym 6D system guide chapter configuring amp operating the Rodym 6D hardware If you purchased a Kx00 camera refer to the K400 K600 Hardware amp Software Guide chapter Checking hardware amp environment Checking LED visibility amp environment If you purchased a Rodym 6D camera refer to Rodym 6D system guide chapter configuring amp operating the Rodym 6D hardware If you purchased a Kx00 camera refer to the K400 K600 Hardware amp Software Guide chapter K Check LED visibility amp environment Checking the Probe If you purchased a Rodym 6D camera refer to Rodym6D utilities user guide chapter using the Rodym 6D utilities If you purchased a Kx00 camera refer to the K400 K600 Hardware amp Software Guide chapter ProbeCheck checking Probe functionality Calibrating the Probe If you purchased a Rodym 6D camera refer to Rodym6D utilities user guide chapter using the Rodym 6D utilities If you purchased a Kx00 camera refer to the K400 K600 Hardware amp Software Guide chapter ProbeCal calibrating the Probe KRYPTON Help Pages on GEOLOG
17. Tolerance the fitting of the current LED positions should not yield a residual error exceeding this tolerance compared with the LED positions measured at the time the dynamic frame was acquired KRYPTON Help Pages on GEOLOG KRY PTON 5 3 3 Manipulating amp constructing geometrical elements page 23 47 With the Operate command bar the user can manipulate existing objects or can create new geometrical elements based on existing elements This way geometrical features that cannot be measured directly can be identified indirectly Theoretically every operation needs a number of input parameters and yields 1 Program output parameter However if the operand window contains geometrical ERE elements before the operation is initiated the operation will use those elements as input parameters and yield an output with an automatically generated name Uperate The first element in the operand window highest positioned element will be A parameter 1 the second will be parameter 2 etc In some circumstances the Wi use of the operand window is not advised in order not to create ambiguity Travielske This chapter will explain every operation in detail with its objective in and KV output parameters Operations will not necessarily be discussed in order of appearance but in logical sequence Every operation is shown as if no Rotate parameters are passed through the operand window l Translate this operation translates an element
18. When working with the X Y and Z axes the axes of the element itself are taken NOT the axes of its reference frame When working with weight factors GeoLoc will construct an axis taking into account the ratio between the weight for that direction and the total weight The resulting ratios form the components of a unity vector on the requested axis KRYPTON Help Pages on GEOLOG KRYPTON page 25 47 For example The weight of the all the axes is 12 12 0 2 1 41 The weight for the Y axis is 1 The ratio is 1 1 41 0 707 X has the same ratio Z has ratio 0 The unity vector is the XY bissectrice in the XY plane The object will be rotated over 21 around this bissectrice Note when asking for the 6D properties of an element after the rotation see chapter The element window on 18 the displayed rotation angles must be interpreted as follows Roll Pitch Yaw the consecutive rotations are around the axes of the reference frame Steer Camber Spin the consecutive rotations are around axes that got rotated themselves camber and spin axes follow the object in a steer rotation The spin axis follows the object in a camber rotation Change reference this operation recalculates the position and orientation of an element in a given static reference to another static reference Change reference Mame tbe d New otherS taticFrame a Cancel Figure 13 GeoLoc Change reference form
19. a and international treaties Unauthorized reproduction or distribution of this program or any portion of it may result in severe civil and criminal penalties and will be prosecuted to the maximum extent possible under law Cancel Figure 1 release CD pop up form KRYPTON Help Pages on GEOLOG KRYPTON If you didn t get this screen automatically within 30 seconds use your Windows Explorer to locate the file SETUP EXE on the CD start this by double clicking on the file page 10 49 Click on the button Next A list of software products will appear sorted per product group JA Select Components l EZ In the options list below select the checkboxes for the options that pou would like to have installed f E400 KEOD System Software T K100 System Software T RODYMED System Software k K Chi hd DMM MODULAR F OMM REALTIME T ROCAL T ROBOSCOFE ISO T TOOLCHECK T WHEELTRACKER lt Back Cancel Check the following software packages if they were not already installed on your system however we advise you to install these software packages in advance Please refer to the user manuals of the software packages involved 2 K400 K600 system software if you have a Kx00 camera system or Rodym6D System Software if you have a Rodym6D camera system 22 K CMM Check Geoloc and click Next In the welcome screen read the instruction
20. a new project is created a new data dle directory is created where the geometric element files will be stored and a project file extension PRJ The user is prompted to enter a project MAPA wl name While the user types the project name the data directory will Project name myFird automatically grow It is possible to change the data directory after the Data director Cs geoloctBinimyFirss E project name was entered Should the user change the project Comments name after the data directory was set SE the data directory will be res et to the default directory extended with the project name Open select the project file project name with extension PRJ GeoLoc will fill the LE element window with all elements described in this project Save stores the current project file KRYPTON Help Pages on GEOLOG KRY PTON 5 4 2 page 36 47 Save As will store the current elements in a new project The pop up window is the same as for New but it will not be an empty project Add from file allows for manually adding elements from other projects All elements are stored on disk under Matlab format Such file is of form elementName MAT Select the Matlab file that corresponds to your element with the pop up form er Deleted items choosing Deleted items lists the elements that were deleted but not physically removed from the hard disk If you select a number of elements and click Deleted vari
21. ables on recover the elements are restored in the so Ss ement wind measuredPlane element window muFittedLine Purge Recover Clicking Purge will physically remove the ee selected elements from the hard disk Print Clicking OK returns you to the main menu el Return when GeoLoc was started by another program and some elements are dragged into the operand window clicking return will teleport these elements to the calling program See also chapter The operand window on 18 Exit closes GeoLoc View menu The view menu is a small menu that allows the Toolbars M standard Toolbar user to modify the user interface to his her Status Bar MUEpUE personal comfort ES Operands e Command bar The first drop down level allows the user to hide or show the status bar Showing the status bar is useful since it displays a line of description r Customize every time the mouse moves over a menu item Toolbars Secondly the menu allows for hiding or showing individual toolbars 4 Standard toolbars are available Unchecking the Standard toolbar will hide the icon bar below the menu Unchecking the Output will hide the output window Unchecking the Operands will hide the operands window Unchecking the Command Bar will hide the command bar ER Customize this menu brings up a form that allows you to customize every item on the menu and icon b
22. agged into the operand window prior to starting the hole measurement GeoLoc will skip the plane measurement and project the centerpoint on the plane in the operand window During the measurement GeoLoc will show the number of points to take in 3 I 5 the output window and how many of these points are already taken E g 3 points of the expected 5 are already measured Measuring advanced geometrical objects The last three items on the measure command bar are powerful items that do not require the use of the Space Probe but only of individual LED s Nevertheless they yield valuable information that can be used in a number of Krypton products Each item also requires more configuration than the number of points and the tolerance as did their basic counterparts These items are a path a dynamic frame and a make frame Path a point cloud of subsequent LED positions If multiple LED s are configured the subsequent position of each LED is ordered into channels Origin N A Direction N A Tolerance N A When a path measurement is activated a pop up form appears The parameters are Name name of the generated point cloud Port strober port onto which the strober of the LED s is connected First LED sequence number of the first LED of the cloud Number of LED s number of LED s in the cloud to be measured Trigger select 1 of 4 possible trigger types to make a snapshot of the LED cloud Sample every
23. ar The form has a number of tab sheets KRYPTON Help Pages on GEOLOG KRYPTON Command Toolbars Keyboard Menu Mouse Options page 37 47 Toolbars BI mylvntoolkar Delete Figure 21 GeoLoc Customize toolbars form Toolbars this tab allows you to create new toolbars hide existing toolbars or deleting toolbars It is suggested to create a personal toolbar to place all user chosen icons on When a new toolbar is created this starts as a very small grey block Drag it besides the icon bar Checking or unchecking a toolbar shows or hides the toolbar Warning If you click Reset all all menu entries of additional modules will be deleted If you want to reset the toolbars while retaining the module toolbars go to the tab Menu and click on Reset for Default menu Commands this menu shows per category every possible menu item and its corresponding icon Just select the icon of a function and drag it onto the icon bar If you want to remove an icon just click on it on the menu bar drag it into the form while holding your left mouse button down Keyboard this menu allows configuring keystrokes as shortcuts for certain functions Commands Toolbars Keyboard Menu Mouse Option Category Set Accelerator for Project sl Default sl Ke Commands Current Keys Add from file Deleted elements Hew 4 Open r Rehan S Press New Shortcut Kep Reset All Description
24. dded in the elements window The operand also holds the elements that will be teleported to external programs if the user clicks the Return button see Return function in chapter Project menu on page 37 The output window The output window will hold all messages from GeoLoc for the user These messages can be an informational message e g reporting the residual error after a best fit a warning message e g inaccurate calculation or errors e g an error occurred in the module BASELOC The variable camera does not exist Dn error occured in the function changereference of the module BaseLoc The function will be aborted 1 Messages For Help press F pend Figure 7 GeoLoc the output window The messages will appear in different tab sheets depending on the context GeoLoc itself will activate the proper tab for you when a new message arrives Measuring constructing amp defining geometric elements This chapter focuses on the key actions of GeoLoc how do measure geometrical objects how do I make alignments how can I perform a best fit All operations are grouped in 3 vertical slider bars they are sorted by nature clicking on the button Program lists all geometrical elements that can be defined prior to a best fit clicking on the button Measure lists all geometrical elements that can be measured clicking on the button Operate lists all operations and manipulatio
25. e e g when estimating the position of a point with respect to the camera make sure the camera frame is used as frame of reference See chapter The element window on page 18 If your element was constructed please check if the position and orientation of the parent elements was OK If you don t know which elements were the parent elements refer to the base properties of your construction See chapter The element window on page 18 If want to measure a path or a dynamic frame a pop up form appears instead of measuring led s Geoloc can t find the application CamCheck probably because this file was deleted or moved Enter the full path to the CamCheck application If you entered the wrong application some registry settings will have to be deleted contact Krypton for assistance KRYPTON Help Pages on GEOLOG KRY PION f Index add from nie 37 SERIES ee eebe 27 baseloc menu 41 DES eee eee ee er 8 Mr 8 camera driver 20 ecceeeeeceeceeeeeeeeenees 14 change reference oococococcccoconoconnonos 26 ele 19 eieiei TEE 38 configure Ca merg 13 EE EE 6 Create cloud aarnuunnunnnunnennnennnennnennne 29 create coord sys from features 27 create elemente cece eeeeeeees 24 EENHEETEN geess 27 customize VIEWS 37 39 41 Ao REE 19 CETING cloud EE 32 define line 2 0 eee cece eeeeeeeeeeeeeees 32 define plane arannnnanannnnnnanennnnr 33 34 define point
26. e go again to the main menu and choose Macro Record The icon will click out of the menu KRYPTON Help Pages on GEOLOG KRY PION Now choose Macro Edit Enter the filename under which you recorded your previous program The GeoLoc editor will open the script page 42 4 7 C GeoLociscnuptimyMeasurement script File Edit Script Deh teens Emybeti nedPoiat01 prodrampotatI mDetinedPoint01 1i 00000 2 00L my DefinedPoint 4 programpoint myDefinedPoint02 4 00000 7 00 fit mybefinedPointOl mybefinedPoint2 Cloudi ereatecloudl mybefinedPointOl mybefinedPointO2 rename CC 1loudl myTwobefinedPoints te SETET TNT UODE EI HENP GIAES SEL THE As you can see in the example above no messages are programmed to be sent and there are two lines of code to measure the point cloud myTwoDefinedPoints one line to measure the cloud but gets saved under a default name and one to rename the cloud with the default name to the requested one We also made a false calculation being the fit on line 3 Therefore we can manually edit the script We ll remove the faulty fit We ll create the cloud without renaming it We ll comment out the cloud rename operation We ll rename the final fitted line directly line 7 Well add some messages The result is the following CAGeoLoctscriptimykMeasurement script File Edit Script Ge A AAS essage myDel
27. e 21 The script functionality of the function Change reference has changed if an output element is specified a copy of the original element is created and expressed in another frame of reference See chapter Manipulating constructing geometrical elements on page 25 Two functions to import and or export elements and alignments in text files are added to the standard function inventory See chapter Defining geometrical elements on page 32 When recording a script with the Record button an existing file will not automatically be overwritten but GeoLoc will ask whether to overwrite or to append See chapter Macro menu on page 42 KRYPTON Help Pages on GEOLOG KRY PTON page 9 49 3 Installing the GeoLoc software This chapter describes the software installation from scratch for GeoLoc Power up your PC and close all unnecessary applications Insert the Krypton installation CD in your CD ROM drive The following screen release date may be more recent will appear automatically 4 Welcome 3 xi Welcome to Krypton Software Products Setup program This program will install Krypton Software Products on pour computer Ibis strongly recommended that you exit all Windows programs before running this Setup Program Click Cancel to quit Setup and close any programs pou have running Click Next to continue with the Setup program WABNIN G This program i protected Du copyright l
28. e difference with an example Suppose have a calculated a data file measurement1 and measurement2 Suppose have three scripts TOPLEVEL script FOO script and BAR script top of file this is script TOPLEVEL script this executes the script FOO script FOO this executes the script BAR script output3 BAR measurement1 Bottom of file The script FOO is a fixed set of operations All the parameters it uses and generates are global i e they are created and known within GeoLoc top Of file this is script FOO script output1 FitCircle measurement1 output2 FitCircle measurement2 Bottom of file The script BAR is a function The first line states the syntax and return parameters to call this function The first comment block starting with percentage signs will return information in the user interface should you call this function without specifying parameters All data files created within a script only have a local scope e they are only KRYPTON Help Pages on GEOLOG KRY PION USTERAL METROLOGY page 45 47 IND known to the script and only live as long as the script is executed The variable myCloud will not appear in GeoLoc since it is locally created function result BAR local Parameter BAR calculates the acceleration of your input parameter
29. e separate directories on the hard disk By Gai storing geometric elements the element window will not Open be flooded with elements that are outlived or have got Save nothing to do with the current measurement context 5 ave Os Add from File The user must not be aware where the project files are stored GeoLoc stores this information for him All the user has to do is open the appropriate project file Sg GeoLoc will fill the element window with the set pri corresponding elements From then on it s just as if the user never stopped measuring sg Deleted elements Setting the project is something that must not always be done manually by the user if another Krypton product calls GeoLoc this calling program will instruct GeoLoc to create or open a project The current project is denoted in GeoLoc s status bar e g the project myFirst me 1 gg must Should it be necessary to exchange elements between projects GeoLoc can import element files from other projects Whenever an element gets deleted its file is not yet physically removed but the element s icon disappears from the element window The project menu allows to restore elements or to purge the Deleted items bin Finally The menu allows for exporting elements to the calling Krypton software package This is very often a static reference frame or a dynamic frame We ll now discuss each option in detail E New creates a new project Whenever
30. ence Filename My DocumentsimyStaticFrames tt S Variable mvstaticframe sl Figure 19 GeoLoc Export form Parameters Filename name of the text file in which the element data will be stored Variable select the element that you want to export into the text file Import this function imports an element from a specified file The valid extensions are listed when clicking on the browse button to select the file GeoLoc will recognize the type of element that was saved and will write the file data into an element of the same type be it a new element or an existing one Import E3 Variable mpNewElement Filename MyDocuments mpDynamicFramelGS Expressed in fmyStaticReterened optional spel Figure 20 GeoLoc Import form Parameters Variable enter the name of the element in which you want to import the file If the name does not exist the element will be created Filename name of the file from which the element data will be read This can be a text file a Matlab file or an IGES file containing an element an alignment or a dynamic frame led file Expressed in reference frame in which the element is to be expressed If this field remains blank the camera reference frame is the default KRYPTON Help Pages on GEOLOG KRY PTON page 34 47 5 4 Options in the main menu Until now we ve seen all possibilities to measure elements interactively However all these possibilities
31. ent options The geometric primitives currently available are Points a set of discrete points used for fitting Program Origin N A Measure Direction N A Tolerance applicable only when fitting a measured point cloud on a defined point cloud No probe tip radius compensation Line a straight line through at least two points Origin N A Direction positive from the first point towards the last point Tolerance applicable when more than 2 points are fitted No probe tip radius compensation Plane a plane through at least three points Origin N A Direction perpendicular to the plane Positive sense is equal to positive Z vector of the measurement probe Tolerance applicable when more than 3 points are fitted Probe tip compensation opposite to the positive Zvector Circle a circle through at least three points Origin circle center Direction perpendicular to the plane Positive sense is deter mined by the point measurement sequence right hand rule Tolerance applicable when more than 3 points are fitted No probe tip radius compensation Sphere a sphere through at least four points Origin sphere center Direction N A Tolerance applicable when more than 4 points are fitted Probe tip compensation always to the inside of the sphere Cylinder a cylinder through at least six points The first n points determine the cylinder s base plane the last three or more are measured on the shaft The cylinder is assumed to be perpendicular
32. ents itself to the user Data directory for new projects this is the default directory GeoLoc will create subdirectories in every time a new project is created Script directory default directory in which Geoloc saves or retrieves script files KRYPTON Help Pages on GEOLOG KRY PION Use Matlab in scripts if GeoLoc finds an unknown function in a script he will interpret this as an error unless this option is checked if checked GeoLoc will try to execute the function in Matlab and proceed with the results as yielded by Matlab Instruction window font this is the font in which script messages will be shown to the user The bigger the font the easier it is to read from large distances but the faster a message will clip page 39 47 5 4 3 2 Measurement options This tab lists for every geometric element the number of points to take before attempting a fit for that element The Tolerance column holds the residual error least square error of the fitting that should not be exceeded General Measurement options Number of points Tolerance mm Cloud of points p Sphere la p Plane B UU p Line ER Circle fo p 00 Cylinder bur aer Dynamic frame ad p Small hole gt plane E DP Small hole centerpoint D Load settings Save settings Figure 24 GeoLoc measurement options tab form After a fitting the residual error and the tolerance are displayed in the output window as follows 0 13
33. error point cloud is the 3D error between the fit result and the point cloud on which the fit was based Comment optional description of the element KRYPTON Help Pages on GEOLOG KRY PION Map this operation creates a new static reference frame by mapping two point clouds onto each other a defined point cloud and a measured point cloud The defined point cloud contains a set of points of which the user dictates their coordinates in a coordinate system The measured point cloud contains the corresponding points measured in another frame By mapping the two clouds onto each other the software can calculate the transformation formulas to convert coordinates from one frame into the other Defined point clouds have not been treated yet they will be in the next chapter Defining geometrical elements on page 32 page 29 47 The main difference between fitting and mapping is that for a fitting the user does not know what the outcome should be he constructs a new element in an existing reference frame For a mapping the user must specify what the measured points should be in his chosen reference frame he constructs a new reference frame based on existing elements It is very important that the measured points are measured in exactly the same sequence as their counterparts in the defined point cloud Hap Ea Name myNewStaticFrame Haminal nominalPointCloud p Measured measuredFointCloud X Store the 3D
34. gin sl at nominal co ordinate Origin of Y axis measuredOrigin at nominal co ordinate 2 ror Origin of aus measuredOrigin sl at nominal co ordinate 3 mm Min AL Relative to co ordinate system Cancel Figure 15 GeoLoc create coord sys from features form Secondary set lt d gt axis to lt s gt orientation of lt e gt configures our new reference secondary axis lt d gt determines whether we ll choose the X Y or Z axis to be parallel to our secondary orientation projected in plane of the primary orientation lt S gt determines whether this axis has the same direction or the opposite direction as the secondary orientation lt e gt selects the measured element which is chosen to be our secondary orientation Frame position origin of axis lt e gt at nominal coordinate lt c gt relative to co ordinate system determines the origin of our new static reference frame with respect to a measured element The idea is that the measured element gets expressed in the new static reference system The software proposes to use the same element from all three axes but is can be configured independently for each axis lt e gt the measured element of which we dictate the position in the new static reference frame lt C gt the dictated coordinate of the measured element in the new static reference frame Project element 2 on element 1 this operation projects the second element ont
35. he current opened script in GeoLoc Show functions this shows a structured overview of all the available functions for GeoLoc scripts Functions F GL Standard UnitFrame Function WheelApprox meazurepointe ER Menu El BASELOC E Measure e measurecircie measurecplinder measuredynamic gt Measureframe Measures a cloud of points H measurelne A isthe desired number of points bo measurepath The second parameter indicates if the measurement should stop 0 or i continue TJ it H is reached Syntax lt MName gt measurepointe N 40 14 Explanation H measureplane ae measurepolnts m measuresmallhole m measuresphere E Operate E Program x ones Figure 25 Scripting the function browser If you select a function from the tree on the right will appear the function name syntax and an explanation on the function By clicking on Insert the function will be inserted in the current script wherever the text cursor was positioned at the time of insertion Note that it is also possible to include previously defined scripts When a function is inserted it is inserted with dummy parameters The user must replace these parameters with their real life counterparts KRYPTON Help Pages on GEOLOG KRY PION page 44 47 5 6 1 3 The script syntax 5 6 2 The GeoLoc scripting syntax is very similar to the Matlab syntax Both variables and function calls are
36. inedPointOl is now defined mybefinedPoint01 programpoint myDbefinedPointO1l 1 00000 2 esseage I mylertinedPointis is now defined mybefinedPointO02 programpoint myDbefinedPointO2 4 00000 myTyobefinedPointa createcloud mybefinedPointO1l mybefine rename Cloudl myDbefinedFPoints Cem ne TAE MyIu bDefinedPoints Aline This script can be saved and can now be run The functionality of the GeoLoc script editor will be explained in the next chapter 5 6 1 2 The GeoLoc script editor This chapter will describe the possibilities of the GeoLoc script editor The GeoLoc script editor is a small tool that allows for fast and easy script writing The editor recognizes the GeoLoc script syntax and will color the words according to their function functions are blue names of variables and strings are red and variables are black The editor has 8 functions icons that are very similar to Windows also in functionality KRYPTON Help Pages on GEOLOG KRY PION page 43 47 File menu New new script Save save a script under its original name Save as save script under a different name Open open an existing script Edit menu Cut move a portion of text to Windows clipboard Copy copy a portion of text to Windows clipboard Paste insert the clipboard contents Undo neutralize last edit action Besides these the editor has two additional functions Run run t
37. introduction on page 7 If you want to install the software from scratch start with the chapter Installing the GeoLoc software on page 9 If you want to make sure that everything is set before the first measurements take place start with the chapter Actions before conducting measurements on page 14 If you are sure that all preliminary actions are taken or were not required start with the chapter Using GeoLoc on page 15 KRYPTON Help Pages on GEOLOG KRYPTON 2 page 7 49 Introduction Krypton develops and commercializes camera bas ed solutions for measuring and evaluating the 6D positions of objects in space Our systems are based on non contact measurements using solid state camera systems Several software packages are developed by Krypton to support industrial and laboratory position problems both static and dynamic but always using the same hardware Each camera system consists of 1 or more digital infrared CCD cameras mounted on a fixed beam Each of the camera s measures an angle of an infrared LED that resides in the camera s field of view By combining the readings from the three cameras a 3D position of the LED can be calculated with respect to the camera s reference frame If we attach 3 such LED s on an object we can calculate the 6D motion of this object by combining the 3D readings of the three LED s GeoLoc is a program that measures and localizes geometrical objects Software characte
38. is is not perpendicular to the first axis she is projected first on the plane perpendicular to the primary axis keep this in mind when choosing a secondary axis Once we know two perpendicular axes the 3 axis is known too since she is perpendicular to the first and second axis Finally we must translate our constructed reference frame to a chosen origin For obvious reasons the measured elements selected as primary and secondary orientation must be elements with a direction planes lines circles The frame position can be an element without a direction point Parameters Name name of the new static reference frame Primary set lt d gt axis to lt s gt orientation of lt e gt configures our new reference primary axis lt d gt determines whether we ll choose the X Y and Z axis to be parallel to our primary orientation lt S gt determines whether this axis has the same direction or the opposite direction as the primary orientation lt e gt selects the measured element which is chosen to be our primary orientation KRYPTON Help Pages on GEOLOG KRYPTON Create frame from existing geometric features Mame myStaticFrame Frame oer abon page 27 47 se fe Te ee Primary Set C Y avis equal to onentation of measuredZplane fag Ca a De 4 duer secondary Set Y axis equal to orientation of measured avis sl LS Frame position Origin of aglz measuredOri
39. l geometrical elements that can be defined prior to a best fit alignment clicking on the button Measure lists all geometrical elements that can be measured clicking on the button Operate lists all operations and manipulations on geometrical elements 3 Element Window red in the middle this window is the reservoir in which all generated elements are gathered Every geometrical element that is defined measured or constructed is listed in the element window Geometric elements frames point clouds everything that is defined measured or calculated is displayed in this window with an appropriate icon and a name 4 Operand window blue on the right this window holds the items to be used in an operation Whenever an operation is selected and some items from the element window were dragged into the operand window these items will be used as parameters for this operation The operand window is also the transit buffer to be used when items must be teleported to another software package Every geometrical item that serves as input for an operation or an export must be dragged into the operand window However if an operation is performed KRYPTON Help Pages on GEOLOG KRY PION without parameters in the operand window GeoLoc will ask for them with a pop up window with all parameters listed in combo boxes D The Output window green at the bottom this window holds all feedback from the program to the
40. le click command of the mouse Options allows configuring the Windows Screen Tips and the Windows 2000 look 5 4 3 Tools menu The Tools menu holds two configuration functions A Customize function has been discussed in the chapter View menu on 38 dt Options this function brings up a pop up with a few tab sheets If a module is added to GeoLoc a new tab sheet appears here on which the settings for this new module can be changed The default tab sheets are discussed in the following subchapters 5 4 3 1 General General Measurement options Default onentation Pall Pitch an Language Data directory for new projects Script directory Use Matlab in scripts Instruction window font arial 50 Figure 23 GeoLoc general settings tab form Default orientation this is the angular convention in which frames will be expressed At this time three conventions are supported Roll Pitch Yaw first around X then Y then Z Rotations are relative to the reference frame axes Steer Camber Spin first Z then X then Y Rotations are relative to the objects own axes axes have rotated with object Skrew vector rotation around a vector in a 3D space The three coordinates are the lengths of the three vectors S Sy and S that compose the skrew vector The angle of rotation is the vector norm in radians this is always the smallest angle to transit Language language in which GeoLoc pres
41. ll indicate whether this kind of operation is acceptable or not Finally there is a function to export elements to text files and to load them again from file Sometimes this makes it easier to share data between GeoLoc and other programs Point this option defines a Single point single point Single points can be used e g to construct Name defined lines Expressed in myStaticFrame Parameters Position Name name of the defined pa 41505 mm point Expressed in name of the Y 148 23 mm static reference frame in which 7 5347 mm the point is expressed All available reference frames are listed in the combo box Comment including the camera frame Position Cartesian coordinates in the static reference frame Comment optional description of the element KRYPTON Help Pages on GEOLOG page Program Point mo Cancel 30 47 KRYPTON page 31 47 Cloud this option defines a cloud of ISS x single points Defined point clouds can Wane lt be used to create alignments based on i Expressed in camera Ze mappings see chapter 5 3 3Manipulating ee The points are entered in a matrix each NE Set row represents a point each column Esmment represents one of three coordinates X Y or Z Ke 0 000 i 0 000 i 0 000 Name name of the defined point cloud een Gen Tr Expressed in name of the static 3 0 000 0 000 0 000 reference frame in which the point cloud 4
42. metrical elements ooccccococccoccccnocononaoonnnconnnconononononos 25 5 3 4 Defining geometrical elements E 32 5 4 Options In ihe main MENU senssa diia 36 5 4 1 Fed El 37 5 4 2 VEV LC E asa seceescececentcte cance cncete cede secedadesc E cues 38 5 4 3 TVEN 40 5 4 3 1 FEN 40 5 4 3 2 Measurement OPTIONS EEN 41 5 4 4 ENN TM 42 5 4 5 BENENE 42 5 4 6 A E 42 55 Miscellaneous E ed Le TEE 42 5 6 SCRIPTING WRITING AND USING MACRO S im nnvrnnnvnnnnvnnnvennnennnnennnnennnennnnnnnnennnvsnnvennenennvenn 43 5 6 1 Writing a single level scrpt EEN 43 5 6 1 1 Teaching ASP ai 43 5 6 1 2 Ne ele e 44 36 1 3 TESS 46 5 6 2 Using scripts within scripts da 46 6 TROUBLESHOOTING E 48 7 NE FN 49 KRYPTON Help Pages on GEOLOG KRY PTON page 4 49 Table of figures Figure 1 release CD pop up form 9 Figure 2 camera driver the user mtertace 15 Figure 3 GeoLoc Ihe USEF TEE 16 Figure 4 GeoLoc the element WINKOW arnrnannnnrnrnanevnnnrnavennnnrnnnanennnnenanennnnenanennnnnsnen 17 Figure 5 GeoLoc element properties WINGOW cccccecseceeeeeeeeeceeeeseeeeneeeeaeeeeaeeeeneees 18 Figure 6 GeoLoc the operand window inean aa raaa E ENEEK 19 Figure 7 GeoLoc the output wipndow ee ececeeeeeeseseeeeeeeeseeeeaeseseeeeeseneneeass 19 Figure 8 GeoLoc path measurement Tomm 22 Figure 9 GeoLoc dynamic frame form ccccceceececsececeececeececeeeecueeeseceeseceecesueaeseeaeees 23 Figure 10 GeoLoc dynamic f
43. ns on geometrical elements Every time the user clicks on one of these buttons the appropriate menu will unfold covering the other two Er GeoLoc Measure Measure Er A WW Translate Project GeoLoc has the ability to auto detect new calculation modules and to add the functions from these modules to the menu or the icon bar Some of these modules can also add a button and corresponding slider bar This does not change the functionality of the original slider bars KRYPTON Help Pages on GEOLOG KRYPTON 5 3 1 Measuring basic geometrical elements page 18 47 With the measure command bar the user can measure a number of points that GeoLoc will try to fit into a geometric primitive shape such as a plane a cylinder a sphere The last three options on the measure command bar are not as straight forward as the other elements so they will be discussed in chapter Measuring advanced geometrical objects on page 21 GeoLoc treats every element as a frame coordinate system with an origin and orientation which are shown when the properties of an element are reported see The element window on 18 For each geometric primitive two settings can be configured to control the fitting 1 The number of points 2 The tolerance max residual error allowed during fitting These settings can be configured in the menu Tools Options and selecting the tab Measurem
44. o the first Parameters Name name of the constructed element Element to project onto the element onto which the second element will be projected Element to project subject of the projection KRYPTON Help Pages on GEOLOG KRYPTON page 28 47 Mame myFrojection Element to project onto measuredzplane Element to project measuredDrigin Cancel Figure 16 GeoLoc projection form Create cloud this operation creates a cloud of a number of individual geometric elements This can be useful when a set of individually constructed points must be mapped on a cloud of defined points Create cloud is the only operation that has no pop up window to configure parameters Create cloud must use the operand window Fit this operation will fit an existing point cloud measured or constructed onto one of four geometric primitive elements a line a plane a circle or a sphere Fit ES Name MyFittedE lement Cloud mytdeasuredCloud E Type of fit D Residual error q Comment T Cancel Figure 17 GeoLoc fit form Parameters Name name of the constructed element Cloud the point cloud that will be fitted into a geometric primitive Type of fit type of geometric primitive Fitting a cloud to a point creates a point whos coordinates are the average of all the points in the cloud Residual error optional the name of an error point cloud Each point in the
45. or X and Z motion Rotate this operation rotates an element over a certain angle around an axis parallel to a chosen axis The parallel axis runs through a chosen rotation point Rotate Name my0 bject h Angle 21 Rotation axis te o go Custom Around point C Origin of reference Custom 2 Origin E direction Y origin Z Origin Ce Around an element reto Rotation Figure 12 GeoLoc Rotate form Parameters Name name of the object to rotate Angle angle over which to rotate the element A positive angle rotates the object counter clockwise right hand rule a negative angle rotates the object clockwise Around point the point that acts as rotation center The user has three possibilities 27 Origin of reference this is the origin of the coordinate system in which the object was expressed often the camera coordinate system 2 Custom coordinates of a point expressed in the coordinate system in which the object is expressed often the camera coordinate system 22 Around an element Rotation axis the axis to which a parallel will be constructed through the rotation point around which the rotation will be executed The user has three possibilities Pure X Y or Z around the axes of the object E Custom rotation according to entered weight factors for each axis of the coordinate system in which the object is expressed 7 Around the Z axis of a other selected object
46. over a certain distance The Change reference element will be translated along its own axes Ev kl Translate li e Map Name myObject sl O Distance 34 mm E Create cloud Direction Ati ____ Me Y Fit C Custom ae A direction 3 d z Y direction a Create coord syst From director d features Along Z axis of an element Ae Janatherd bject Intersect two or more elements Cancel ES Project element 2 con element 1 Figure 11 GeoLoc Translate form Parameters Name name of the object to translate Distance distance positive or negative over which to translate the object 27 Direction direction to translate the object along The user has three possibilities 2 Pure X Y or Z along the axes of the coordinate system in which the object is expressed 2 Custom translation according to entered weight factors for each axis of the coordinate system in which the object is expressed 7 Along the Z axis of another selected object When working with weight factors GeoLoc will translate in each direction taking into account the ratio between that direction and the weight of the 3D motion KRYPTON Help Pages on GEOLOG KRY PTON page 24 47 For example The weight of the 3D motion is 32 22 12 14 3 74 The weight for the Y motion is 2 Therefore the object will be moved over 34 mm x 2 3 74 18 18 mm in Y Similar calculations count f
47. p Pages on GEOLOG This will create a cloud of points First specify the number of points and click on Set The values of these points can then be set in the grid If this 18 nominal grid that will be used for a mapping later then you can already specify the name of the resulting frame of the mapping in the field Reference frame et New line Name IT Expressed in feansa d Position Iech CR OY C2 Custom y 1 1 A direction Y direction direction Conme This mill create new line The direction is relative to the frame in which the line i expressed un leave the Expressed in field blank then the line will be expressed in the camera co ordinate system Custom direction values must be entered as a direction vector For example 0 0 1 specifies Ine along the 2 axis Cancel KRY PION When working with weight factors GeoLoc will set the line direction taking into account the ratio between that direction and the weight of the 3D motion For example The weight of the 3D motion is 1 02 07 1 1 The weight for the X motion is 1 The weight for Y and Z is O Therefore the axis will be parallel to X but in the opposite direction page 32 47 Plane this option defines a plane A HEMNES E plane is defined by a point in the he Fire plane and three direction values Enecmiin km HB determining a vector perpendicular to Fri pene the plane Should a plane
48. p up only allows an intersection of two elements at the same time Intersecting by using elements previously dropped in the operand window does not suffer this inconvenience Intersections rarely suffer from ambiguities so intersecting via the operand window in general is recommended In case the yielded element has a direction such as a line the direction can be predicted as follows the positive direction of the yielded element is indicated by the right hand rule when rotating from element to element If you want to enforce this while intersecting with the operand window make sure element1 is the uppermost element in the operand window Create coord Sys from features this operation allows the user to construct a static coordinate system or static frame using previously measured geometrical elements Such as planes lines and points This feature corresponds to a classical alignment as commonly known in CMM applications This frame can be used to express other elements in or to attach a dynamic frame to In order to establish an alignment that is determine the transformation from the camera coordinate system to the user chosen coordinate system we first select a primary orientation this is a measured axis which we assume to be an axis of our user chosen coordinate system Next we select a secondary orientation This is a second measured axis which will serve as second axis of our user chosen coordinate system If the second ax
49. pendent from the chronology of operations and is therefore discussed as first topic Open the program group Krypton Start GeoLoc The following screen appears KRYPTON Help Pages on GEOLOG KRYPTON GeoLoc emptyProject Al ES Program Project view Tools Macro BASELOC Help B BY AST so BK El zech a E Element window Operand window page 14 47 Plane Vie Si Er peas E Si Ss Fes We hul Feedback window TI Messages NETO Instructions Operate MykloduleLategory For Help press F1 emt Figure 3 GeoLoc the user interface Measure This is the GeoLoc user interface The interface is divided into 5 different zones each with a specific function 1 main menu icon bar on top Through this menu all options configurations and features are accessible Each option configuration or feature corresponds to an icon that acts as a shortcut Each of these icons can be dragged onto the icon bar or can be removed 2 Command Bar yellow on the left this bar holds in fact 3 slider bars where each slider bar holds a number of elements or operations By clicking an element or operation with the mouse the element gets measured or the operation gets executed Every manipulation that involves geometrical elements be it defining measuring or constructing one can be found in one of these three slider bars All operations are sorted by nature clicking on the button Program lists al
50. r When activating the teach mode GeoLoc asks in which script to dump the actions This file is an ASCII file and can be edited with any editor If the file already exists GeoLoc asks you whether to overwrite the file or to append the new actions to the existing file F Play run a previously recorded macro When clicking the function it will ask for a macro to run Macro s have the file extension SCRIPT SS Edit this script opens the macro editor see chapter Scripting writing and using macro s on page 43 Y Interrupt when a script is running this will interrupt the active script and return program control to the GeoLoc user interface Baseloc menu This menu is the same as its shortcuts in the command bar only in text form Refer to chapter Measuring constructing defining geometric elements on 19 Help menu This menu has two functions Help activates the Windows on line help function on GeoLoc About GeoLoc returns a splash screen with GeoLoc s version number and build number Always communicate these numbers when reporting problems to Krypton Miscellaneous functions The following functions do not belong to any of the previously described menus but they belong to the standard GeoLoc user interface and function inventory Abort clicking this button will terminate and reject the measurement currently in progress lf this happens while running a script the script will be abor
51. rame form 24 Figure 11 GeoLoc Translate form EE 25 Fig re 12 GeoLoc Rotate IMM add 26 Figure 13 GeoLoc Change reference Tomm 27 Figure 14 GeoLoc Intersection form coccocococococcononoconcnnononononcnnnnoconcnnonononnnnannnncnnnanons 28 Figure 15 GeoLoc create coord sys from features Tomm 29 Figure 16 G oLoc projection TOM sisi 30 Foue T7 e ER TONE 30 Figure 18 GeoLoc Map Tom 31 Figure 19 GE PT ae 35 Figure Ee Be LE MPOT e EE 35 Figure 21 GeoLoc Customize toolbars Tom 39 Figure 22 GeoLoc Customize keyboard form 39 Figure 23 GeoLoc general settings tab form oococcocccoccnconcnnonnnonoconnononnnnonnnnnnnnnononnnnons 40 Figure 24 GeoLoc measurement options tab Tom 41 Figure 25 Scripting the function browser 45 Figure 26 Scripting parameters field form ococcococccocccnnocncoconnonnnoconcnnncnnoncnnnnnnnnnnnnnnos 47 KRYPTON Help Pages on GEOLOG Product protection No copies of this manual or of parts of it may be made in any form or by any means without the written permission of KRYPTON N V Copyright 2002 KRYPTONN V The software and hardware described in these KRYPTON Help Pages are furnished under a license agreement and may be used only in accordance with the terms of this agreement The contents of the KRYPTON Help Pages are strictly confidential and the material described is strict intellectual and industrial property of KRYPTON N V
52. rame measurement is activated a pop up form appears The parameters are Name name of the generated dynamic frame Attach to name of the external coordinate system This frame must be measured before the dynamic frame is measured If no static frame is specified box empty or a non existent static frame a frame is created through the first three LED s see notes below Port strober port onto which the strober of the LED s is connected First LED sequence number of the first LED of the cloud Number of LED s number of LED s in the cloud to be measured Comment optional description of the element KRYPTON Help Pages on GEOLOG KRY PION Dynamic frame Name Dynamic Attach to fext objert LED s Number of leds la page 21 47 First led 1 Port 1020304 Comment EE Cancel Figure 9 GeoLoc dynamic frame form A dynamic frame has two additional parameters in the menu Tools Options Number of points number of snapshots over which each LED gets averaged Tolerance if the dynamic frame is used later on to retrieve the position of the coordinate system the residual mapping error cannot exceed this value It is a check on the integrity of the frame Notes If no static frame was specified GeoLoc will construct a frame using the first three LED s that are configured The origin will be LED1 The Xaxis leads from LED1 to LED2 The Y axis Is perpendicular to the X a
53. remove the item from the element list The item will not be removed physically but will be stored in GeoLoc s own Deleted items bin Make copy makes a copy of the original element Rename changes the name of the element Show Properties this option will show a pop up window displaying some general information about the object and geometrical information about the element with respect to the reference frame This reference frame can be chosen on line from the combo box at the top indicated in red Ge r ES E XK camera ai 71 Properties Le Base properties Geo properties CAD file Expressed in E Degrees of freedom use d Position Direction Si 401267 mm Rix 037 Y 659813 mm RY 0029 2 22052787 mm RZ SSS eee Radius 935618 mm Height 3 mm Figure 5 GeoLoc element properties window Element holds position 401 267 659 813 2252 618 with respect to the camera coordinate system The operand window The operand window holds the items to be used in an operation Whenever an operation is selected and some items from the element window were dragged into the operand window these items will be used as inputs for this operation KRYPTON Help Pages on GEOLOG KRY PION 5 2 5 5 3 page 17 47 O Circlel Line Figure 6 GeoLoc the operand window Choosing the operation intersect would calculate the intersection of Circle1 with Line1 The resulting point would be a
54. residual error residualE norsCloud information In a data element optionally Comment sm Cancel Figure 18 GeoLoc Map form Parameters Name name of the new static reference frame Nominal the point cloud with nominal dictated coordinates Measured the point cloud with coordinates measured in camera frame Residual error optional the name of an error point cloud Each point in the error point cloud is the 3D error between the fit result and the point cloud on which the fit was based Comment optional description of the element KRYPTON Help Pages on GEOLOG KRY PION 5 3 4 Defining geometrical elements With the Program command bar the user can define a limited set of geometric elements expressed in any given reference frame Defined geometric elements are requested when an alignment based on a mapping of two point clouds is required or in case we want to construct elements that can or should not be measured The easiest way of dividing points into the category of defined points is to call them points that were not measured and not constructed In other words these are theoretical points The geometric elements that can be defined are planes lines points and point clouds Defined geometric elements do not differ in any way from measured or constructed points they can be used for constructions projections intersections Only the circumstances wi
55. ristics 22 Measurement of all geometric objects planes lines points cylinders circles spheres dynamic frames 2 Possible operations translations rotations creation of coordinate systems 27 Best fits on points point clouds lines and planes 27 Project oriented approach in order to allow logical grouping of objects 2 Possibility of Scripting teaching macro s to make repetitive measurements easier With GeoLoc the user can measure certain geometrical objects Such as planes spheres holes By measuring objects with one or more point measurements the position and orientation of these objects with respect to the camera can be calculated Simultaneously certain physical characteristics of the object are calculated radius height The user can also combine different geometric elements to construct his own coordinate system e g by selecting a measured plane line and point GeoLoc will calculate the transformations that allow later measurements to be expressed in the user specified coordinate system In case the user requested coordinate system cannot be established with easy accessible geometric elements a best fit mapping might prove useful a discrete set of points known in the user coordinate system will be measured GeoLoc will try to fit the measured values on the nominal values yielding a similar transformation from camera coordinate system to user specified coordinate system GeoLoc treats ever
56. s as shown on the screen keep on clicking the Next button untill you reach the following screen A IS K600 systemi z For which type of measurement system do you wan to contigure this Geoloc installation 7 C RODYMED Cancel Select the camera type you currently use Kx00 or Rodym6D and click OK Follow the instructions on the screen and keep on clicking Next untill you reach the following screen KRYPTON Help Pages on GEOLOG KRY PTON 2 Installation Complete Eo x page 11 49 Sne Le Ok Ge DAGAR EA k cima ele AS 2 vile MACHINE ROORMTIOCS S LUT ON RS GeoLoc 41 2 has been successfully installed on pour system Press the Finish button to exit this installation Back Cancel Click the Finish button to conclude the GeoLoc installation process If the main installation program is still active click the Finish button of that program to conclude the entire installation process KRYPTON Help Pages on GEOLOG KRY PION 4 4 1 4 2 4 3 4 4 page 12 47 Actions before conducting measurements Before measuring a few steps must be taken Although they are completely independent from the GeoLoc software GeoLoc assumes that these steps were carried out before the measurements start Therefore please make sure to perform these actions before continuing In sequence these steps are 1 Configuring the cameras 2 Checking
57. s the greatest flexibility but requires the user to be familiar with the GeoLoc script syntax Inexperienced users can easily make mistakes this way Teaching is the easiest the user is not confronted with GeoLoc s syntax But this means that a number of functions such as the message function are not accessible in teach mode Scripts are sometimes longer due to rename operations The advised method is a mix of the two record the first draft of the script using the teach mode then open the script in the GeoLoc editor or any other editor filter out the overhead manually and add message functions at will When reading the following chapters please bear in mind that options from the main menu can also be chosen by clicking the corresponding icon on the icon bar See chapter Macro menu on 42 for these icons 5 6 1 1 Teaching a script This chapter will clarify how we teach a script Go to the main menu and choose Macro Record GeoLoc will ask for a script file name in the current project directory Enter a suitable file name Make sure the extension is script If the file already exists GeoLoc will ask you to overwrite the old file or to append the new actions to the old file Start measuring operating defining elements with the probe as if no script was recorded In the background every action is recorded You ll see that the record icon looks pushed into the user interface When you are don
58. ted too is Finish clicking this button will terminate and accept the measurement currently in a progress If this happens while running a script the script will continue as usual KRYPTON Help Pages on GEOLOG KRY PION 9 6 page 41 47 Scripting writing and using macro s Scripting is a very powerful utility of GeoLoc Scripting allows you to record or program a set of measurements This macro can be replayed an infinite number of times In a script clarifying messages can be sent to the operator this means that one person can write scripts distribute them to multiple measurement stations where an operator just follows screen instructions GeoLoc scripts can execute a variety of functions They can execute menu actions They can execute other DMM Modular scripts They can execute Matlab scripts GeoLoc scripts are ASCII files they can be read modified or saved by any text editor GeoLoc s own script editor however has some utilities that make it a very handy tool when dealing with scripts We ll start with explaining how to write an easy top level script Next we ll go into how to use scripts within scripts 5 6 1 Writing a single level script GeoLoc scripts can be created in two ways They can be written off line using a dedicated GeoLoc editor They can be taught GeoLoc records all the operations performed by the user Both methods have their advantages and drawbacks Off line script writing ha
59. trical elements on page 32 Fit point cloud to point now a point cloud containing multiple measurements of the same point can be averaged into 1 point position Import specifies reference when importing elements the frame of reference for this element can be choosen too and is no longer by default the camera frame See chapter Defining geometrical elements on page 32 Automatic insertion of double quotes when recording a script The cylinder measurement has been modified the cylinder direction is determined by the direction of the plane and no longer by measuring the points clockwise or anti clockwise See chapter Measuring basic geometrical elements on page 20 Translate is modified when translating an element it will be translated along its own axes and no longer along the axes of the reference frame in which the element is expressed See chapter Manipulating amp constructing geometrical elements on 25 Element names are no longer case sensitive in scripts Scripts return their messages in the tab messages and no longer in the separate tab Script A number of bugs have been solved Software changes from version 1 0 to version 1 1 ide G 2 G A dynamic frame can be created without a previously defined static frame or with a non existent frame This can be useful when there are very little features to base an alignment on See chapter Measuring advanced geometrical objects on pag
60. user The window has 3 tabs Messages these are general messages warnings or error reports from GeoLoc Script this tab contains all script related messages Instructions this window echoes all directive messages from the scripts page 15 47 If you accidentally closed one of the windows move the mouse over E Standard Toolbar the main menu and right click with the mouse a menu will appear S check the appropriate window to be displayed again e Output EX Operands El Command bar r Customize 5 2 1 The main menu icon bar The main menu icon bar is discussed in chapter Options in the main menu on page 36 5 2 2 The command bar The command bar is discussed in chapter Measuring constructing amp defining geometric elements on page 19 The element window will list all measured constructed and defined geometrical elements that have been created using GeoLoc Every element will be shown with its own icon and name er Geoloc Program Project View Macro Help pendule static Line Circle Figure 4 GeoLoc the element window Measured or constructed items have an icon that is mainly blue defined items are green By right clicking on an item a number of actions can be performed with this item KRYPTON Help Pages on GEOLOG KRYPTON 5 2 4 page 16 47 K Geolorc Project view Macro Help Reference Frame Show Properties Rename Make copy Delete Delete
61. xis pointing to LED3 through LED1 The Z axis can be found with the right hand rule If the element entered in the Attach to field does not exist a static frame with this name is constructed as described above Make frame make frame is actually the reverse of dynamic frame it converts the momentary position of a dynamic frame into a static coordinate system This feature is useful when a dynamic frame was identified in an environment other than the object s initial measurement position When a make frame measurement is activated the following form pops up KRYPTON Help Pages on GEOLOG KRY PTON page 22 47 Make frame xj Name mN ew Static Dynamic dynaFrame LED s Number of leds la First led 1 Port DD Sei S Comment Cancel Figure 10 GeoLoc dynamic frame form The parameters are Name name of the generated dynamic frame Dynamic name of the dynamic frame whose momentary position will be copied into lt name gt This frame must be measured before the dynamic frame is measured Port strober port onto which the strober of the LED s is connected First LED sequence number of the first LED of the cloud Number of LED s number of LED s in the cloud to be measured Comment optional description of the element A make frame has two additional parameters in the menu Tools Options Number of points number of snapshots over which each LED gets averaged
62. y object as a frame coordinate system with additional features or degrees of freedom e g a circle is a frame with 1 undetermined degree of rotation This means that every object can be used as a reference frame though circumstances may dictate that this is not a useful thing to do Scripting allows the user to teach GeoLoc a measurement sequence once and replaying it many times This prevents the user from repeated annoying walks back to the system and keyboard manipulations Let GeoLoc tell you from a distance what feature to measure confirm it and return only to find GeoLoc calculated all the requested elements The software runs under Windows 98 or higher versions A Pentium lll 500 MHz processor or better is advised in order to reduce the calculation time GeoLoc requires a minimum free hard disk space of 40 Mbyte and a minimum of 64 Mbyte RAM memory The system comes with a CD ROM containing the installation package of GeoLoc KRYPTON Help Pages on GEOLOG KRY PION page 8 49 This page is only intended for users that are upgrading to a newer version Software changes from version 1 1 to 1 2 gi 2 G G G 2 2 2 ge Translations of the software amp manuals to French and German An entire alignment or LED file can be imported from an IGES file This means that complex alignments can be made using dedicated CMM software and then be imported in Geoloc See chapter Defining geome

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