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maestro
User’s Manual
maestro User’s Manual 2

DOCUMENT STATUS SHEET

DOCUMENT TITLE: maestro User’s Manual

DOCUMENT DESCRIBES: The maestro User’s Manual provides the information necessary
for the user to effectively use maestro.

DISCLAIMERS:
• The information contained in this document is the proprietary and exclusive property of inos
automationssoftware GmbH, except as otherwise indicated. No part of this document, in
whole or in part, may be photocopied, reproduced, transmitted or translated to another
language without the prior written permission of inos automationssoftware GmbH.
• The information in this document is provided for informational purposes only. inos
automationssoftware GmbH specifically disclaims all warranties, express or limited,
including, but not limited, to the implied warranties of merchantability and fitness for a
particular purpose, except as provided for in a separate software license agreement.
• inos automationssoftware GmbH shall not be liable for technical or editorial errors or
omissions contained herein.
• inos automationssoftware GmbH supports lawful use of technology and does not endorse or
encourage the use of our products for purposes other than those permitted by copyright law.
• The information in this document is subject to change without notice.
maestro User’s Manual 3

REVISION HISTORY:

VERSION DATE REASON FOR CHANGE AUTHOR

0.1 2011-01-07 Initial document TSE
0.2 2011-01-13 Added Chapter 4 and restructured Chapter 3. TSE
Addition of Appendix.
0.3 2011-01-17 Minor error corrections, Restructuring, Description TSE
of new Features (Image Preprocessing, Test Dialog,
Disk Browsing).
0.4 2011-01-24 Added Bookmarks Section TSE
0.5 2012-04-19 Updating User’s Guide TZE
0.6 2012-06-12 Put information in previous user manual into this KRN
new structure
0.7 2012-06-15 Integration of registration tool manual ATM
0.8 2012-06-18 Integration of I/O Configuration tool manual ROM
0.9 2012-06-22 Integration of calibrator manual TZE
0.10 2012-06-26 Update of illumination control chapter PAP
0.11 2012-06-28 Integration of Synchronizer Configuration tool GYF
0.12 2012-06-29 Merge of changes and wrapping up KRN
1.0 2012-07-16 Changed the initial screen images and added settings KRN
description
1.1 2012-07-30 Integration of the CAD Editor manual GIA
1.2 2012-08-30 Addition of properties configuration description KAL
1.3 2012-08-31 Update in various tools TZE
1.4 2012-09-03 Integration of Distributed Synchronizer related NEZ
changes
1.5 2012-09-04 Review and screenshots update KRN
1.6 2012-10-10 Update CAD Editor manual ATM
maestro User’s Manual 4

Table of Contents:
1 General Information ................................................................................................. 6
1.1 Overview ........................................................................................................................ 6
1.2 Authorized Use Permission .......................................................................................... 6
1.3 Document Structure ..................................................................................................... 6
1.4 Acronyms and Abbreviations ...................................................................................... 6
2 Application Summary................................................................................................ 7
2.1 System Configuration ................................................................................................... 7
2.2 System Requirements ................................................................................................... 7
2.2.1 Minimum system requirements: .............................................................................. 7
2.2.2 Suggested system requirements: ............................................................................. 7
2.2.3 Supported Sensor Hardware .................................................................................... 8
2.3 Data Flows ..................................................................................................................... 8
2.4 Safety and Precautions ................................................................................................. 8
3 Installation............................................................................................................... 10
3.1 Before installation ....................................................................................................... 10
3.2 Installing maestro ....................................................................................................... 10
3.2.1 Manual Installation ................................................................................................ 10
3.2.2 Using the installer.................................................................................................. 11
3.3 After installation ......................................................................................................... 11
4 Getting Started ......................................................................................................... 12
4.1 Launching the application ......................................................................................... 12
4.2 First run ....................................................................................................................... 12
4.3 Initial screen ................................................................................................................ 13
4.4 System Menu ............................................................................................................... 16
4.4.1 File Menu .............................................................................................................. 16
4.4.2 Settings Menu ........................................................................................................ 17
4.4.3 Help Menu ............................................................................................................. 17
4.5 Application Settings.................................................................................................... 18
4.6 Exiting the application ............................................................................................... 18
5 Using maestro .......................................................................................................... 20
5.1 Sensor Configuration Tool ......................................................................................... 20
5.1.1 Sensor Configuration Controls .............................................................................. 20
5.1.2 Sensor Selection Area ........................................................................................... 47
5.1.3 Sensor Properties Area .......................................................................................... 49
5.1.4 Sensor Configuration Folder Structure.................................................................. 61
5.2 Measurement Point Configuration Tool ................................................................... 63
5.2.1 Image Source Selection Control ............................................................................ 64
5.2.2 Viewer Control ...................................................................................................... 67
maestro User’s Manual 5

5.2.3 Parameterization Process Control ......................................................................... 71

5.2.4 Configuration Control ........................................................................................... 74
5.2.5 GnF Editor ........................................................................................................... 103
5.2.6 Status Bar ............................................................................................................ 114
5.3 I/O Configuration Tool ............................................................................................ 115
5.3.1 Configuration of application input ...................................................................... 116
5.3.2 Configuration of application output .................................................................... 121
5.4 Synchronizer Configuration Tool ........................................................................... 124
5.4.1 Actions display filters.......................................................................................... 125
5.4.2 Display area of selected action ............................................................................ 125
5.4.3 Synchronizer main toolbar .................................................................................. 126
5.4.4 Management of Dependencies for a specific action ............................................ 144
5.4.5 Management of conditions for a specific action.................................................. 147
5.5 Registration Tool ...................................................................................................... 155
5.5.1 Registration Tool Components............................................................................ 156
5.5.2 Registration actions ............................................................................................. 158
6 Troubleshooting .................................................................................................... 163
6.1 Special Instructions for Error Correction .............................................................. 163
6.1.1 MixedMeasurement.ald mismatch ...................................................................... 163
6.1.2 Measurement point initialization ......................................................................... 163
7 Getting Help........................................................................................................... 165
7.1 Web Support ............................................................................................................. 165
7.2 Help Desk .................................................................................................................. 165
maestro User’s Manual 6

1 General Information

1.1 Overview
Maestro is a standalone graphical application that manages inos system configurations. It
uses information hiding to provide only the useful system parameters at each time and allow for
efficient and easy system parameterization.

1.2 Authorized Use Permission

The application and application generated files and reports should not be used by
unauthorized users and doing so may potentially void the corresponding inos system warranty.
Authorized users of the application are:
• inos employees
• inos systems’ users that are trained at the use of maestro

1.3 Document Structure

The document contains the following sections
1. General Information: This chapter.
2. Application Summary: The overall application description.
3. Installation: How to install the application.
4. Getting Started: Initial steps into using the application
5. Using maestro: Detailed description of the tool and its functionality.
6. Troubleshooting: What to do in case of a problem.
7. Getting Help: Application support details.

1.4 Acronyms and Abbreviations

Throughout this manual, some acronyms and abbreviations are used:

Acronym/Abbreviation Explanation
I/O Input / Output
H/W Hardware
S/W Software
MP Measurement Point
GCS Global Coordinate System
LCS Local Coordinate System
GUI Graphical User Interface
FFT Fast Fourier Transform
CPU Central Processing Unit
OS Operating System
ROI Region of Interest
maestro User’s Manual 7

2 Application Summary
Maestro is a software platform that facilitates the execution of various tools that aim to
handle and administrate various aspects of an inos system.

Currently maestro can be used to:

• Define and manage sensors connected to a computer and/or used by an inos system for
measuring.
• Calibrate a sensor by the mere execution of an interactive wizard.
• View live sensor images and help position and configure the sensor (hardware) in order
to achieve the optimal measuring scene.
• Test and validate the measurement algorithms used by inos systems.
• Add, edit, copy and remove measurement points to an inos system, as well as to assign
them to existing sensors.
• Parameterize and fine-tune the measurement points using live or saved images.
• Define the input and output of the system and decompose them to useful information.
• Graphically and interactively define the inos system data-flow.

Maestro is a mature application, if we see it as a platform. However, some of its tools are
still under development and should be treated analogously.

2.1 System Configuration

Maestro is a WindowsTM application that can run in any plain computer. However, to
fully utilize the application’s sensor handling and scene setup capabilities, it is best to be used
on a computer with access to some of the supported cameras or frame grabbers.

2.2 System Requirements

2.2.1 Minimum system requirements:

CPU Intel Core 2 @ 1.6GHz
Memory 1GB
Disk 100MB free
Graphics OpenGL 1.1 support
OS Windows XP – Service Pack 3
Software -

2.2.2 Suggested system requirements:

CPU Intel Core i3 @ 3GHz
Memory 4GB
Disk 500MB free
Graphics OpenGL 1.5 support
OS Windows 7
Software -
maestro User’s Manual 8

2.2.3 Supported Sensor Hardware

Frame Grabber Matrox Meteor II - Dual Channel
Matrox Morphis QxT
Matrox Solios
Digital Camera IDS GigE uEye SE series
AVT Prosilica GC series
Other Sick LMS 200
Sick LMS 500
Sick Ruler

2.3 Data Flows

The input of the application is a configuration set; the same that an inos system is using to
run.
Maestro allows the user to easily and consistently change this configuration using a graphical
user interface. The output of the application is the same set of configuration incorporating any
changes the user has made.
At the same time, maestro has interfaces that allow getting input from sensors, handling
the illumination or reading images from the disk for offline processing.

maestro Disk Images

Input
Tool A

Output Tool B Tool C

Inos system
Input

Configuration Files Sensors

While both maestro and inos systems can connect to sensors to acquire images, they
cannot do it simultaneously, since most sensors can only connect to one application at
a time. Running maestro in parallel with inos system would limit the available image
sources to disk folders, only.

2.4 Safety and Precautions

• The application aims to help in system configuration and does that by manipulating
computer files in your computer. In order to avoid loss of data and configuration
inconsistency do not use any other tool to edit the application configuration files while
maestro runs. To further decrease the possibility of configuration inconsistency use only
maestro to do any kind of configuration editing. Also note that after having finished changes
in the configuration, in order for the corresponding system to use them you may need to
maestro User’s Manual 9

perform a manual reload of the configuration in the corresponding system GUI, depending
on the system version you are running. At any case, you are strongly advised to keep regular
backups of the application configuration folder.

• Depending on system configuration and hardware availability maestro may be used to

manipulate sensor illumination (lights, laser, etc). While operating with real sensor
hardware, maestro will switch on/off the sensor illumination device without any previous
warning (e.g. when you select live image grabbing, or when switching from reading images
from disk to using the actual sensor). Make sure you take all necessary precautions to avoid
eye damage and/or discomfort, especially when using strong light devices.

• While maestro is not used to control any actuator, it may be used to help actuator operators
to position robot-mounted sensors in the proper position for measuring. While maestro
provides some functionality to facilitate the proper sensor position, it cannot, by any means,
be aware of the actual scene topology and be used to warn about possible collisions. It is up
to the actuator operator to make sure of that while teaching the robot.
maestro User’s Manual 10

3 Installation
3.1 Before installation
Since Maestro’s input/output is a set of inos-specific
inos specific configuration files, it is recommended that
you install the following editor/viewer tools,
tool before maestro installation:

• inos Log Editor:: Log Editor

Edit is a graphical viewer for inos-specific
specific logging files (.ilf). It is
helpful in case you need to open an inos logging file when Maestro is not running.
• inos Attribute List Editor:
Editor Attribute List Editor is a necessary tool to open configuration
files (.alf).
f). It is helpful in cases you need to check the parameters of
FeatureMeasurement.alf or Sensor.alf file that are not handled by maestro.
maestro

3.2 Installing maestro

3.2.1 Manual Installation

Maestro tool can be installed in any accessible path on your system. The folder structure is
usually the following (Figure
Figure 1).
1

Contents:
• bin : Contains all necessary binary files (.dll and .exe) for Maestro
• log : Contains the logging file produced by Maestro (Maestro.ilf)

Maestro requires Qt 4.7 in order to run. In case Qt 4.7.x is not installed on your system, the bin
folder should also contain the following files (Qt 4.7.x
4.7. build) and folders:
QtCore4.dll

QtGui4.dll

QtSvg4.dll

qgif4.dll

QtSql4.dll

qico4.dll

QtOpenGl4.dll

bin qjpeg4.dll

imageformats

qmng4.dll

qsvg4.dll

qtiff4.dll

qslite4.dll

sqldrivers

qodbc4.dll
maestro User’s Manual 11

3.2.2 Using the installer

Maestro can also be installed using the corresponding installer.

3.3 After installation

To run Maestro, double click on Maestro shortcut or on Maestro.exe file, which is
located in the bin folder mentioned above, in case there is no shortcut created on your system
(e.g. manual installation).
maestro User’s Manual 12

4 Getting Started
4.1 Launching the application
When launching the application, the splash screen appears for the duration of the initialization
phase.

4.2 First run

After the splash screen, at the first time you run maestro, you will be prompted to define a
configuration folder that contains the configuration you want to edit. Just browse to the config
folder of the inos system you need to parameterize or to any folder if you want to initialize a
new configuration. At the latter case, a config folder will be created in the designated path,
where the system’s configuration will be added.

On any consequent application execution, your last edited configuration will be automatically
loaded/resumed by maestro.

The same dialog will appear after the splash screen in case you have deleted, moved or
renamed the last configuration set you were editing with maestro.
maestro User’s Manual 13

4.3 Initial screen

On Maestro’s initial screen user can see the following tabs:
• The red colored tabs are the main tools installed with the actual Maestro version, each
one corresponding to different configuration functionality.
• On the top-left, the black colored tab includes the operations that user can perform from
the application menu.

Each red colored tool tab corresponds to a Maestro Configuration tool. By clicking on a
tab, this will become active at the center of the view and you will see a short description of the
selected tool together with a tool preview screen. Moreover, there is a tab list on the left side
including the remaining Maestro tools which can be selected by the user. By clicking on the
preview screen maestro will bring forward the corresponding tool and user.

Each initiated tool opens in a new application tab window and is brought to the
foreground. You can change the selected tool by clicking on the corresponding tab button on the
top of the tool.
maestro User’s Manual 14

You can launch a new tool from the central page (Maestro Central), which is also
selectable from a tab button.

Icon Tool Description

Define a new sensor or configure an existing one.

Sensor
Also manage groups of sensors, define
Configuration
dependencies, calibrate, check sensor health, etc.

Configure the details of the application

measurement points, including: feature type,
Measurement Point
algorithm selection, image source definition, image
Configuration
quality setup, algorithm fine-tuning, algorithm
accuracy and robustness, etc

Define the input and the output variables of the

I/O Configuration system and how these are mapped to the configured
hardware devices.

Define and configure the actions that are to be

performed by the system and the conditions that
Synchronization trigger them. Each action's properties can be
Configuration configured explicitly, conditions can be described
and also the way that actions and conditions are
connected to each other can be defined.

Register the various Sensor Local Coordinate

Registration Systems to the Car's or Cell's Global Coordinate
System.

You can access the application menu by pressing the black colored tab “Menu” or by selecting
the system menu on the top of the screen.
maestro User’s Manual 15

Each one of the applications tabs corresponds to a maestro menu item and plays the role of a
shortcut to that functionality:

Icon Action Description

Open Configuration Open a new set of configuration files

Open Logging Open the logging file of the application

Application Settings Configure application

Launches the application HTML help file, if

Help installed at your computer, on the default web
browser.

About Opens the about box

Back Returns to the initial state

maestro User’s Manual 16

4.4 System Menu

The main maestro system menu provides a set of options concerning log file viewing, language
selection and appearance. Most of options are also included in the Main menu toolbar as shown
in the following image.

4.4.1 File Menu

4.4.1.1 Open Configuration

The configuration folder can be loaded by pressing the correspondent tab in the application
menu or by selecting “Open Configuration” tab in File menu and browsing for a folder that
contains sensor configuration information. If the selected folder is not a “config” folder but
there is a “config” folder inside the selected folder, then the application assumes that the latter is
the configuration folder meant to be opened, otherwise it attempts to load configuration from
the exact selected folder.

Each time Maestro is restarted, it automatically initializes the configuration that is

located inside the folder that was last opened. This means that unless you need to change
configuration folder, you do not have to browse for it each time you open Maestro.

In case the configuration contains some sensors that failed to initialize a message box will
inform you of the situation and prompt you to open the application logging in order to determine
why the sensor loading has failed.

In any case, the sensor will be available for configuration actions in maestro, but with limited
functionality (see also paragraph 5.1.2).
maestro User’s Manual 17

4.4.1.2 Exit
Closes all Maestro tools and terminates the application.

4.4.2 Settings Menu

4.4.2.1 Application Settings

Opens Maestro settings dialog (see ), which allows you to configure different aspects of the
application itself.
Shortcut: Ctrl+S

4.4.2.2 Open Log File

Opens Maestro.alf logging file, which contains messages about Maestro’s function such as
errors, warnings, information, etc.
Shortcut: Ctrl+L

4.4.2.3 Full Screen

Option that allows the user to toggle Maestro between the full screen and the standard mode.
Shortcut: F11

4.4.2.4 Show/Hide Cursor

Option that allows the user to show/hide the mouse cursor. It is useful in case Maestro is
operating as a touch screen application.
Shortcut: F10

4.4.3 Help Menu

4.4.3.1 Help
Open the application’s help documentation in the default browser of the host system.
Shortcut: Ctrl+F1

4.4.3.2 About
Provides useful information such as Maestro version and inos contact information.
maestro User’s Manual 18

4.5 Application Settings

It is possible to change the look and feel of the application via the corresponding dialog
(shortcut: Ctrl+S). The dialog is split into 4 parts, each one of them allowing setup of a different
application aspect.

Icon Action Description

Definition of the folder where the application logging will be

Logging saved, as well as selection of the levels of the messages hat
should be logged.
Allows the user to set Maestro’s language to one of the
following:
Language • English (US)
• German (Germany)
• Spanish (Spain)
Allows the user to change Maestro appearance to one of the
following:
• Default theme (white and light blue)
o Big: Optimized for touch screen operation
mode.
Theme o Default: In desktops or laptops with big
screens.
o Small: For laptops with smaller screens.
• Dark theme (black and dark gray)
• Windows theme (depends on your OS version and
settings)
Allows the user to change the appearance of the first maestro
screen:
• Colors of the various tools and controls
• Background image selection
Central View o Default (2 selections)
o Custom image
o Custom folder

Random image

Cycle through images

User can enable the following functionality:

Application
• Show application in full screen mode
behavior
• Hide mouse cursor

4.6 Exiting the application

You can exit the application either by selecting FileExit from the system menu or by
clicking on the “X” button of the application title bar.
In case there are unsaved changes in any of the application tools there is a separate warning for
each of those tools that prompts for saving the corresponding data.
maestro User’s Manual 19

You can select to save or discard your changes, or cancel the application shutdown completely.
maestro User’s Manual 20

5 Using maestro
This section provides a detailed description of each maestro tool from initiation through
exit, explaining in detail the characteristics of the required input, the nature of user interaction
and the details of the system-produced output.

5.1 Sensor Configuration Tool

Sensor Configuration Tool is used for adding, removing and editing the sensors’
properties.

To select this tool, click once the following icon which is found on
Maestro’s Central Page, to give it the focus and once more to activate it.

From a first look, the main tool interface contains:

• a few controls on the top that you can use to manage the sensors,
• a list of the system sensors included in the loaded configuration set,
• a list of the properties of the selected sensor

Sensor Configuration Controls

Sensor Properties Area

Sensor Selection Area

5.1.1 Sensor Configuration Controls

The main functionalities of the sensor configuration tool are accessible through a set of
controls. The following table includes a first description of the buttons in sensor configuration
tool.

Tool Icon Title Description

Save all changes in sensor configuration. This button is
Save Sensor enabled only if you change some of the sensor’s
parameters.
maestro User’s Manual 21

Tool Icon Title Description

Reset Sensor Reset the active sensors configuration. All unsaved

parameters changes are lost.

Launches the calibration wizard for calibrating the

Sensor Calibration
selected sensor (see paragraph 5.1.1.3).

Used for adding a new sensor. After that, all the sensor
Add a new sensor
properties must be defined, before being functional.

Remove an existing Used for removing an existing sensor from the

sensor configuration.

When the parameters of a sensor have been changed and you select another sensor, you are
prompted to confirm saving the changes, before editing the new sensor.

If you select “Yes” the changes are saved in configuration. In case you select “No” all changes
are lost and the sensor retains its parameterization.

5.1.1.1 Adding a new sensor

When the “Add” button is pressed, a new sensor is added in the list with no
parameterization. You have to edit all sensor parameters accordingly before being able to save
it, as described in paragraph 0, below.
maestro User’s Manual 22

5.1.1.2 Removing an existing sensor

When the “Delete” button is pressed, after a sensor is selected you are prompted to
confirm the sensor deletion.

If you select “Yes” all sensor information will be permanently deleted. In any other
case, the remove action will be aborted.
maestro User’s Manual 23

5.1.1.3 Sensor Calibration

Sensor Calibration refers to the process of estimating a set of parameters that are
required in order to perform measurements with a camera.

Sensor Calibration wizard lets the user perform the following actions
- Calibration of cameras: A camera or a stereo pair is calibrated, i.e. the parameters
that describe the mathematical camera model(s) are determined.
- Evaluation of camera calibration: The accuracy of a calibrated camera is evaluated,
in order to conclude if the camera is calibrated with respect to its current position and
setup.
- Calibration of laser sensor: A camera and a laser projector are calibrated as a whole,
i.e. the parameters that describe the mathematical camera model are determined and the
laser position in space is determined with respect to the same coordinate system.

The following diagram displays the steps of the calibration wizard which are described below.

Load calibration data

Finish
from file
Initializing
wizard
Set Calibration Perform Calibration
Add Images
Parameters Calibration Results

Add ROI or
Image
preprocessing

5.1.1.3.1 Initializing wizard

User launches the calibration wizard for calibrating the selected sensor by pressing the
button.

5.1.1.3.2 Load Calibration data From File

After pressing the sensor calibration button, the following window appears.
maestro User’s Manual 24

If the calibration process has already been performed, the data file can be loaded by
selecting the “Load Calibration Data From File” option and by browsing in the local
computer folder in order to find the correspondent file.

After loading data from calibration file, user can press “Finish” button and upgrade the
calibration parameters.

5.1.1.3.3 Set Calibration Parameters

If there is no calibration file, user can proceed to the calibration process from the
beginning by pressing “Next”.
The basic calibration parameters can be configured in the following window.
maestro User’s Manual 25

Camera calibration menu consists of two tabs:

Depending on the calibration algorithm, the user has to select the correspondent
calibration object. The following table describes the correspondence of calibration algorithm
and calibration object.

Calibration Algorithms Object Types

Calibration plate placed in various arbitrary positions and
Zhang calibration
orientations in space

Tsai Coplanar Calibration Calibration plate placed in one certain position in space

Tsai Non Coplanar Calibration Calibration Cube / Calibration Trapezoid

Calibration plate placed in predefined positions in Z axis

Tsai Step Calibration
(perpendicular to the plate)

The options which can be selected in “Select Parameters” tab are:

-External Parameters
-Internal and External Parameters

Internal parameters refer to the theoretic model used to represent the camera (focus
length, Number of X elements, Number of Y elements, Sensor Element Size X, Sensor Element
Size Y). The camera model that is used in calibration should be the same one that will be used
in measurement applications

External parameters, which define the camera position and orientation with respect to a
global coordinate frame (3 position coordinates and 3 orientation angles). This coordinate frame
is assumed to be defined by the calibration plate.

In most cases calibration should be performed with selected both Internal and External
parameters.

Calibration object menu includes three options

maestro User’s Manual 26

The object type options depend on the selected calibration algorithm as mentioned above.

User can select a predefined object when exists or define a new one by pressing the
correspondent button.
There is also the option to edit the parameters of a predefined object as shown in the image
above.

In case of selecting an existing calibration object user is advised to check if the defined
parameters correspond to the certain characteristics of the object

Definition of a Calibration Object

The menu for the definition of a calibration object is presented in the following image.
Depending on the object type user can configure different parameters in this menu which are
described below.

The parameters Object Name, Number of plates and Angle between plates can be
defined in Object Properties sub window.
maestro User’s Manual 27

The plate properties sub window includes the certain characteristics of the calibration
object as shown in the following figure. In order to perform accurate calibration, these
parameters should be the same with the geometrical characteristics of the calibration object.

The certain parameters that can be defined are described in the table below.

Plane Properties Description

X Features The number of features in X axis

Y Features The number of features in Y axis

Distance The distance between the center of the features

Diameter The diameter of the features (circles)

Number of Large Features The number of the large features in the plate

Large to Small Features Scaling The scaling factor between large and small features

Plate Width The width of the plate

Plate Height The height of the plate

The numbers of features for the selected plates are displayed in the bottom of the dialog.
Moreover, user can define the position of the large features on the calibration plate by clicking
on the certain preview image.
maestro User’s Manual 28

In most of the cases the large features are placed in the center of the plate as shown in the
following image.

On the right side of the dialog there is a preview of the plate in 2D and 3D as shown in
the following figures.
maestro User’s Manual 29

5.1.1.3.4 Add Calibration Images

In order to perform camera calibration, a set of images is required, in which a number of
features with known position in 3D space can be detected. After the definition of the calibration
object, user can press “Next” to proceed to “Select image” window where the calibration
images can be loaded.

By pressing the “Add” button, user can browse and load the camera and/or the laser
image. By pressing delete, user can delete the actual image and then to add another one.

Depending on the selected calibration algorithm different number of images is required in

order to perform calibration correctly.

5.1.1.3.4.1 Region of Interest and Image Preprocessing

There are also two more options that the user can define by checking the “Select Region of
Interest or Apply Image Preprocessing” in the previous step.

It is not always necessary to extract the calibration features from the whole image, so the
definition of the certain region of interest is very useful and time-saving. Moreover, some filters
can be added in the image from the image preprocessing menu.

The following figures display the menu where the region of interest and the image
preprocessing filters can be configured.
maestro User’s Manual 30

5.1.1.3.5 Calibration Process

After loading the image or the set of images the next step is to proceed to the calibration
process by pressing the “Next” button. Then, the following window appears displaying the
calibration steps on the left side and the previously loaded images on the right.

The calibration steps shown on the left side differ, depending on the type of the sensor
which has to be calibrated.

The following diagram displays the calibration steps for a camera and laser sensor.

Feature Camera
Grid Fitting Calibration
Extraction

Calibration
Results

Laser Feature Laser Line Laser

Extraction Fitting Calibration
maestro User’s Manual 31

After pressing the feature extraction button, then the following image appears with most
of the holes of the calibration object extracted.

Even the features which were not extracted can be included in a plane by right clicking
and selecting “Enable in Grid 0” or “Enable in Grid 1” related with the two colored surfaces.

It is obvious that the feature extraction took place in the whole cube because the region of
interest was not defined in the previous step (5.1.1.3.4.1).

An example of an unsuccessful feature extraction is displayed in the next figure.

Internal camera parameters and Feature Extraction parameters should be configured

correctly in order to avoid wrong feature extractions, as shown above.
maestro User’s Manual 32

The feature extraction parameters are predefined with the values shown in the image
above. Depending on the extraction result the Threshold and the LargeCircleTolerance can be
reconfigured by the user.
The following table includes a description of the feature extraction parameters.

Feature Extraction Description Values

Parameters

AutoThreshold Segmentation threshold is automatically adjusted

Threshold Segmentation threshold manually selected 0-255

Parameter that shows how much the radius of the large

LargeCircleTolerance circles in the image is allowed to vary from the expected 0-1
value.

When the feature extraction is not successful, user can right click on the red features in
order to activate and include them in a plane. Three points per plane, but not located in the same
line have to be selected in order to perform the next step (grid fitting) successfully.

In case of having correct feature extraction, the next step is to select “Grid Fitting”. The
following figure displays a correct grid fitting result.

The next step is the “Camera Calibration”. The figure below projects a correct camera
calibration result.
maestro User’s Manual 33

Even in the case of having defined a region of interest for the feature extraction, the
calibration result will be the same as it is correspondent to the whole object.

As mentioned above, the camera calibration result depends not only on feature
extraction and grid fitting but also on the internal parameters of the sensor. This means that it is
very important to insert these parameters correctly.

See paragraph 5.1.3 (Sensor Properties).

In case of having a camera laser sensor, the next step is to perform calibration for the laser lines.
The following figure presents the laser calibration menu.

The laser calibration steps are almost the same with the corresponding of camera
calibration. The first step is the laser feature extraction. During this step the points of the laser
line detected on the calibration cube are extracted. It is very important to verify that the default
laser parameters, shown at the bottom of the figure are correct otherwise they should be
reconfigured. The laser parameters are described in the table below.

Laser Extraction Parameters Description

maestro User’s Manual 34

Laser Planes on Cube The number of laser lines on cube.

Max Laser Line Width The maximum width of laser line on cube (in pixels)

Laser Line Threshold Segmentation threshold manually selected

The minimum expected distance between neighbouring

Minimum Laser Distance
laser lines in the image (in pixels)

The next step is the laser line fitting process. An algorithm is used to create a line from the
extracted points as depicted in the following figure.

The final step is the laser calibration function. The successful laser calibration is performed
when we get the laser lines in the 3D space, as shown in the following figure.

After finishing the calibration process successfully, the “next” button at the bottom of the screen
is activated in order to proceed to the calibration results menu.
maestro User’s Manual 35

5.1.1.3.6 Calibration Results menu

The calibration result menu includes the calibration result in 3D space, the calibration parameter
values and lets the user update and save the configuration as shown in the following figure.

The 3D reconstruction window displays the camera and laser calibration results graphically.
maestro User’s Manual 36

The evaluation result window displays the error of the calibration process. When the average
error is less than 1 pixel, the calibration process should be considered as successful.

At the bottom of the menu there are 3 buttons with very important functionality. These buttons
are:
• Update Sensor Configuration: User can update the calibration results directly directl to the
sensor configuration files
• Save Calibration Results as Attribute List: User can save the calibration results in a
file without updating the sensor configuration file.
file. User can load this file at the initial
page of calibration wizard in order to calibrate this sensor.
• Save Calibration Configuration: User can save the configuration of calibration
process in order to use the calibration wizard with calibration object, and feature
parameters preconfigured.

If you press the “Finish”” button then the following message appears in order to remind the user
to save the calibration configuration in a file.

5.1.1.3.7 Sensor Calibration Examples

There are many calibration algorithms which are used depending on the sensor type that
has to be calibrated. The following examples describe analytically the basic configuration
differences between the available calibration algorithms.

5.1.1.3.7.1 Zhang Algorithm for Stereo Camera Pair

In case of having a stereo camera pair, the calibration algorithm
algorithm which should be used
is the Zhang algorithm. The steps in order to perform calibration are the following.
maestro User’s Manual 37

After starting the calibration process, the following window appears for the algorithm
and the object type selection.

The definition or the selection of the calibration object should be done depending on the
object characteristics as mentioned above. For this example the plate characteristics have been
introduced as shown in the following image.

The central point selection is very important for plates with big features.

The next step is the loading of the calibration images. At least 3 sets of images (one per
camera) are required in order to perform calibration with Zhang algorithm. These sets of images
have been grabbed from random positions in the 3D space.
maestro User’s Manual 38

After enabling the “Select Region of Interest or Apply Image Preprocessing” option
user can define a region of interest for all the selected images. This is very helpful in case of
having images with not very clear characteristics. The user is obligatory to include the big
features of the image when adding a region of interest in order to perform successful feature
extraction.

Adding a region of interest reduces the time of feature extraction and as a result the
calibration process becomes faster, but it is not obligatory to apply.

After finishing with the definition of region of interest and image preprocessing the next
step is the main calibration process.
maestro User’s Manual 39

The following set of images displays the successful feature extraction in all the selected
images. It is obvious that the feature extraction has been performed only inside the region of
interest.

The corresponding grid fitting result is presented in the following images. It is clear that it is
directly related to the feature extraction result.
maestro User’s Manual 40

The camera calibration result is shown in the following image. Even if we have used a region of
interest for the feature extraction, we expect to have the calibration result in the whole feature.
maestro User’s Manual 41

If the calibration result is not correct, the calibration object parameters as wells as the
internal parameters of camera should be checked.

5.1.1.3.7.2 Tsai Step Calibration

In case of having a mono camera that needs calibration the algorithm that can be
selected is the Tsai step algorithm. After defining the mono camera sensor or selecting a
predefined one, user can enter the calibration wizard.

The first step is the selection of the calibration algorithm and the definition of the
calibration object as described in the calibration process.
maestro User’s Manual 42

After proceeding at the next step user is prompted to add the calibration images in order
to perform calibration. The images at this calibration process should be grabbed in certain
positions in the 3D space. The distance between two consecutive frames should be introduced at
this step.

After selecting the images the bar should be configured in order to position the images
in the corresponding distance. User can also define the maximum position in the tab “Max
Position”.
maestro User’s Manual 43

In case of grabbing five images moving the object 50mm each time, then the maximum
position should be 200mm. In the yellow ruler, shown in the following figure the images should
be placed in the corresponding positions where they have been grabbed. This can be done by
selecting the image and using the scroll button of the mouse.

The following figure displays the correct placement of the five images which
correspond to the position of the calibration object. It is very important to perform this
positioning very accurately, because the calibration result is influenced by this.

It is not necessary to add five images, but you are advised to use at least 3 images (3 certain
positions for the calibration object)

After finishing with images loading ,user can proceed to the main calibration menu.

The following figures display the successful feature extraction and grid fitting for all 5 images.
maestro User’s Manual 44
maestro User’s Manual 45

The calibration result is presented in the following figure.

It is obvious from the previous images and from calibration evaluation table that the
calibration process has been performed correctly.

In case of not having defined correctly the position of the calibration images, the result
will not be correct. The following images display the wrong configuration as well as the bad
calibration result.
maestro User’s Manual 46

It is also obvious from the calibration evaluation table that “Average Error” and “Max Error”
have very big values. This means that calibration has not been performed correctly.
maestro User’s Manual 47

5.1.2 Sensor Selection Area

This area contains a list of sensors (each one represented by an icon) from which the
user can select the sensor to be configured. At the same time, this view provides information
about proper sensor initialization, since in the case a sensor fails to be initialized it is presented
with a red background.

A sensor that has not been initialized properly can still be configured either by editing its
parameters or by defining related measurement points. However all functionalities that
require active sensor connection (e.g. live images, illumination handling, etc) will be
disabled.

In the sensor selection area, each sensor is represented by an icon indicating its type. The
supported sensor types are:

Sensor Icon H/W Type Hardware Parts

Mono Camera 1 Camera

Stereo Camera 2 Cameras

Laser Triangulation Sensor 1 Camera – 1 Laser projector

Twin Laser Triangulation Sensor 2 Cameras – 2 Laser projectors

 2 Cameras in stereo mode
Hybrid Sensor
 2 Cameras – 2 Laser projectors
IPMH
2 Cameras, 1 Laser projector
(Inos Portable Measurement Head)
Unknown Sensor -

Every sensor in this list is selectable by left mouse click. Using left mouse double click you can
directly launch the measurement configuration tool and start the parameterization of the sensor
measurement points (see paragraph 0).
maestro User’s Manual 48

5.1.2.1 Exporting sensor configuration

Information in this paragraph addresses a non-common issue that aims to expert users of
the application.

Maestro application, as well as sensor station, uses a slightly different configuration

structure than older inos applications. However maestro provides the functionality to export the
sensor configuration in the old format. In order to do this you need to use mouse right-click on a
sensor and select “Export”

You will be prompted to provide a file name (.alf) to export the configuration to, and as soon as
you select it and press “Save”, the exporting will start. The progress of the procedure can be
tracked by a progress dialog, presented on the screen.

After completion of the operation you will be informed about the success of the exporting and
be prompted to open the file for viewing if you wish to.

If you select “Yes” the new file will be opened with the AttributeList Editor tool. Even if you
select “No”, since the operation was successful, you may open the exported configuration any
time later from the folder that it has been saved to.
maestro User’s Manual 49

5.1.3 Sensor Properties Area

When a sensor is selected its configuration is loaded and the rows in “Sensor
Properties” table are populated with the sensors parameters. One by one they are:

Sensor Properties
The unique index of the sensor in configuration of the current
Sensor Index
system. This attribute can be edited directly on the list.

The name of the sensor, used for administration purposes and

Sensor Name for easily identifying a sensor. This attribute can be edited
directly on the list.

The sensor hardware type, as described in paragraph 5.1.2

H/W Type above. This attribute can be edited through a pop up dialog (see
5.1.3.1 below).

The type of the sensor in respect to its relation with other

sensors and its capabilities. Possible values are “Simple” and
Type
“Complex”. This cannot be edited and is automatically
calculated as a combination of the other sensor properties.

The path where the measurement configuration resides on the

disk. This is always presented as a full path, though it is saved as
Measurement Path
a relative path in configuration. This attribute can be edited
through a pop up dialog (see 5.1.3.2 below).

Indication of whether the sensor can control its own illumination

or not. In order to do so the hardware setup must support it (i.e.
Illumination Control
ability to trigger output bits of a digital device). This attribute
can be edited through a pop up dialog (see 5.1.3.3 below).

Indication whether the sensor can measure or not. A sensor that

Measurement
cannot measure cannot have measurement functionality and can
Functionality
be used only for image acquisition.

A list of the measurement points that are assigned to this sensor.

This attribute cannot be edited from this view, but any change
Measurement Points
that is performed in the MP configuration tool (see paragraph 0
below) is directly depicted here.

The type of the sensor hardware device, where images are

acquired from. For a list of supported device see paragraph 2.2.3
Device Type
above. This attribute can be edited through a pop up dialog (see
paragraph 5.1.3.4 below).

Indication if the sensor is calibrated or not. Some measurement

algorithms will not work properly on non-calibrated sensors. A
Calibration Status
sensor can be calibrated at any time as described in paragraph
5.1.1.3 above.
maestro User’s Manual 50

5.1.3.1 Editing Hardware Type

The sensor hardware type can be changed by the corresponding dialog. The following
hardware types may be defined from the dialog “Sensor Type” field:

After the selection of the hardware type you can define the nominal parameters of the sensor
components, cameras and/or lasers from the corresponding tab. The nominal camera parameters
that can be edited are:

Nominal Camera Parameters

The index of the camera in the sensor context. The first sensor
Camera ID camera has index 0, the second has index 1, and so on. This
attribute cannot be edited by the user.

The nominal focal length (in mm) of the lens that is adjusted to the
Focal Length
sensor. This value can be found printed on the lens.

This is the number of horizontal elements on the sensor chip, i.e.

Number of Elements X along the X dimension of the sensor chip. This value is written in
the sensor specification sheet.

This is the number of vertical elements on the sensor chip, i.e.

Number of Elements Y along the Y dimension of the sensor chip. This value is written in
the sensor specification sheet.

This is the size (in µm) in X dimension of each element of the

Sensor Element Size X sensor chip. Multiplying the element size by the number of
elements should give us the corresponding sensor dimension.

This is the size (in µm) in Y dimension of each element of the

Sensor Element Size Y sensor chip. Multiplying the element size by the number of
elements should give us the corresponding sensor dimension.
maestro User’s Manual 51

This value indicates whether the sensor operates in half frame (only
Half Frame
half lines are acquired per image grab) mode or not.

Nominal Laser Parameters

The index of the corresponding camera in the sensor context. The first
Camera ID sensor camera has index 0, the second has index 1, and so on. This
attribute cannot be edited by the user.

The index of the laser in the sensor context. The first sensor laser has
Laser ID index 0, the second has index 1, and so on. This attribute cannot be
edited by the user.

The number of lines the laser produces and are visible on the images
Laser Lines
the sensor grabs. This is defined by the optics in front of the laser.

This is the index of the brightest line of the laser, in case it has more
Brightest Line Index than one lines (usually the middle one). It is counted from the top of
the image.

This is the exact wavelength (in nm) of the laser light. This value is
Laser Wavelength
mentioned at the laser specification sheet.

This is the angle between the laser planes (in case the laser produces
Laser Plane Angle more than one lines). This is mentioned in the specifications of the
laser optics.

The measure of angular spread of a line-generating laser. The fan

Laser Fan Angle angle determines the line length produced at a certain distance from
the projector.
maestro User’s Manual 52

5.1.3.2 Editing Measurement Path

Clicking on the measurement path at the sensor properties table pos up a folder
selection dialog where you can select the folder that the measurement point configuration
should be saved for that sensor. Just browse through the directory tree and select the desired
path.
In case you change the sensor path of a sensor with configured measurement points, the
existing configuration will not be moved to the new path, but it will not be deleted from the
original path, either. You can change back to the original path at any time.

5.1.3.3 Editing Illumination Control

In case the sensor can control its illumination, either via a digital card or via a digital
output port of the sensor device, the “Illumination Devices” can be enabled, in order to define
any controlled illumination device and the connection details of the illumination to the sensor or
the digital device.
Using the dialog below, you can define illumination devices, by clicking the “Add” button (+),
after you have assigned an index for that device. Similarly you can delete any defined
illumination device by clicking the “Remove” button (-) after you have selected an existing
illumination device.
maestro User’s Manual 53

Each declared illumination device has the following properties:

Illumination Device Parameters

Device Id A unique zero-based index of the illumination device.

A convenient device name for easy differentiation between multiple

Name
illumination devices.

The digital output bit(s) that are used for enabling (switching on) the
Enabling bits
device.

The digital output bits that are used (bitmask) for setting the
Value bits
illumination device intensity, where this is supported.

Simultaneous The indexes of all devices that should be switched on together with
Devices the current device.

The indexes of all devices that should be switched off when the
Exclusive Devices
current device is switched off.
maestro User’s Manual 54

5.1.3.4 Editing Device Type

Each of the supported hardware devices can be configured from this dialog. The device
options are described one by one in the next paragraphs.

5.1.3.4.1 Frame Grabber

A frame grabber is a digital device that can convert the analog cameras’ signal to digital
for using it in the system. Only some Matrox frame grabbers are supported by inos systems.

From the frame grabber configuration dialog, the following parameters may be controlled.

Frame Grabber Parameters

The (zero-based) index of the frame grabber device in system
Device ID configuration. All initialized devices are automatically detected and
the corresponding index becomes available.

This is a non-editable field that contains the type of the selected

Type
frame grabber. It changes every time we change the device ID.

The number of frames that each grabbing command produces. By

default this is one. Increasing this value will cause grabbing to take
Consecutive Frames
proportionally more time, without any benefit in most cases, since
most measurement algorithms use just one image set.

Indication if the frame grabber operates in half-frame mode (only

Half-frame half lines are acquired per image grab) or not. Selecting it reduces
the grabbed image height in half.

Indication of the operating mode of the frame grabber. A frame

Synchronous grabber operating in synchronous mode grabs images slightly faster,
since it doesn’t wait for the next frame to start.

The path to a digitizer file that is used to configure the frame grabber
DCF File Path details and the connected analog cameras synchronization properties.
Usually it is produced by an external application (Matrox Intelicam).
maestro User’s Manual 55

Frame Grabber Parameters

The channel of the frame grabber the camera(s) of the sensor are
Channel
connected on.

The exact sub-channels of the frame grabber channel (defined above)

Sub-channels the cameras of the sensor are connected on. The number of selected
sub-channels should match the number of cameras on the sensor.

5.1.3.4.2 uEye Camera

One of the supported digital cameras is the uEye series from IDS. This is the camera
type that is included in the inos iSens2 sensor family.

uEye Camera Parameters

This is the camera device index, as defined when connecting the
Device Index
camera to the network.

The number of frames that each grabbing command produces. By

default this is one. Increasing this value will cause grabbing to take
Consecutive Frames
proportionally more time, without any benefit in most cases, since
most measurement algorithms use just one image set.

The camera exposure time defines the number of ms that the

camera shutter will remain open during a grabbing. This affects the
Exposure
amount of light that is recorded by the sensor chip and thus the
brightness of the produced image.

This camera type, by default, uses a custom file for loading some
initialization parameters. Though this is not needed most of the
times, if you need to adjust more camera parameters than those in
INI File Path
this dialog you will have to provide the corresponding file path.
This can be done either by copy-paste in the edit bos or by
browsing the disk after you press the corresponding button.
maestro User’s Manual 56

In case the sensor contains more than one camera (e.g. stereo head)
this defines the method that the cameras are synchronized with in
order to grab images simultaneously. The possible options are:
• No Synchronization: There is no synchronization signal. This
implies software triggering mode and is the default mode for
Synchronization single camera sensors.
• Software Synchronization (master/slave): The synchronization
signal is provided by the first camera (master) to the second
camera (slave). This is the default mode for stereo sensors.
• Hardware Synchronization (with external source): Both
cameras receive a synchronization signal by an external
source.

The triggering mode of the camera can be:

• Software Triggering: Camera receives a triggering command
from application software in order to grab an image.
• Falling Edge: Camera receives a hardware trigger pulse in the
Triggering Mode device input port in order to grab an image. The transition
10 of the pulse triggers the grab.
• Rising Edge: Camera receives a hardware trigger in the device
input port in order to grab an image. The transition 01 of the
pulse triggers the grab.

The number of frames that the camera may grab per second. The
maximum value is limited by the exposure value (FrameRateMAX =
1/Exposure). Since this is an Ethernet camera when setting this
Frame Rate value you should consider the available network bandwidth that is
shared by all cameras connected at the same computer Ethernet
port. A too big Frame Rate value may cause network congestion
and image information loss in some cases.

This flag indicates whether this is a color or a black & white

Color Images
camera.

5.1.3.4.3 Prosilica Camera

Another group of supported digital cameras is the Prosilica series from AVT.
Configuration for this device type is slightly different than the previous.
maestro User’s Manual 57

Prosilica Camera Parameters

The IP address that is assigned to the camera, after connecting it to
IP Address
the network. This value uniquely identifies the camera.

The number of frames that each grabbing command produces. By

default this is one. Increasing this value will cause grabbing to take
Consecutive Frames
proportionally more time, without any benefit in most cases, since
most measurement algorithms use just one image set.

The camera exposure time defines the number of ms that the

camera shutter will remain open during a grabbing. This affects the
Exposure
amount of light that is recorded by the sensor chip and thus the
brightness of the produced image.

The number of frames that the camera may grab per second. The
maximum value is limited by the exposure value (FrameRateMAX =
1/Exposure). Since this is an Ethernet camera when setting this
Frame Rate value you should consider the available network bandwidth that is
shared by all cameras connected at the same computer Ethernet
port. A too big Frame Rate value may cause network congestion
and image information loss in some cases.

5.1.3.4.4 Disk Folder

Since there are times that cameras are not available, the application gives you the ability
to use a disk folder as data source and load images from there.

Disk Folder Parameters

The full disk path where images will be loaded from. You can
Image Path either copy-paste the disk folder in the edit box or use the
corresponding button to browse for a disk folder.
maestro User’s Manual 58

The valid file extensions that may be loaded. All images in the
Image Extensions
above folder that match the selected extensions will be loaded.

It is true that not all images in the selected folder will be used by the “Disk Folder Device”.
Only images of the format NNNNNNNN_mpMMM_cC_sqS.*are processed in very specific
sequence implied by:
• NNNNNNNN: The production number (string)
• MMM: The measurement point index (integer)
• C:The image camera index (0,1)
• S: The image sequence index (integer)

5.1.3.4.5 Sick LMS 200

This is not a camera sensor but a different kind of sensor that provides a profile along a
scanning line. The framework is absolutely confident to handle this type of sensors as well.

Sick LMS 200 Sensor Parameters

Angular Resolution This is the sample density (in degrees) of the scan area.

Working Angle This is the total number of degrees of the scan area.

Monitoring Mode This refers to the sensor operating mode.

The user password for accessing the device. This is included in the
Password
device manuals from the supplier.

The baud rate of the serial port the device is connected on. Choose
Sick Baud Rate
one of the default values.

Serial Port The serial port the device is connected on.

maestro User’s Manual 59

5.1.3.4.6 Sick LMS 500

As described in 5.1.3.4.5 Sick sensors are not camera sensors. The LMS is an electro-
optical laser measurement system that electro-sensitively scans the perimeter of its surroundings
in a plane with the aid of laser beams.

Sick LMS 500 Sensor Parameters

IP Address IP address set for Ethernet communication.

Port TCP port set for Ethernet communication.

Monitoring Mode This refers to the sensor operating mode.

You can select between two measurement modes:

Measurement Mode • Single Grab
• Continuous

Frequency and Angle

The frequency and the angle resolution of the scanning line.
Resolution

Number of reflected pulses that sensor can detect. You can select:
First Echo
Echo filter
All echoes
Last echo

Starting Angle The initial angle of the scanning line.

Stopping Angle The terminating angle of the scanning line.

maestro User’s Manual 60

5.1.3.4.7 Leuze Distance Sensor

These sensors use laser or LED light to quickly and precisely measure distances on a wide range
of materials, even at large ranges.

Leuze Distance Sensor Parameters

Port This is the port number on which the sensor is connected.

The number of samples tha will be used in order to calculate the

Samples
distance.

This is the simulated distance (mm) which should be defined when

Simulated Distance Simulated Leuze is enabled. A value from 20-500mm should be
set.
maestro User’s Manual 61

5.1.4 Sensor Configuration Folder Structure

Information in this paragraph addresses a non-common issue that aims to expert users of
the application.

In this paragraph a detailed overview of the structure of “config” folder (sensor configuration
folder) is provided.

Structure of sensor configuration folder (config) and sub-folders (Sensor, Templates)

• config: Contains the folders “Sensor” and “Templates”. Also contains the sensor
configuration files (.alf), the name of which always begins with “sensor”.
• Sensor: Contains the folder “patterns” where all pattern images are saved in .tif format.
Also contains (mainly) all the configuration files (.alf) of the measurement points that
can be triggered by the corresponding sensor. The name of all these files always have
the format “MPX.alf”, where MP stands for “Measurement Point” and X is the N-digit
index of the measurement point (identifier).
• Templates: Contains all template configuration files for the measurement algorithms
that are supported by the corresponding sensor. These files are used for the initialization
of a new measurement point configuration file. In order to create a new measurement
point configuration file for a measurement point that performs i.e. a pattern
measurement, you should have in this folder the template file
maestro User’s Manual 62

“PatternMeasurement.alf”, otherwise, the new configuration file cannot be created.

Each configuration file has the same name with the corresponding measurement
algorithm.

“Sensor” folder is usually placed inside “config” folder. Its position is set in the
corresponding sensor configuration file (for example in “Sensor1.alf”) as displayed in the
second image above.
maestro User’s Manual 63

5.2 Measurement Point Configuration Tool

Measurement Point Configuration Tool is used for creating, editing, removing and testing
measurement point configurations. In order to use Measurement Point Configuration Tool, you
should first use the Sensor Configuration Tool (see paragraph 5.1 above) to select a sensor, the
measurement points of which are going to be configured.

To select this tool, click once the following icon which is found on
Maestro’s Central Page, to give it the focus and once more to activate it.

Measurement Point Configuration Tool consists of the following “double” components

1. Image Source Selection Control
a. Thumbnails
b. Disk Browsing
2. Viewer Control
a. Image Viewer
b. 3D Viewer
3. Parameterization Process Control
a. Configuration Wizard
b. Bookmarks List
4. Configuration Control
a. Measurement Parameterization Area
b. Logging Viewer
5. Status Bar

1 2

3 4

5
maestro User’s Manual 64

5.2.1 Image Source Selection Control

The following controls are the 2 different sides of a two-sided widget that allows
Maestro user select the image or set of images that will be used for measurement point
configuration and it also displays previews of the images grabbed by the selected sensor.

5.2.1.1 Thumbnails
Thumbnails is a tabbed control that allows Maestro user to select the image to be
configured (in order to set most of the parameters of a measurement point configuration, you
need at least one image). The number of tabs corresponds to the type of measurement algorithm
used for a measurement point. Some measurement algorithms require only one image per
camera, while others require more, usually 2, but there are also cases when 3 images are
required (i.e. Bolt Measurement). This control is useful only in case of having a sensor device
connected to the computer where Maestro is running or when using Maestro with a sensor
simulation scenario (only for inos developers).
All tabs have a number of buttons, each one corresponding to a camera device. This
means that in case of single camera measurements the number of buttons on each tab is equal to
1, while in stereo measurements there are 2 buttons on each tab. On each button is displayed a
preview of the image grabbed by the corresponding camera, which helps the user identify the
exact image to be configured.

Selected camera and camera previews How to display all available image sets
(case of 2 cameras) (case of 3 image sets and 2 cameras)
maestro User’s Manual 65

In order to select a specific image, you have to do the following:

1. Select Image Set: Click on the corresponding tab or if it is not visible, use the arrows to
scroll the panel and display the rest of the available tabs.
2. Select Camera: Click on the corresponding button. The button’s outline will become
bold (Default Theme) or darker (Dark Theme).

After you have selected the image to be configured, the image appears on Image Viewer control
and is ready for parameterization.

5.2.1.1.1 Toolbar Items

Icon Title Description Use

Changes the widget’s side Press the button once to rotate
Toggle Widget
(rotation) and displays Disk the widget. Disk Browsing
Side
Browsing Control. Control will be displayed.

5.2.1.2 Disk Browsing

This control provides a Folder Browsing Window which allows the user to select the
necessary images folder from a location of the local computer (HDD, CD, USB drive etc). This
control can be used even if no sensor is connected on the computer where Maestro is running. It
has been designed for configuring measurement points in offline mode.
From the Folder Browsing Window select the folder where image files are located. The
contents of the selected folder are displayed in the Image Browsing Window. It is possible to
select a folder that contains other image folders. The contents of the selected folder are
displayed in Image Browsing Window.

You can set a filter for image file formats by typing the necessary format in the drop
down list (Images Format Filter). By default the image format used by Maestro is “.tif”. Check
the “Apply Filter” box to activate filtering. Filtering excludes all image files apart from that
specified and displays only them in the Image Browsing Window. Check “Recursive” box to
maestro User’s Manual 66

apply the filter to all subfolders of the selected folder. Those folders that do not contain images
of the specified filter type will not be displayed.

5.2.1.2.1 Toolbar Items

Icon Title Description

Toggle Widget
Changes the widget’s side (rotation) and displays Thumbnails.
Side

Previous Image
Activates the previously selected image set.
Set

Next Image Set Activates the next selected image set.

Batch- Process
Process all selected images sets with the current configuration
all selected
parameters and present the results in the test area
images at once

An “image set” is a number of images corresponding to the same measurement point on the
same “group”.
In order to deduct that information maestro parses the image file name of type:
GGGGGGGG_mpNNN NNN_sqI_cJ.* and assumes that:
• GGGGGGGG: Is the image group id. Images with the same group id correspond to
the same object.
• NNN: Is the measurement point index. Images with the same measurement point are
grabbed by the same sensor. Images with the same group id and measurement point
are grabbed by the same sensor at the same trigger command.
• I: Is the sequence of the image in case more than one image is grabbed per trigger
trig
command.
• J: Is the sensor camera index that the image corresponds to.

In case the file format is different, the tool cannot “understand” image sets and process
each image separately.
maestro User’s Manual 67

5.2.2 Viewer Control

The following two controls are the 2 different sides of a rotating widget. Only one of
the controls is visible each time and in order to change side, you have to rotate the widget.

5.2.2.1 Image Viewer

Image Viewer displays the image that has been selected from Image Selection Control
and allows the user to draw on it regions of interest or search lines and select patterns during the
measurement configuration steps. After a successful testing of a measurement point
configuration,
uration, Image Viewer displays in color the results (numerical or graphical) produced by
the measurement algorithm.

It also provides a set of tools for image analysis. These tools can be accessed from
Image Viewer’s tool bar, which, when visible, is located
located at the top of the viewer (Figure
( 15).

The tool bar is hidden by default and it becomes visible when the user places the mouse
cursor near the top left corner of the Image Viewer. It remains visible as long as the mouse
cursor remains on the toolbar area, but if the mouse cursor leaves this area the tool bar becomes
again invisible.
maestro User’s Manual 68

At the bottom left corner of the viewer the “Aspect Ratio” button is displayed. By pressing this
button you can change the ratio of the shown image.

The mouse pointer position (in image coordinate system) and the image intensity are
displayed at the bottom right corner of the image viewer (0-255).
maestro User’s Manual 69

5.2.2.1.1 Toolbar Items

Icon Title Description Use
Changes the widget’s side (rotation) and displays 3D Viewer.
Toggle
Press the button once to rotate the widget. 3D Viewer will be
Widget Side
displayed.
Magnifies the displayed image by a scaling factor of 2.
Zoom In
Image Press the button once to magnify the image around its center.
Shrinks the displayed image by a scaling factor of 2.
Zoom Out
Image Press the button once to shrink the image around its center.
Measures the distance (in pixels) between 2 points of the image
displayed.
• Press the button (it remains pressed).
• Click on the start point to begin measuring.
Ruler • Drag mouse and leave it at the end point (the ruler
r is
expanding).
• The distance and the start/end points are displayed on the top of
Image Viewer in yellow.
• press the button and the ruler disappears.
Un-press
Toggles between displaying live images from sensor and snapshot.
Live Mode • Press the button to set preference to “Live Mode”.
• Un-press it to set to “Snapshot Mode”.
Displays the reference image together with the current image
Display
Reference • Press the button to display both the reference and the current
Image image.
Displays image center and calibration area on the image.
Display
Calibration • Press the button to display the information.
Axes • Un-press the button to hide the information.
Provides statistical information for the displayed snapshot (variance,
contrast, sharpness, intensity histogram).
Image
Statistics • Press the button to display statistics.
• Un-press the button to hide statistics.
Saves the current snapshot on the hard disk as a reference image.
Save image as
• Press the button and browse for a folder on your hard drive.
reference
• Set a name for the image file and save it as reference image.
Saves the current snapshot in TIF format.
Save image • Press the button and browse for a folder on your hard drive.
• Set a name for the image file and save it.

In case you have a mouse with a wheel, you can zoom in/out the snapshot displayed in
Image Viewer around any point. Just place the mouse on the desired
desired point and scroll the
wheel.
maestro User’s Manual 70

5.2.2.2 3D Viewer
3D Viewer displays a 3D grid-model
grid model of the measured characteristics, laser lines and
measurement algorithm results). All these are displayed only after performing a successful
testing of a measurement point configuration, otherwise 3D Viewer remains blank (only
Calibration Axes are displayed).
To display 3D Viewer, press Toggle Widget Side button of Image Viewer tool bar.
bar

The following mouse actions can be performed in 3D Viewer:

Action Description
Rotation Rotation of the 3D model
Left mouse click and drag.

Translation Moving of the 3D model
Right mouse click and drag.

Zooming Zoom In/Out
Scroll the mouse wheel.

Change Side Hide 3D Viewer and display Image Viewer
Double click anywhere
(go to Image Viewer) on 3D Viewer.
maestro User’s Manual 71

5.2.3 Parameterization Process Control

The following two controls are the 2 different sides of a rotating widget. Only one of
the controls is visible each time and in order to change side, you have to rotate the widget.

5.2.3.1 Configuration Wizard

Configuration Wizard is a set of 5 buttons circularly aligned and numbered in a
predefined way in order to guide the user through a step by step configuration of a measurement
point. The numbers indicate the sequence of configuration steps and the titles give a short
description of the configuration phase.
When the user presses a button of the Wizard, the corresponding configuration dialog
appears on Measurement Parameterization Area providing all the necessary controls for the
current step of the parameterization procedure. Also, the coloring of the buttons gives an
indication of the parameterization progress.

This happens in all cases apart from the one when the user presses the “Save” button. In
this case no dialog appears; simply the current configuration is saved on.

The Measurement Point Configuration process consists of the following steps:

1. Definition: At this step the user selects the configuration action that needs to be carried
out. This could be the editing of an existing measurement point, the addition of a new
measurement point, the deleting of an existing measurement point or the definition of
relations between measurement points (dependencies and links).
2. Image Setup: At this step the user performs image preprocessing such as gamma
correction and contrast enhancement and also may define the hardware setup (laser,
lamps and camera exposure). All these affect the sensor’s configuration file.
3. Configuration: This is the core configuration step through which the user sets the
majority of parameters included in a configuration file of a measurement point. The
configuration controls can be either simple controls or pop-up dialogs (appear on button
click). The control items displayed on this dialog depend on the measurement
configuration algorithm of the new/existing measurement point and differ according to
this selection.
4. Test: At this step the user checks the configuration that has just been produced. The
testing can be performed more than once and each time a test is performed, a set of
statistical parameters are calculated (repeatability test).
5. Save: The last step of the measurement point configuration is the saving of the new or
edited configuration in a configuration file (“MPX.alf”).
maestro User’s Manual 72

In case of unsuccessful test results, “Save” step is enabled and the user is allowed to save
the configuration that has been produced.

5.2.3.1.1 Toolbar Items

Icon Title Description

Toggle Changes the widget’s side (rotation) and displays the Bookmarks
Widget Side list.

5.2.3.2 Bookmarks List

This widget provides the functionality for creating bookmarks of a measurement point
configuration procedure. A bookmark is an instance of the configuration procedure and can be
used in the following cases for example:
• Restore an unfinished configuration file in order to complete it.
• Apply an existing correct configuration file to a new measurement point the
configuration file (thus the configuration) of which is similar to the existing file. This
helps the user apply some initial values probably close to the correct ones and then
make minor changes, instead of having to set all the configuration parameters from
scratch.

In order to add, load, edit or delete a bookmark, first you have to go through the stage
of Measurement Point Definition (it is mandatory to define/select the index of a measurement
point and/or the corresponding algorithm). After defining a MP, click on Image Setup button of
the Configuration Wizard and toggle widget’s side to display the Bookmarks List. All the
bookmarks contained in the list, use the specific

5.2.3.2.1 Add Bookmark

To add a bookmark, you have to follow these steps:
• Double click on the blank area of the list and give a name for the bookmark. Click
outside the list soo that the name is applied.
• Press on the “Save” button to save the bookmark.
maestro User’s Manual 73

5.2.3.2.2 Load Bookmark for Editing

The loading of a bookmark is the restoring of its data to the current measurement point.
The bookmarks displayed in the list support the same measurement algorithm with the selected
measurement point. This means that you cannot restore i.e. a bookmark for New Gap Laser
Measurement to a Bolt Detection Measurement Point.

To load a bookmark, simply do the following:

• Click on the desired bookmark to select it. At the same time you see a preview of the
measurement point which was measured by the selected bookmark.
• Click on the “Load” button to restore the bookmark data and apply the
configuration to the selected MP.
• Notice that the state of Configuration Wizard changes to the one saved in the bookmark
(this is useful in case of having to complete an unfinished configuration file).

5.2.3.2.3 Delete Bookmark

To delete a bookmark:
• Click on the desired bookmark to select it. At the same time you see a preview of the
measurement point which was measured by the selected bookmark.
• Click on the “Delete” button to remove the bookmark.

5.2.3.2.4 Rename Bookmark

To change a bookmark’s name:
• Click on the desired bookmark to select it. At the same time you see a preview of the
measurement point which was measured by the selected bookmark.
• Double click on the bookmark’s name and type the new one.
maestro User’s Manual 74

5.2.4 Configuration Control

These two controls are the 2 different sides of a rotating widget. Only one of the
controls is visible each time and in order to change side, you have to rotate the widget.

5.2.4.1 Measurement Parameterization Area

On this area are displayed the necessary input controls that help user configure a
measurement point. When the user presses a button of the Configuration Wizard, a dialog
appears on Configuration Dialogs Area providing the appropriate set of input controls (dialog)
for the corresponding configuration step.

5.2.4.1.1 Measurement Definition

Through this dialog the user defines the action that should be carried out: definition
(addition) of a new measurement point, editing of an existing measurement point, deleting an
existing measurement point or definition of relations between measurement points. The figures
below explain the input controls of each tab and their role.

5.2.4.1.1.1 Add Measurement Point

Through this option, the user can define a new measurement point.
In order to define a new measurement point (MP) the user should do the following actions:
• Press (“Add”) button to initialize the configuration file with the selected template
(measurement algorithm parameters).
• Type a non-existing index for the MP (only integer numbers are accepted).
• Select a measurement algorithm for the new MP. The options displayed in the list
depend on the template configuration files (.alf) located in “Templates” folder.
• Optionally, after the definition of the new Measurement Point, user can add linked,
dependent or alternative MPs.
 Check the box under the column “Linked” to display the list of MPs from
which measurement point can be linked with an existing one.
 Check the box under the column “Dependent” to display the list of MPs from
which measurement point can be defined as dependent on an existing one.
 Check the box under the column “Alternative” to display the list of MPs from
which an alternative can be selected.
 Fill the MP index in the available text box.
maestro User’s Manual 75

If the typed index is invalid or already exists, a message Index is invalid or already exists
in order to prevent the overriding or corruptions of an existing configuration file.

5.2.4.1.1.2 Edit Measurement Point

This tab provides the necessary functionality for selecting the measurement point (MP)
to be edited.
In order to edit the configuration of an existing measurement point (MP) the user
should simply select the (“Edit”) button of the MP index from the “Measurement Point
Index” combo box.

The following figure displays the window which opens after selecting the “edit” option.
The user can change the index, the name even the algorithm of the selected measurement point.

5.2.4.1.1.3 Delete Measurement Point

To delete the configuration file of an existing MP the user should:
• Select the MP index.
• Press the (“Delete”) button to permanently delete the configuration file of the
corresponding MP index, as shown in the following image.
maestro User’s Manual 76

After pressing “Delete”, the following dialog appears which asks for the user confirmation.

5.2.4.1.1.4 Measurement Point Relations

Maestro user can also add a relation between existing measurement points. The types of
relations between measurement points can be the following:

• Linked Measurement Points: If 2 MPs are linked, the measurement algorithm of each
MP is executed in parallel with the measurement algorithm of the other. The results are
displayed at the same time on Image Viewer. This relation is one-way. Technically the
2 MPs are both displayed in the same image, so the user does not have to take separate
images for each one.
• Dependent Measurement Points: In order to execute the measurement algorithm of a
MP, the algorithm of another MP should have been successfully executed. Dependency
can also be used for correct positioning of some features in the image. I.e the position
of a ROI in the image can change dynamically depending on the matching position of
another measurement point.
• Alternative Measurement Points: In case the measurement algorithm of the selected
MP fails, the algorithm of the alternative MP is executed.

To link two measurement points, the user should do the following:

• Click on the “Linked” cell of the row that corresponds to the MP that you need to link
with some others.
• From the check boxes list that appears on the right, check the MPs that will be linked
with the selected one.

In the following figure you can see that MP 11 is linked to MPs 11 and 12. This means that
when the measurement algorithm of MP 11 is executed (MP 11 has been selected), in parallel is
executed the algorithm for MP 12. On the contrary, in case of having selected MP12, only the
algorithm for MP 12 is executed and NOT the algorithm of MP 11.

To define dependencies between two measurement points, the user should follow these steps:
• Click on the “Dependent” cell of the row that corresponds to the MP that should depend
on others.
maestro User’s Manual 77

• From the check boxes list that appears on the right, check the MPs the algorithms of
which should be executed before the algorithm of the selected one.

The following figure displays the dependency of MP 12 on MP 11. This means that before
executing the algorithm of MP 12, the algorithm of MP 11 has to be executed and should also
produce successful results as output. The output of MP 11 will be used by the algorithm of MP
12.

To specify alternative measurement points (MPs) for another MP, the user should do the
following:

• Click on the “Alternative” cell of the row that corresponds to the MP that should be
alternatively executed if the algorithm of the selected MP fails.
• From the check boxes list that appears on the right, check the MP the algorithm of
which should be executed in case the algorithm of the related MP fails.

In the following figure, you can see the definition of MP 12 as an alternative is case that the
algorithm of MP 402 has failed.

To define subtracted measurement points (MP), user should add a new MP and select the
algorithm “DifferenceMeasurement”. This MP includes the algorithm that calculates the
coordinate difference or the absolute distance between 2 MPs.

After the MP definition user can click on the “Subtracted” column in order to select the MPs on
which the subtraction will apply.

The enabled MPs are inserted at the “Subtracted” column presented as the subtraction
MPindex1-MPindex2. Moreover the columns “Linked” and “Dependent” are automatically
maestro User’s Manual 78

filled with the selected MPs as the “DifferenceMeasurement” depends on each particular
measurement.

User can also select if the algorithm will return the absolute distance between the 2 points or the
subtraction per coordinate axis. Distance calculation can be selected by pressing the
“Configuration” button at the navigator and enabling the correspondent check box.

In most cases DifferenceMeasurement is used for “Gap” and “Flush” measurements and
the important information is the subtraction per coordinate axis.
maestro User’s Manual 79

5.2.4.1.2 Image Setup

Through this dialog the user can change the illumination of the selected sensor (only if
a sensor is operating on the PC that Maestro is running) and also correct the image intensity
settings in order to achieve better measurement results (image preprocessing). It is a tabbed
dialog consisting of 2 tabs each one corresponding to one of the actions mentioned before. The
figures below explain the input controls of each tab and their role.

5.2.4.1.2.1 Illumination
This tab is activated only if a sensor device is operating on the computer where Maestro
is running. In the figure below you can see a typical setup of inos Portable Measurement Head
(iPMH) which consists of 2 cameras (stereo sensor), 1 laser and 3 ring lights (LEDs).

This tab contains 2 dials (rotating elements) and one control box: the first dial controls
the camera exposure time (milliseconds), the control box displays the three available ways of
controlling the intensity level of the laser device or sensor lamps and the second dial varies
according to the control box selection. Each illumination device is listed in the table, ready to be
configured.

The “Camera Exposure” can be increased or decreased either by rolling the dial or pressing on
or editing the spin box. The user can enter a value between min and max values, which depend
on the sensor and the current sensor configuration (e.g. frame rate, pixel clock ).
maestro User’s Manual 80

In case of “BitMask” selection in the “Illumination Devices” control box, illumination

can be set by the “Illumination Level” dial (0-3)
(0 3) in one of the three levels. Zero illumination
indicates a switched off device. The rest of the levels indicate a switched-on
switched device, with
discrete intensity levels.

When selecting “PWM

PWM”” control, a PWM pulse is transmited to illumination device.
This palse has the maximum supported frequency 1 KHz and the Duty Cycle is controled by the
second dial, as a percentage of the frequency. This illumination control is used mostly for
continuous triggeirng.

If selecting “Flash High Active”,

Active”, the intensity will be controlled by the “Palse
Length”. The palse transimted to the illumination device is a constant positive palse with
controlled duration,, defined as a percentage of exposure time.
time This duration is synchronous to
exposure time.
maestro User’s Manual 81

5.2.4.1.2.2 Image Filters

This tab provides the necessary functionality for image filters. Two types of preprocessing are
supported:

Gamma Correction: Non-linear type of

correction used for coding and decoding
luminance on still images. Gamma
Correction can take values from 0,1 - 2,0.
To perform this correction, do the
following:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply the correction and activate the
slider.
 Change the value of the slider by
moving the grip or change the value
of the text box by typing the desired
one.

Contrast Enhancement: Non-linear type

of correction used for modifying the
intensity histogram of a still image in order
to darken the dark areas or lighten the
bright areas. This technique is useful for
feature extraction. To perform this
correction, do the following:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply correction and activate the
threshold sliders.
 Change the value of each slider by
moving the grip or change the
value of the text box by typing the
desired one.

Sobel Filtering: Edge Detection filter

which can be applied either in the
horizontal direction or in the vertical
direction of a grayscale image. Detects the
edges (gradient of image intensity) of an
image and displays them as light areas,
while the uniform areas of an image are
displayed dark after applying this filter. To
apply this filter
 Click on the corresponding option
 Check the box next to “Enable” to
apply the filtering and activate options.
 Check the corresponding box to apply
Sobel filtering either horizontally or
vertically.
maestro User’s Manual 82

Thresholding: It is a simple technique for

feature extraction. Thresholding changes
the intensity of all image pixels either to
255 (white) or to 0 (black). Pixels having
intensity over the threshold become white,
while those having intensity under the
specified threshold value become black. To
perform thresholding do the following:
 Click on the corresponding option
 Check the box next to “Enable” to
apply thresholding and enable the
slider.
 Change the slider value or type the
desired threshold value in the text box
(0-255).

Equalization: Is a method of intensity

histogram adjustment for enhancing the
contrast of an image especially when the
usable data of an image is represented by
close contrast values. The method is useful
in images with backgrounds and
foregrounds that are both bright or both
dark. To apply this technique do the
following:
 Click on the corresponding option
 Check the box next to “Enable” to
apply histogram equalization and
enable the slider.
 Change the slider value or type the
desired threshold value in the text box
(0-255).

Closing: Is a kind of morphological

filtering useful for morphological noise
removal. Closing removes small holes from
the foreground of an image, placing them
in the background. To apply opening the
user should do the following:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply this filter and enable the controls.
 From the drop down list select the size
of disk element to be used for closing
(in pixels) and in the spin box specify
how many times this operator should
be applied.
maestro User’s Manual 83

Gaussian Smoothing: Is a 2D convolution

operator used to blur images and remove
detail and noise. It uses a kernel object the
shape of which represents the Gaussian
bell. To apply this filter follow these steps:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply this filter and enable the controls.
 From the drop down list select the size
of kernel element to be used for
smoothing (in pixels) and use the spin
box or slider to specify the σ (sigma)
parameter of the Gaussian distribution.

Dilation: Is a kind of morphological

filtering. Dilation is used for probing and
expanding the objects of a grayscale image.
To apply dilation the user should do the
following:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply this filter and enable the controls.
 From the drop down list select the size
of disk element to be used for dilation
(in pixels) and in the spin box specify
how many times this operator should
be applied.

Erosion: Is a kind of morphological

filtering. Dilation is used for shrinking the
objects of a grayscale image. To apply
erosion the user should do the following:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply this filter and enable the controls.
 From the drop down list select the size
of disk element to be used for erosion
(in pixels) and in the spin box specify
how many times this operator should
be applied.
maestro User’s Manual 84

Opening: Is a kind of morphological

filtering useful for morphological noise
removal. Opening removes small objects
from the foreground (usually taken as the
dark pixels) of an image, placing them in
the background. To apply opening the user
should do the following:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply this filter and enable the controls.
 From the drop down list select the size
of disk element to be used for opening
(in pixels) and in the spin box specify
how many times this operator should
be applied.

Boundary Extraction: Is a technique for

extracting linear features (curved or
straight) which are useful because they
frequently correspond to object or material
boundaries. The method is based on
gradient magnitude and directional
information. To perform boundary
extraction do the following:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply this technique and enable the
controls.
 From the drop down list select the
appropriate kernel size (in pixels).
Bigger kernel size results to thicker
boundaries.

Pruning: Is a method used as a

complement to the skeleton and thinning
algorithms to remove unwanted parasitic
components. The process in itself will
remove all branches shorter than a given
number of points, for example on skeletons
of features. To perform pruning:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply this technique and enable all the
controls.
 From the drop down list select the size
of structuring element (in pixels) and
from the spin box select the number of
times this operator should be applied.
maestro User’s Manual 85

Thickening: Thickening is a
morphological operation that is used to
grow selected regions of foreground pixels.
The behavior of the thickening operation is
determined by a structuring element
(kernel). To perform thickening:
 Click on the corresponding option
 Check the box next to “Enable” to
apply this technique and enable all the
controls.
 From the spin box select how many
times this technique should be applied.

Thinning: Thinning is a morphological

operation that is used to remove selected
foreground pixels from binary images. It
can be used for several applications, but is
particularly useful for skeletonization. In
this mode it is commonly used to tidy up
the output of edge detectors by reducing all
lines to single pixel thickness. To apply
thinning:
 Click on the corresponding option
 Check the box next to “Enable” to
apply this technique and enable all
controls.
 From the spin box select how many
times this technique should be applied.

Skeleton: Skeleton (or Topological

Skeleton) of a shape is a thin version of
that shape that is equidistant to its
boundaries. To display the skeleton of the
shape inside the ROI, do the following:
 Click on the corresponding option.
 Check the box next to “Enable” to
apply the technique.
maestro User’s Manual 86

5.2.4.1.3 Configuration Parameters Editor

Through this dialog, the user sets the core configuration of the measurement point. The
majority of parameters saved in the configuration file of a measurement point are set through
the controls of this dialog. This means that the set of controls that appear
appear on this dialog vary
from one measurement algorithm to another. Configuration Dialog is, like the others, a tabbed
dialog but contains only a single tab named “Metrology”.
“ ”. In the following figures you can see
an example of this dialog in case of “Existence” Measurement and in case of “RGB Compare to
Color” Measurement.

5.2.4.1.3.1 Region of interest

In order to define the ROI of the corresponding measurement point configuration you just
need to click on the button labeled as “Rectangle” on the metrology tab. Immediately any
previously selected ROI will appear on the image view. That ROI can be moved around the
image using the right mouse button. Alternatively, you can change its size by dragging any of
its four corners
ers with your left mouse button pressed.

In case no ROI is defined the mouse cursor will change to a cross + and you will need to:
• Press the left mouse button on a point on Image Viewer. Do not release the button.
• Drag the mouse to draw a rectangle of the desired size.
• Release the mouse button to finalize the rectangle.

5.2.4.1.4 Pop-UpUp Configuration Dialogs

While most of the configuration controls are directly editable in the metrology tab,
there are some parts that need a more complex or more interactive configuration.
conf These are
represented by buttons on the metrology tab that pop up the corresponding configuration dialog.
maestro User’s Manual 87

5.2.4.1.4.1 Pattern Configuration Dialog

Pattern Configuration Dialog provides the necessary controls for those algorithms that
use a pattern in order to produce the measurement results. The user can select between a set of
pattern matching algorithms, define if the pattern should be scaled or rotated in order to detect
scaled or rotated variations. It is also possible to set points of interest (depending on the type of
measurement algorithm used).

Control or Feature Description

Select the pattern matching algorithm from the drop

down list. The options are:
• FFT
• Spatial
• FFT or Spatial
• FFT & Verify

Toggle whether the central point of the pattern should be

detected and used by the algorithm.

Specify if a mask should be used for refinement and how

thick it should be. Refinement is used to eliminate some
details that could interfere to the matching and corrupt
the results.

Check the box and set the value for mask thickness in
pixels (0-10).

Used only in case of FFT matching. The FFT correlation

is successful if the maximum return value is greater than
this matching threshold.

Use the slider grip or type the decimal value to specify

maestro User’s Manual 88

Control or Feature Description

the percentage (0,1-1,0).

Used in case of spatial pattern matching. The correlation

is successful if the maximum return value is greater than
this matching threshold.

Use the slider grip or type the decimal value to specify

the percentage (0,1-1,0).

Used in case of spatial pattern matching. Factor by

which the image will be down-sampled to accelerate
correlation.

Use the slider grip or type the decimal value to specify

the percentage (0,1-1,0).

Enables searching for rotated variations of the pattern.

Defines the starting/ending rotation angle of the pattern
in reference to its initial un-rotated position (in degrees).

Check the box to enable and then use the slider grip or
type the decimal value to specify the angles.

Rotation step of the rotating pattern, covering all

intermediate angles from starting to ending rotation
angles (in degrees).

Use the slider grip or type the decimal value to specify

the step.

Enable searching for scaled variations of the pattern.

Defines the starting/ending pattern scaling factor (1.0
corresponds to normal size – no scaling). Check the box
to enable and then use the slider grip or type the decimal
value to specify the scaling factor.

Scaling step of the pattern, covering all intermediate

factors from starting to ending scaling factor.

Use the slider grip or type the decimal value to specify

the step.

Allows the definition of a pattern that should be

detected.

• Press the left mouse button on a point on Image

Viewer. Do not release the button.
• Drag the mouse to draw a green rectangle of the
desired size. This is the pattern area.
• Release the mouse button to finalize the pattern area.
maestro User’s Manual 89

Control or Feature Description

Allows the definition of Points Of Interest. A point of

interest is a point of the pattern around which the
correlation matching should be very accurate. It is the
point that specifies the pattern area which should be
exactly identified. If no POI is defined for a pattern, then
the correlation is based on the pattern’s center

Check the box and press the “Add POI” button. On

Image Viewer draw a small rectangular area (it appears
in orange color). Its center is the defined point of interest
and the coordinates will appear in the corresponding
table. You can delete the point of interest using the
button.
maestro User’s Manual 90

5.2.4.1.4.2 Halcon Pattern/Model Configuration Dialog

An alternative pattern matching method is base on MVTec Halcon™ image processing
library.

The application is able to parameterize such algorithms only if you run it in a computer
with a registered copy of MVTec Halcon™. Otherwise this option is not available.

Component or Feature Description

The minimum accepted matching threshold, between the

originally selected model and the model found during
execution.

Minimum and maximum threshold values for the

segmentation of the model region.

Minimum and maximum scale factors for the created

model.

When applying the measurement, scaled models

according to the inserted values will be tested for
matching.
maestro User’s Manual 91

Component or Feature Description

Metric defining contrast’s affect on model.

There are 3 options:

- Ignore local polarity (region contrast does not

affect the model)
- Ignore global polarity (image’s contrast does not
affect the model)
- Use polarity (contrast affects the model)

Determines the type of the region. There are 3 options:

- Rectangle
- Ellipse
- Polygon

Determines if rotated and to which degree models of the

initial model should be tested when measurement is
executed.

Determines the step of creating rotating models. For

example every 1, 5 or 10 degrees.

Shows the current preview of the selected model. With

green color is indicated the model’s shape

Starts the procedure of model selection

If any of the dialog parameters change, the user can see

the affect on model’s shape by pressing refresh model.
maestro User’s Manual 92

5.2.4.1.4.3 Line Detection Dialog

The line detection configuration dialog is used for defining the algorithm and
corresponding parameters for detecting one or more laser line on the image.

• Contour Tracer:

Component or Feature Description

Is the minimum acceptable brightness to launch contour

tracing from an image point inside the corresponding ROI.

Change the spin box value either by using the arrows or by

typing the necessary value. It is recommended to use the
Image View’s pixel intensity display box in order to find
the minimum intensity inside the corresponding ROI.

The approximate (average) brightness that is used to stop

contour tracing.

Change the spin box value either by using the arrows or by

typing the necessary value. It is recommended to use the
Image Viewer’s pixel intensity display box.

The angle step of contour tracer (degrees).

maestro User’s Manual 93

Component or Feature Description

Change the spin box value either by using the arrows or by

typing the necessary value.

The quality of searching during contour tracing.

From the drop down list select the desired option. Better
quality though, leads to lower speed, thus more time for
contour tracing.

Select the kind of region where the contour tracer looks for
a contour. Currently only Line and Line
ine With Profile are
supported.

Make a selection and on Image View draw the appropriate

search line either by dragging (left mouse button) each of
the line’s ends, or by dragging (right mouse button) the
complete line.

Define how many laser lines the contour tracer is looking

for. Maximum selectable value is the number of lines
defined in the Sensor Configuration Tool.

This option appears only when Line with profile is selected.

Define the radius of the area on the line where the contour
tracer is looking for a line.

This option appears only when Line with profile is selected.

If set to false, the extracted contour will only be calculated

in the forward direction. It has meaning only if initial
direction is given.

Set the checkbox as “checked” to allow the calculation in

both forward and backward directions or uncheck it to
calculate the contour only in the forward direction.
maestro User’s Manual 94

Component or Feature Description

The direction of the mask during the initial searching

(clockwise and measured in degrees).

Change the dial’s value or type the appropriate angle value

(degrees) in the corresponding text box.

Check/Uncheck the box to display/hide the search direction

arrow on the Image Viewer.

On changing the Initial Direction angle, notice the changing

(rotation) of the search direction arrow on the Image
Browser.

The type of mask used for convolution.

From the drop down list select the appropriate mask.

Options vary between user defined mask and a set of
predefined masks:
• Gaussian Ellipsis
• Vertical X Edge
• Horizontal Edge
• Vertical Edge
• Disk
• Arrow
• Positive Arrow

Check this to see the convolution mask on the Image

Viewer.

The height scale of the convoluted pattern.

Change the spin box value either by using the arrows or by

typing the necessary value. Use higher values to follow
thicker contours.

The scale of the convoluted pattern.

Change the spin box value either by using the arrows or by

typing the necessary value. Higher scale leads to smoother
motion (tracing velocity) but difficult turning (tracing of
turning points).

Check this to configure advanced attributes such as stop

maestro User’s Manual 95

Component or Feature Description

criteria.

Determines the maximum angle (degrees) from the initial

direction. . Click the check box to enable/disable.

Change the spin box value either by using the arrows or by

typing the necessary value.

Determines the maximum distance that can be reached from

the contour starting point. Click the check box to
enable/disable.

Change the spin box value either by using the arrows or by

typing the necessary value.

When the contour points have greater distance in both sides

than the segment connecting first and last contour points,
contour tracing stops and some points at the end are thrown
away. Click the check box to enable/disable.

Change the spin box value either by using the arrows or by

typing the necessary value.

Determines the maximum deviation (pixels) on the right of

the perpendicular direction of the initial direction. Click the
check box to enable/disable.

Change the spin box value either by using the arrows or by

typing the necessary value.

Determines the maximum deviation (pixels) on the left of

the perpendicular direction of the initial direction.

Click the check box to enable/disable. It has meaning only

if initial direction is given. Change the spin box value either
by using the arrows or by typing the necessary value.

Allow detecting all laser planes or not.

Set the checkbox as “checked” to allow the detection or

uncheck it to prevent the detection of all laser lines on the
image.

Describes whether the search should be focused more on

the left or right side. Click the check box to enable/disable.
Use the combobox to select a predifined balance.

Use a disk shaped mask for search in y-position. Click the

check box to enable/disable.

Press Test to see on the Image Viewer the found contour,

maestro User’s Manual 96

Component or Feature Description

Press Clear to clean up any contour drawn on the image.

• Scale Space:

Component or Feature Description

Sigma is the most important parameter of the

Scale Space Search. The convolution kernel of the 2D
filter operation (of the first image processing step) is
build up from the gauss distribution, where sigma
specifies the standard deviation. Bigger sigma values
generate a larger filter mask with lower amplitude. This
means, that for bigger sigma values the convolution
response will be smoother and with lower values.

Change the spin box value either by using the arrows or

maestro User’s Manual 97

Component or Feature Description

by typing the necessary value.

If the eigenvector length is greater than Lower Bound,

this point is considered as a valid line point and used for
linking. There is an exponential relationship between
Sigma and High. Usually this parameter should be
between 2.0 and 10.0.

Change the spin box value either by using the arrows or

by typing the necessary value.

After detection, it is possible to smooth all detected

contours. Default value (also in case when is parameter
omitted) is Smooth_7. Possible values are: NoSmooth,
Smooth_3, Smooth_5, Smooth_7 and Smooth_9.
Parameter Smooth_3-Smooth_9 determines how much
points will be used for point smooth. Greater values
produce smoother line.

Select the most appropriate option from the drop down

list (combo box).

Only contours longer than this value (in pixels) are

returned.
maestro User’s Manual 98

5.2.4.1.4.4 Reference Laser Polygon Dialog

This dialog provides the front-end for defining a laser polygon on the image, which will
be used as reference in the polygon matching part of the measurement. You can manually
define the polygon by drawing a poly-line on the image or ask the tool to automatically extract
a reference polygon from the image. At any case the polygon can be edited in many ways.

The following table describes the available functionality, which helps the user define a
reference laser polygon line.

Component or Feature Description

Manual definition of a polygon line on the image.

• Press the button

• Define the polygon points on Image View by clicking with
the left mouse button. Each click adds a point to the
polygon on the image and on the dialog table.
• Right click to finalize the polygon.

Clear the currently set polygon

Press the button to clear the current polygon. The dialog table is
cleared, as well.

Define the polygon axis (straight part) of the polygon

• Press this button

• On Image View, using the left mouse button, drag a
rectangle that contains exactly 2 polygon points located at
the straight part of polygon
• The points inside this ROI will be set as “Axis Points” and
the corresponding check boxes in the table will be checked.

Detects automatically a polygon line in the image.

• Press this button

• On Image View, using the left mouse button, define a
maestro User’s Manual 99

Component or Feature Description

rectangle which contains the corresponding laser line part

(right or left).
• The detected polygon will appear on Image View and the
dialog table will be populated with the polygon points
coordinates.

NOTE: This functionality requires that you have previously

configured the line detection algorithm properly.

Set the number of points that should be generated during

“Automatic Polygon Extraction”.

Use the up/down arrows or type the number to determine how

many points should be generated from “Automatic Polygon
Extraction”.

Selection of points for polygon line Axis.

Click on the corresponding checkbox of each point. The points

of axis should be located far from the gap that exists between the
2 surfaces. Typically the number of points selected for the axis is
2.

Selection of the Point Of Interest (POI).

Click on the corresponding checkbox of the point. POI is the

point located near the turning point. Only 1 point can be
selected. In case of attempting to check more than 1 box, the
POI selection changes to the latest checked box.

After a polygon has been defined you can:

• Move the complete polygon: Drag your mouse, keeping the right mouse button pressed
over the polygon.
• Move a single polygon point: Drag your mouse, keeping the left mouse button pressed
over a point.
• Delete an existing polygon point: Double-click with your left mouse button on a
polygon point.
• Add a new polygon point: Double-click with your left mouse button where you want
the new point to be added (if you double click on an existing point this will be deleted).
maestro User’s Manual 100

5.2.4.1.5 Test View

Test View is a tabbed view that consists of 2 tabs: “Results” and “Statistics”. The
functionality of this dialog allows the user to test the already configured measurement point in
order to verify if the configuration is successful or not. Apart from a simple test result, the user
can perform testing for more than one time in order to verify the stability and repeatability of
the configuration algorithm. Along with the measurement results, Maestro performs statistical
analysis and provides a set of statistics for the repeated measurements.

5.2.4.1.5.1 Results
This tab contains a table in which all test results are displayed. Each row corresponds to an
execution (testing) of the current measurement point configuration. Apart from the
measurement results, the tab also has:

• A button for toggling whether images and resulted features will be updated
automatically at each measurement step: . In case this is not pressed, only
the last image and detected features are shown on the image view.
• A button for toggling automatic image saving: . When pressed, all
processed images are saved in the “AutoSavedImages” application path, inside a folder
with the test timestamp.
• A button for excluding some results from the statistical analysis. To achieve this, click
on a row of measurement results table and then press button. The row
will be removed.
• A button for stopping the test:
• A button for starting test:
• A spin box for setting the number of times the algorithm should be tested
• Buttons for performing test to the previous or next image (according to those selected in
Disk Browsing Control).
• A progress bar indicating the progress of the test procedure, which is more useful when
processing multiple images at once.

5.2.4.1.5.2 Statistics
This tab consists of a table that displays a set of statistical values (average, sigma, 6
sigma, minimum value, maximum value and max span) calculated by Maestro for all algorithm
execution outputs that are listed in the table of “Results” tab. The statistical values are displayed
per measurement point, so the user should first select the desired measurement point index from
the existing combo box.
maestro User’s Manual 101

You can also specify which of the table columns displayed in “Results” table, should be
used in “Statistics” tab for the calculation of the corresponding statistical values. To achieve
this follow these steps:
• Right click on the desired column of “Results” table.
• Check/Uncheck the “Include In Statistics” option to include/exclude the selected
column.
• Click on “Statistics” tab to see the updated statistical values.

Right click is not activated for columns “Status”, “MP Index” “Image Set ID” and “Time”,
since they are the default result columns that are always present.

5.2.4.1.5.3 Toolbar Items

The tool bar is hidden by default and it becomes visible when the user places the mouse
cursor near the top left corner of the Configuration Dialogs Area. It remains visible as long as
the mouse cursor remains on the toolbar area, but if the mouse cursor leaves this area the tool
bar becomes again invisible.

Icon Title Description

Toggle Widget Changes the widget’s side (rotation) and displays Logging
Side Viewer.

Save
Saves the new or edited configuration file on disk.
Configuration

Exports the table contents of “Results” tab to a CSV file.

Export Test
Results to CSV
This button is displayed only after testing.

Reset Resets the configuration to the initial values. All changes made
configuration by the user are lost.
maestro User’s Manual 102

Saves the result of the executing MP in .alf file.

Save the last This button is displayed only after testing.

result
After you press the button a file saving dialog will appear where
you have to select the path and the filename of the result file.

5.2.4.2 Logging Viewer

Logging Viewer is a list that displays the logging messages that are recorded by
Maestro which inform the user about Maestro status and functioning. These messages also
appear on Maestro Window Status Bar. Bar. The main difference between Logging Viewer and
Maestro logging file (.ilf) is that Logging Viewer displays only the following types of logging
messages: Error, Warning and Info.

To display Logging Viewer, press Toggle Widget Side button of Configuration

Dialogs Area tool bar.

5.2.4.2.1 Toolbar Items

The tool bar is hidden by default and it becomes visible when the user places the mouse
cursor near the top left corner of the Logging Viewer. It remains visible as long as the mouse
cursor remains on the toolbar area, but if the mouse cursor leaves this area the tool bar becomes
becom
again invisible.

Icon Title Description

Toggle Changes the widget’s side (rotation) and displays Configuration

Widget Side Dialogs Area.
maestro User’s Manual 103

5.2.5 GnF Editor

The GnF Editor is a 3D tool that aims to guide the user to configure a GnF
Measurement Point using different data sources, that is Reference Image and/or CAD data
provided by the client. The advantages of using 3D based configuration are:
- It provides a user-friendly
friendly way to configure a GnF Measurement Point
- Easily adapts to client’s
clien GnF definitions using 3D and 2.5D graphical scenes
- It is easy to experiment with different GnF algorithms
- The user can configure a Measurement point using polygon parts that are not visible by
a single or Dual Laser Triangulation sensor
- Configure GnF algorithm
lgorithms in a holistic way, where some surfaces dynamically update
their configuration based on the state and position of the other surfaces of the GnF
algorithm

The input of the GnF Editor are the calibration data of the sensor currently active on
Maestro, a GnF Measurement
Measureme Point (defined in Maestro) and the CAD data or a reference
image of the specific Measurement Point.
Point The GnF Editor has as output the polygon
configuration, including possible Gap and or Flush axis rotations, Points of Interest, Reference
Refere
Axes, Tangent Lines, etc.

Additionally, a GnF measurement algorithm should be defined for the GnF Editor to
appear. The user can add a GnF measurement in the Definition step of the Maestro MP
Configuration Tool.
maestro User’s Manual 104

The following Table presents the available GnF templates.

FlushAtGivenDirection
GapMinimumContourDistance
GnFAtGivenDepth
GnFBetweenPoints
GnFTangentBased

5.2.5.1 3D mode: Acquiring polygons from CAD Data

The 3D mode of the GnF Editor is used to load and manually align CAD data with the
loaded sensor and then extract the polygons of interest that derive from the intersection of the
laser plane(s) with the CAD model. It is available once the user selects the Test Button.

5.2.5.2 GnF Editor

itor 3D mode toolbar
The following Table presents the various buttons that are available in the dialog toolbar.
It should be noted that the GnF Editor toolbar dynamically hides or shows its buttons depending
on the Editor’s state and input.

Tool Icon Title Description Use

Load Cad Loads an STL file that contains the Press the button to
File CAD data in ASCII format. choose an STL file.
Align CAD Opens the Align CAD data dialog, to Press the button to open
data automatically align the sensor laser Align CAD data dialog.
plane to a set of three Points.
Overlay The laser lines on the selected image Press the button to
Reference will be overlaid on the GnF Editor overlay any selected
Image if View. Reference Image on the
selected in GnF Editor View.
Image Viewer
Reset Scene Resets whole scene. Press the button to Reset
GnF Editor.
Editor
This button clears any loaded GnF
Editor state, such as sensor
zoom/pan/rotation, Region(s) of
Interest and samples. Only sensor
data, CAD model and measurement
type data are preserved.
Show / Hide Displays or hides the calibration axes Press the button to circle
Calibration on the scene. between showing and
Axes hiding the calibration
axes.

Show / Hide Displays or hides ground grid on the Press the button to circle
Ground scene. The ground is defined in CAD between showing and
coordinate frame. hiding the ground grid.

This button becomes available only

if a CAD file has been loaded.
maestro User’s Manual 105

Show / Hide Displays or hides CAD model on the Press the button to circle
CAD Model scene. between showing and
hiding the CAD model.
This button becomes available only
if a CAD file has been loaded in the
Editor.
Show / Hide Displays or hides laser plane on the Press the button to circle
Laser Plane scene. between showing and
hiding the laser plane.
This button becomes available only
if the loaded sensor has at least one
laser plane.
Show / Hide Displays or hides the Region(s) of Press the button to circle
Region(s) of Interest on the scene. between showing and
Interest hiding the Region(s) of
This button becomes available only Interest.
if a Region of Interest has been set
by the user using the Polygon
Extraction wizard.
Camera Display current camera information: Press the button to show
Information - Camera Position the camera information
- Field of View (in mm) dialog.
- Angle of View (in degrees)
- Pixel resolution (in mm per
pixel)

Once the user has aligned the

Freeze Scene overlaid laser lines on the CAD Press the button to freeze
Movement surface, the view can be frozen so view.
that the alignment won’t be lost.

Toggle Changes the aspect ratio of the GnF Press the button to
Aspect Ratio Editor View to fit the entire CAD change the aspect ratio of
surface. the view.

5.2.5.3 Navigating through the scene

In case the CAD data and the sensor are not registered in the same coordinate system,
the user has to manually align the sensor with the desired Measurement Point on the CAD data.
Manual alignment is done using the mouse, as follows:
- Pan the sensor: the user can click and drag the left mouse button to Pan the sensor in a
plane parallel to the viewing plane. When the scene is in Pan mode, the word “PAN” is
displayed in the top left corner of
o the 3D scene.
- Rotate the sensor: The user can click and drag the right mouse button to rotate the
sensor. The rotation center is the calibration axes origin, which is a common point for
all cameras of the sensor. A common rotation center for all cameras is necessary since
the sensor needs to be transformed in 3D space as a whole. When the scene is in
Rotation mode, the word “ROTATION” is displayed in the top left corner of the 3D
maestro User’s Manual 106

scene. To help the user rotate the scene, the Arc Ball of the scene rotation is also
rendered on screen.
- Move the sensor forward (zoom): The user can roll the mouse wheel to move the sensor
forwards or backwards.

5.2.5.4 Align CAD data with a set of Points

The “Align CAD data button” opens a dialog that helps the user to input a series of
points that would be used to align the sensor laser plane to the plane that is defined by these
points.
It should be noted that the three points should form a plane, that is, they should not be
collinear. Additionally, the user can reverse alignment orientation by pressing the “swap points
button” which swaps the first with the third point. By pressing reset and then ok, the GnF Editor
scene is reset to manual align state.
When the CAD data are aligned with the set of three points, the Editor limits scene
navigation to avoid losing alignment. This way, zooming in or out is not allowed, rotation axis
is limited to the sensor laser plane normal and panning is restricted to the laser plane.

5.2.5.5 Editing the CAD model

By pressing the “Extract

“ Polygon” button the following dialog will appear where the
user can define a polygon on the laser line that corresponds to the selected surface.
surface
maestro User’s Manual 107

The user can either select the “Images” tab where the polygon will be defined using the
reference image, or the “CAD
CAD Data”
Data tabab where the polygon will be defined using the CAD
surface. On the “Images” tabab the user can manually select points on the image which will then
form the desired polygon, or he/she can press the “Automatic
Automatic Polygon Extraction”
Extraction button to let
the GnF Editor automatically find the necessary polygon points. The only thing that the user
needs to define is a RoI around the laser line where the polygon points should be extracted.

Furthermore, the user can choose how many polygon points the GnF Editor should
extract by selecting a number of samples right below the “Automatic
Automatic Polygon Extraction”
Extraction
button. With the “Clear” button the extracted polygon points will be deleted and the useru can
redefine another set. When the polygon point definition is complete the user can press the
“Save” button in order to save the set of extracted polygon points.
If the user selects the “CAD Data” tab ab in order to define the polygon points,
points the GnF
Editor view will automatically display the CAD surface that is selected. Through this tab the
user can set the RoI where the polygon points will be extracted and also select the “Minimum
allowed Point distance”” and the polygon
p orientation as well.
maestro User’s Manual 108

5.2.5.6 GnF Editor State

The GnF Editor Dialog stores its state for later use. To keep current Editor state, the
user has to press “OK” in the Dialog to update configuration and then save the Measurement
Point. The elements that are stored in configuration are:
- Zoom,om, Rotate and Pan factors
- Regions of Interest
- Surface types
- Polygon and Measurement Algorithm configuration (set in Pseudo-
Pseudo-2D mode)
The “Stop” button also keeps the state of the GnF Editor,, while not allowing any further
scene movement.

5.2.5.7 Opening the Pseudo-2D

Pseud view
After the all surface polygons are calculated, the user has to select the
GapAndFlushCalculation item from the list and press the “Surface
Surface Configuration”
Configuration button that
opens the Editor in Pseudo-2D
Pseudo 2D mode to configure the Measurement Point polygons.

5.2.5.7.1 Pseudo- 2D mode: Configuring measurement algorithm

This mode of the Editor transforms the calculated polygons to a plane parallel to the
viewing plane. This way, configuring the polygons and the measurement algorithm is easier.

5.2.5.7.2 GnF Editor Pseudo-2D

Pseudo mode toolbars
The following Table presents the various buttons that are available in the 3D scene
toolbars. It should be noted that all toolbars change dynamically, depending on the Editor’s
state and the input measurement algorithm. It should be noted that the buttons in the toolbar are
grouped according to the surface they correspond to.

Tool Icon Title Description Use

Select Reference These buttons handle the Check the button to go to
Axis Points selection of the reference axis “Select Axis Points” mode
points in the two surfaces. for the specific surface.
Usually, the reference axis is
chosen in the linear part of the Un-check
check the button to leave
polygons. “Select Axis Points” mode.

The image for each of the

or
buttons changes dynamically
depending on the orientation of
the polygons.

The button has two states:

“checked” (button is pressed
down) and “unchecked”
(button is up).
maestro User’s Manual 109

Select Point of These buttons handle the Check the button to go to

Interest selection of Points of Interest “Select Point of Interest”
in the two polygons. mode for a specific surface.

The image for each of the Un-check

check the button to leave
buttons changes dynamically “Select Point of Interest”
or depending on the orientation of mode.
the polygons.

The buttons have two states:

“checked” (button is pressed
down) and “unchecked”
(button is up).

Select Flush Point These buttons handle the Check the button to go to
of Interest selection of the optional Points “Select Flush Point of
of Interest for flush Interest” mode for a specific
calculations in the two surface.
polygons.
Un-check
check the button to leave
The image for each of the “Select Flush Point of
or buttons changes dynamically Interest” mode.
depending on the orientation of
the polygons.

The buttons have two states:

“checked” (button is pressed
down) and “unchecked”
(button is up).
Select Tangent These buttons handle the Check the button to go to
Points selection of the point where a “Select Tangent Point”
tangent line is going to be mode for a specific surface.
drawn in the polygon.
Un-che
check the button to leave
The image for each of the “Select Tangent Point”
buttons changes dynamically mode.
or
depending on the orientation of
the polygons.

The buttons have two states:

“checked” (button is pressed
down) and “unchecked”
(button is up).
Measuring Tape Measures the distance (in Press the button to check it.
millimeters) between 2 points
of the polygon(s). Click on two polygon points.
The calculated distance is
The button have two states displayed on the top of the
maestro User’s Manual 110

“checked” (button is pressed scene in yellow.

down) and “unchecked”
(button is up). Un-check
check the button to make
the Measuring Tape
disappear.
Show / Hide Grid Displays or hides the grid on Press the button to circle
the scene. The grid has major between showing and hiding
and minor lines. The adjacent the grid.
minor lines are 1mm apart and
the major lines 1cm.
Reset Scene Resets whole scene. Press the button to Reset
GnF Editor pseudo-2D
This button clears any selected mode.
point and resets the scene
navigation. Only polygon
points and the algorithm type
are preserved.

Use Angle Check When checked, a Flush Point Check the box and give the
Box reference axis will be defined angles for both surfaces in
that forms the defined angle order to define the Flush
and also goes through the Gap reference axes.
U
Point of Interest.

Direct PoI Distance When checked, Gap will be Check the Direct PoI
for Gap Checkbox measured as the distance of the Distance for Gap Checkbox
two Gap PoIs in the global to measure the Gap as the
coordinate system. distance of the two Gap PoIs
in the global coordinate
system.

Additionally, in the top of the dialog, there is an additional toolbar that handles the
following algorithm parameters:

- Measure Flush From: Affects the sign of the flush measurement. It becomes available if
the loaded measurement type has a flush axis.
- Measurement Type: The user can change the type of the measurement, that is, Gap and
Flush, Gap only or Flush only. It becomes available only if the measurement supports
both Gap and Flush calculations.
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- Gap Rotation Angle: Affects the angle between the gap axis and the polygon reference
axis. It becomes available if the loaded measurement algorithm has a Gap Axis. This
angle is limited to [-90,
[ 90] degrees.
- Flush to Gap Angle: Affects the angle between the gap axis and the flush axis. It
becomes available if the loaded measurement algorithm has a Flush Axis. If there is no
Gap Axis then this angle is measured in relation to the reference axis of the polygon.
This angle is limited to [0, 180] degrees.

- First surface depth: Affects the depth value in the first surface, if required.
- Second surface depth: Affects the depth value in the second surface, if required.

5.2.5.7.3 Rotating Gap and Flush axes

In case the measurement point type supports Gap and/or
and Flush axes that are not fixed,
the pseudo-2D2D mode of the GnF Editor allows the user to rotate the axes using the mouse. To
this end, click and drag the point in one end of an axis line. Automatically, the
corresponding Gap or Flush rotation values are updated in the top toolbar. The Gap to
Reference Axis angle is limited to [-90,
[ 90, 90] degrees and the Flush to Gap Axis angle is in [0,
180]. If no Gap axis exists, the Flush axis angle is calculated in relation to the reference axis.

5.2.5.7.4 Navigating through the scene

Initially, this mode of the GnF Editor centers the view so that all visible polygon points
fully appear in the scene. The non visible parts of the polygons might be outside viewing vie
volume, especially if the CAD model loaded has a large depth. To navigate through the scene
the user can use the following mouse buttons:
- Pan the view: the user can click and drag the left mouse button to Pan the view.
- Zoom: The user can roll the mouse
mouse wheel to the zoom in or out the scene.

It should be noted that the Editor should not be in selecting point mode to allow scene
navigation.

5.2.5.7.5 Configuring the polygons

The pseudo-2D
2D mode of the Editor uses color coding to display the various elements of
polygon configuration. The following Table presents all possible shapes and colors of the Editor
configuration.

Shape in Shape in
Description Description
Scene Scene

Axis rotation point. Reference axis point.

(Gap) Point of Interest. Flush Point of Interest.

First surface non-visible

non
First surface polygon color.
point color.
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Second surface polygon Second surface non-visible

non
color. point color.

Measuring Tape Point. Gap sphere

Gap axis. Flush axis.

Tangent line Reference Axis

Depth line in first surface Depth line in second surface

Measuring Tape

5.2.5.7.6 3D Viewer

When configuration is complete the user can execute the Measurement Point and
observe the results in a 3D Viewer by pressing the “Test” button.

5.2.5.7.7 Finishing configuration

After configuring all elements of the measurement algorithm, the “OK” button becomes
enabled and the calculated Gap and Flush values are displayed on scene. Press OK to update
algorithm configuration.
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maestro User’s Manual 114

5.2.6 Status Bar

Status Bar is a simple non-editable text area where various informational messages are
displayed. These messages can be error messages, warnings or information concerning the
actions performed by Maestro. Usually the messages that appear on the Status Bar are recorded
in Maestro’s Logging File and can be viewed in Logging Viewer.
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5.3 I/O Configuration Tool

I/O Configuration Tool is used for:

1. Adding, editing or deleting input and output devices, such as PLC, where eventually
Sensor Station could read input messages and write output messages.
2. Adding editing, or deleting variables regarding the parsing of the input message or the
construct of the output message.
3. Viewing of current values of input/output variables.
4. Categorizing variable values.

To select this tool, click once the following icon which is found on
Maestro’s Central Page, to give it the focus and once more to activate it.

From a first look, the main tool interface contains:

• Two tabs, one for the application input and one for the application output.
• A list of the available input/output devices.
• A list of the available input/output variables.

Application Input tab:

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Application Output tab:

5.3.1 Configuration of application input

5.3.1.1 Configure input device.

On the left side of I/O Configuration tool, on Application Input tab you can edit an input device.
An input device entry looks like this:

The user is able to edit every one of the following fields by double clicking on them:

Field Description
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Field Description
Select type of input device

Set the name of the device

Set the length of input message

Set the type of every input unit

If the input is distributed

View current value of the hardware input

Delete the current device

Select type of input device

Clicking on the “View” column shows the “Current packet” tab with the selected variable’s
value:

• The user is able to add new devices using the “Add” button:

• To save all the changes press the “Save” button:

When adding/saving a device, be careful, because there is different button for adding and
saving a device and different button for adding and saving a variable.
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5.3.1.2 Configure input variable.

In the middle of I/O Configuration tool, on Application Input tab you can edit an input variable.
An input variable entry looks like this:

The user is able to edit every one of the following fields by double clicking on them:

Field Description
Select by name, the input device where we are
going to read the variable

Set the desired name for the variable

Set on field start on which part of the input

message our variable starts and on which part
ends. For example in the displayed variable we
save at variable “VIN” the first 17 characters of
the following message:
1FM5K8F80DGA04330,K,8,F,S,1, , ,C,D,U,X,
,M,T,P
The type of every unit.

The type of the variable.

Edit alias names for known possible values of

variable

Delete the selected variable.

Clicking on the “Values” column shows the value dialog where the user configures known
value aliases:
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• The user is able to add new variables using the “Add” button:

• To save all the changes press the “Save” button:

When adding/saving a variable, be careful, because there is different button for adding and
saving a device and different button for adding and saving a variable.
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5.3.1.3 Configuring input categories

On the right side of Application Input tab of I/O Configuration Tool, you can categorize known
input values of input variables into input categories. For example:

Different possible color values fall into the “dark” category, and so on.

Field Description
Select by name, the input variable you want to
categorize.

Set the desired name for the value category.

View / edit all the possible variable values that

fall into the category.

Delete category.

When the user clicks on the “Conditions” column the following dialog pops up where the user
can configure logical conditions. If any of these conditions is true, the variable value falls into
the selected category:
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Field Description
Select if the condition applies an equity, unequity
or other operator to the selected variable.

Set the value literal that is compared to the

selected variable value.

Delete condition.

• The user is able to add new categories using the “Add” button:

• To save all the changes press the “Save” button:

5.3.2 Configuration of application output

5.3.2.1 Configure output device.

On the left side of I/O Configuration tool, on Application Output tab you can edit an output
device. An output device entry looks like this:

The user is able to edit every one of the following fields by double clicking on them:
maestro User’s Manual 122

Field Description
Select type of the output device

Set the name of the output device

Set the length of output message, our application is

going to send to the output device
Set the type of every output unit

Delete the current device

Select type of the output device

Clicking on the “View” column shows the “Current packet” tab with the selected variable’s
value:

• The user is able to add new devices using the “Add” button:

• To save all the changes press the “Save” button:

When adding/saving a device, be careful, because there is different button for adding and
saving a device and different button for adding and saving a variable.
maestro User’s Manual 123

5.3.2.2 Configure output variable.

On the left side of I/O Configuration tool, on Application Output tab the user can edit an output
variable. An output variable entry looks like this:

The user is able to edit every field by double clicking on them:

Field Description
Select by name, the output device where we are
going to send the variable’s value

Set the desired name for the variable

Set on field start on which part of the output

message our variable starts and on which part
ends. For example in the displayed variable we
are going to write the variable
“BeltMoldingFrontRight”
in the first bit of the first word output message:
1LNHL9FT8DG600290_0_0_0_0_0_0_0_0_
The type of every output unit.

Delete the selected variable.

Select by name, the output device where we are

going to send the variable’s value

• The user is able to add new variables using the “Add” button:

• To save all the changes press the “Save” button:

When adding/saving a variable, be careful, because there is different button for adding and
saving a device and different button for adding and saving a variable.
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5.4 Synchronizer Configuration Tool

This section describes the Synchronizer configuration tool. This tool is used to manage
the actions performed by the system and its conditions. Action is a generic term for system
processes that the synchronizer can trigger when specific conditions are met.
For every action its properties and parameters can be defined as well as its conditions.
Conditions for activating an action can be defined using variables, constants and operators that
connect these. To start the Synchronizer Configuration Tool the user must click on the
corresponding icon at the central Maestro screen.

To select this tool, click once at the following icon which is found at
Maestro’s Central Page, to give it the focus and once more to activate
it.

After clicking the Synchronizer icon, a new tab (Synchronizer Tool tab) appears at the central
Maestro screen.

After clicking at that tab, the Synchronizer Configuration tool interface appears that contains
the following components:
• Synchronizer main toolbar
• Filter for selection of actions
• Area for display/selection of actions
• Display area of a selected action.
• Display area of the dependencies for a specific action with management buttons
• Display area of the conditions for a specific action with management buttons
maestro User’s Manual 125

5.4.1 Actions display filters

In this area there are two parts where we can select the actions to display in the area below.
As shown below, in area #1 there is a dropdown list with two choices: Name, MP Index. Each
one refers to the type of the filter that we enter at area #2:
- Name: Filter actions by their name
- MP Index: Filter actions by the corresponding MP Index
In each case you need to write the name or Measurement Point (MP) index of an action in
combination of the wildcard character “*” to search for any matching actions. Below you can
see two examples of filtering actions.

In the first example, we search by name (area #1) that starts with “Badge” ends in
“Fusion13” and contains the word “Presence” (area #2). That means all actions of car model
Fusion13 that correspond to presence of badges. To select all the actions you must enter only
the wild character “*” at area #2.

In the second example, we search by MP Index (area #1) that starts with “2015”. That
means all the MPs of car model #2 that belong to sensor #15 (and do not have any categories).
To select all the MP indexes you must enter only the wild character “*” at area #2.

5.4.2 Display area of selected action

After selecting an action (by clicking on it at the display area), the parameters,
properties, and conditions of that action are displayed at the area beside it. If we have edited the
conditions of an action A, the edited conditions will not be displayed in this area, unless you
click in another action B and next you click again at the edited action A.

To select an action click on a specific action on the action display area. Its properties,
conditions and parameters will be shown on the “Selected action display area”.
maestro User’s Manual 126

5.4.3 Synchronizer main toolbar

The control buttons of the Synchronizer main toolbar are the following:

Tool Icon Title Description

Add a new action, its properties, and its
Add a new action
configuration parameters
Edit an existing action (after you select one), its
Edit a selected action
properties, and its configuration parameters
Delete a selected action Delete an existing action (after you select one)
Clean the database Clean actions/conditions tables in synchronizer
synchroni
tables database
Import actions and
Import actions and conditions from a csv file
conditions
Export actions and
Export all actions and conditions to a csv file
conditions
Configure
Edit synchronizer settings
synchronizer settings

5.4.3.1 Add a new action

To add a new action, you have to click on the button at the main toolbar of the
synchronizer tab. This action invokes a wizard window that will guide you through the action
configuration procedure. Click
C the Next button in the first window.

In the next window, you can set the general action properties.
maestro User’s Manual 127

General Action Properties

Name Set the action name. Must be different from existing action names.

Action Type Select the type of the action from a drop down list.

Check the box to enable the action. If it is unchecked the action will
Enabled
not be performed.

Select the output variable of the action from a drop down list. It can
Outvar
be none.

Priority Set the priority of the action (default: 1)

Executions Set the number of executions (-1: runs for ever)

Select the category of the action from a drop down list. It can be
Category
none.

Delay Set the action delay (in msec).

This is the drop down list for the selection of the action type that shows all the available types
of actions that you can add.
maestro User’s Manual 128

Depending on the exact version of the application that you are using, the contents of this list
may be quite different.

5.4.3.1.1 Tracking action

This is a specific action for tracking the car position. The next screen is:

Tracking Action Settings

Car movement direction with respect to the position of the
Tracking Direction
SICK sensor. Possible options: Right to Left, Left to Right

The measurement point index corresponding to the wheel

Wheel Detection MP Index
detection.

Expected car position when measurement starts with respect to

Origin
the position of the SICK Sensor
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Virtual Car Length Car length in mm.

True in order to apply Kalman filtering during position

Apply Kalman Filter calculation. False in order to calculate position using only the
measurement results. It is advised to be enabled.

Maximum accepted deviation from the origin when

Initial Wheel Deviation measurement starts. The tracking will not be executed if the
observed deviation is greater than this value.

Position Error STD STD for the position error in mm. Range 0-200

Velocity Error STD STD for the velocity error in mm/msec. Range 0.15-2

Acceleration Error STD STD for the acceleration error in mm/msec2. Range 0-1

True in order to apply extrapolation, if the measurement has

Apply Extrapolation
not finished yet.

Enables the saving of the packets received from SICK. Useful

Log SICK Output
if tracking problems exist.

Enables the saving of CSV files containing the measurement

Log Tracking Values results (car position and velocity). Useful if tracking problems
exist.

Max Line Velocity Maximum line velocity in cm/sec

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5.4.3.1.2 Reset action

This action resets the synchronizer status. It clears all input variables.

5.4.3.1.3 Global Input action

If you select the action type Global Input, in the next screen we select the parameters.

Action type can be:

maestro User’s Manual 131

Action Input can be:

Input variable can be:

Finally you set the input value pair(s):

5.4.3.1.4 Hardware Input action

This action monitors hardware devices and sets inputs to the Synchronizer. In the configuration
screen we select as Input id one of the Application Input Devices Id#. We check the
ResetEnable box, if we want to reset this action each time it is executed.
maestro User’s Manual 132

5.4.3.1.5 Hardware Output action

This action monitors hardware devices and sets outputs to the Synchronizer. In the
configuration screen we select as Input id one of the Application Output Devices Id#.
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5.4.3.1.6 Set EPN action

With this action type we set the EPN as one of the Application Input Variables (InvarID = Input
ID#).

5.4.3.1.7 Sensor Controller action

This action sends custom messages to the Station. It is used for control of GUI and other station
parameters in a configurable way. It broadcasts globally the message with the set MessageID
value.
maestro User’s Manual 134

5.4.3.1.8 Position Measurement Action

This action differs from the normal Measurement Action because we can include an object as a
reference.

5.4.3.1.9 Measurement Action

This action triggers a measurement point (MP).
maestro User’s Manual 135

Next, we select the Outvar parameter from a drop down list. This list contains the names of the
output variables as these are defined in the Application Output of I/O Configuration.

We select the action parameter category from the next drop down list. The defining parameter
is the color of the car. The categories are usually two: “Light Colors”, “Dark Colors”.

The above categories have already been defined in the Sunchronizer database
(InosSynchronizer.db) at the table CATEGORIES. The colors of each category are defined
at the table CATEGORIES_CONDITIONS.

For the Measurement type of action, the next window will prompt the following configuration
parameters:

- Select Measurement point: we relate the action to a specific MP. This MP is executed
if the conditions of the specific action are met. We can have one or more actions related
to the same MP.
maestro User’s Manual 136

- Exposure: we set the exposure of the action. Priority: category, car color.
- Intensity Control: we set the type of the intensity control. These types are available:
o BitMask
o PWM
o Flash High active

The above types are explained at the MP configuration tool (§5.2.5.2.1).

- Set Intensity: we set the intensity value of the action.

The final window is the review page. We must press to save the action parameters we
set before (in the synchronizer database), press to see the previous window or press
to abort the changes we made.

After saving the changes of the action, the bullet in the front of the action name, will have one
of the following colors:

Bullet at Action name Description

Property Enabled is unchecked

Property Enabled is checked

Property Outvar is selected

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To save any changes we made at the action parameters, we need to press the button
at the Review window.

5.4.3.2 Edit an Action

To edit an action:
• Click on the desired action. After clicking the action parameters, conditions and
properties appear at the Action Display Area.
• Click on the “Edit” button at the Synchronizer main toolbar. Next we proceed
as in the “Add a new action” procedure.

5.4.3.3 Delete an Action

In this case we select the action for deletion at the display area and press the button . In
the next window there is a warning and we confirm the delete action pressing the OK button.
maestro User’s Manual 138

5.4.3.4 Clear Database Table

To clear the synchronizer database, press the button . Next the following screen appears
to confirm this action. If you press the OK button the following
following tables will be cleared:
ACTIONS, CONDITIONS, ACTIONS_DEPENDENCIES, TYPE_MEASUREMENTS.

5.4.3.5 Import Actions from csv file

In order to import actions, their conditions and parameters as well to the Synchronizer database
we click the button . Next, at the dialog window that opens we enter the file name of the
csv file with the data for loading.
In order to transform an online (at Google Drive) document with the list of actions,
measurement points, conditions and other parameters to a csv file appropriate for uploading at
the Synchronizer database, we use the following procedure:
- Download the online document as an excel file
- Copy and paste all the data in a new workbook as values only
- Remove the columns:
columns Comments, Configuration Status, Auxilliary, y, Model, Car Color,
Sensor, Partial MP, Auxilliaries used for this MP
- Delete all the contents of Legend in the end of data
- Delete any blank lines between the data
- Save the xls file
- Open this xls file with OpenOffice spreadsheet program Calc
- Save the file as text csv with parameters:
o Field delimiter: ;
o Text delimiter: (nothing)
- After saving and closing it, open the file with Notepad++
- Find and replace the following: “(space)”
(space)
- After saving and closing you are ready to import this csv file into Synchronizer.
Sync
-

If we open the csv file with a text editor it will look like the following:
maestro User’s Manual 139

In Excel it will look like:

5.4.3.6 Export Actions to csv file

If we want to export the Synchronizer database into a csv file, we click the button located
at the mainn toolbar. In the next screen we select the folder and the name of the output file,
where the data will be saved.
maestro User’s Manual 140

If we open the output file with MsExcel the screen will look like this:

If we open the same file with a text editor, it will look like this:

We can use this csv file for massive editing (e.g. uncheck all enable boxes, increase all tracking
values) and then import it back to the synchronizer.

5.4.3.7 Configure Synchronizer settings

Information in this paragraph addresses a non trivial issue

issue that aims to expert users of the
application.

To configure the synchronizer settings, the user must click at the button located at the
synchronizer main toolbar. This dialog contains 3 different pages of settings:

• General:: System / synchronizer settings that affect the overall behavior of the system.
maestro User’s Manual 141

General Settings
If a percentage of measurement actions equal or greater than this
Drop if %x MPs Fail
value fails, then the car will be dropped.

• Runtime: Parameters that control the runtime behavior of synchronizer itself, regarding
the way it controls and triggers the various actions.
•

Runtime Settings
Synchronizer Execution Mode. Available options:
• Backwards Compatibility: The synchronizer is
triggered externally when a new input signal is
received.
• Continuous Execution: The synchronizer checks
Execution Mode
conditions and triggers actions in its own thread,
as soon as possible.
• Timer Based Execution: The synchronizer checks
conditions and triggers actions periodically in
specific time slices.
• Pseudo Timer Execution: (experimental) The
maestro User’s Manual 142

same as previous mode but with a custom timer

implementation.

Enabled only if timer related execution mode has been

Timer Configuration
selected.

Shot Interval Timer triggering interval in ms.

If enabled actions of the same sensor that are about to

be executed at the same cycle and they have common
Enable Measure Only Mode
exposures, then the sensor will grab only one image
that will be used for all actions

If truee the execution of every thread will take place in

Execute Actions Asynchronously
a dedicated thread.

• Debug:: Parameters that are useful when debugging the synchronizer and should not be
changed by the simple user.

Debug Settings
Enable this function in order to enable detailed debug
Include Synchronizer
messages from Synchronizer. Not advised for production
Debug Messages in Log File
systems.

Include Synchronizer Enable in order to include distributed synchronizer related

Debug Messages in Log File debug messages in the log file

Enable in order to log Station’s memory consumption every

Log Memory Consumption
time the IPN changes

• Distribution:: Parameters that control the distributed operation of the synchronizer.

maestro User’s Manual 143

Debug Settings

Enable Distributed Enable in order to register the Synchronizer that is

Operation configured as a distributed one.

IP Address The IP Address of the PC hosting the distributed Database

A system wide unique name for the current distributed

Name
synchronizer

The second
econd tab of the Distribution page is used for enabling/disabling distributed synchronizer
variables. If enabling a distributed synchronizer variable, the user should select the peer which
will be used as master.

5.4.3.8 Distribution Status Dialog

If we have enabled the distributed synchronizer operation and want to check it’s status, we click
the button located at the main toolbar. A dialog similar to the one presented below will
pop up:
maestro User’s Manual 144

Distribution Dialog

1. Status If green the server is running, otherwise (red) it is offline

2. Running Port The port the server listens to.

A list of available peers. The status of every peer is indicated

3. Peers
with a green or red button

4. Incoming Distributed List of incoming distributed variables. The peer the variable
Variables name and it’s value are displayed

A list of all conditions using distributed variables and their

5. Distributed Conditions
evaluation.

5.4.4 Management of Dependencies for a specific action

In the dependencies display/manage area of the main synchronizer screen there are the
following options for management of action dependencies. First, we select an action from the
action display/selection area.

5.4.4.1 Add a dependency

In order to add a dependency to a selected action we click the button .
In the next screen we configure the dependency:
maestro User’s Manual 145

- Select the dependent action

The dependent action can be selected from the dropdown list of actions:

- Select output variable:

If the dependent action is Tracking, then the output variable is selected from the list:
Status, Confidence, Car Position, Executions.

If the dependent action is not Tracking, then the dropdown list contains also the attribute
list for that action (R1..R12). Each attribute Ri depends on the type of the Action.
maestro User’s Manual 146

- Select input variable:

Next we select the input variable from the dropdown list: Exposure, Dependent Attribute List,
Intensity, Illumination Method.

Any changes we make at the Dialog window of the Dependency Configuration are saved
when you hit the OK button.

5.4.4.2 Edit a dependency

In order to edit a selected dependency you click at the button .
Next we proceed as in the section of adding a dependency.

5.4.4.3 Delete a dependency

In order to delete a dependency you click at the button . The next
screen asks for a confirmation of this action.
maestro User’s Manual 147

5.4.5 Management of conditions for a specific action

In the conditions display/manage area of the main synchronizer screen there are the
following options for management of conditions dependencies. First we select an action from
the action display/selection area.

5.4.5.1 Add condition

To add a condition to an action that we have already selected, we click the button
. As a result a new row appears at the condition display area.

Next step is to tabulate the items Left Part, Condition, Right Part. In order to describe a
condition for an action we need to have information for the specific action from the teledata file
of the car model. The left part usually is the teledata coordinate variable and the right part the
teledata value. For every action all its conditions are connected with the operator AND. That
means that each and all the conditions must be met in order to execute the specific action.

5.4.5.1.1 Left Part of Condition

In order to set the left part of the condition we double click on this box. Next, a dialog window
appears that gives us the following options for the left part of the condition.

1. Internal Input
In this case we select one of the actions from a drop down list.
maestro User’s Manual 148

1a) Internal Input: Tracking

For this option the next step is to select the action variable from the following drop
down list.

- Status: it can take the values success/fail

- Confidence: (not used)
- Car Position: the position of the front wheel of the car from the origin of axes
- Executions: number of executions of this specific action (Tracking) until now

1b) Internal Input: Any measurement action

For this option the next step is to select the action variable from the following drop down list.

- Status: it can take the values success/fail

- Confidence: (not used)
- Attribute List: the whole list of attributes for this specific action
- R1..12: the specific attribute of this action
- Executions: number of executions of this specific action until now
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2. Synchronizer Variable
In this case we select one of the synchronizer variables from a drop down list:
- IPN: Internal Production Number
- EPN: External Production Number

3. External Input
In this case we select one of the external inputs from a drop down list. These inputs are
defined at Maestro Central
I/O configuration
Application Input
Input Variables

Name

Finally, after selecting the Left Part of the Condition we hit the OK button to accept this value
or the Cancel to abort it.
maestro User’s Manual 150

4. Distributed Input

This is similar to the internal input option. The only difference is that we have to select the
distributed peer as well.

- Peer : The distributed peed that will be used

- Action : The distributed action
- Variable : The distributed action variable

5.4.5.1.2 Condition
The condition is the operator that relates the left part to the right part. The allowed
values for this operator are:

Operator Description

== Asserts that the left part is equal to the right part

!= Asserts that the left part is not equal to the right part

>= Asserts that the left part is greater than or equal to the right part

> Asserts that the left part is greater than the right part

<= Asserts that the left part is smaller than or equal to the right part
maestro User’s Manual 151

< Asserts that the left part is smaller than the right part

changed The left part has changed

not changed The left part has not changed

5.4.5.1.3 Right Part of Condition

The right part of the condition is a constant. It can be empty, a number, a character or a
string of number/character. In the next figure we show a simple example of conditions.

In the figure below, the first condition has the right part empty, while in the second condition
the right part is a string.

Usually for a new action the first conditions are: triggering time (car position), vehicle type and
model year. Next, we will present few examples how to set conditions for actions.

Example #1: Setting triggering time

Select the following parameters for the condition:
Left Part: Internal Input
Action
Tracking and Action Variable
Car Position
Condition: >=
Right Part: 1850 (that is the distance of the first wheel from the beginning of axes at the specific
time that we want to trigger the sensor)

Example #2: Setting the model year 2013

Select the following parameters for the condition:
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Left Part: External Input
Variable
A10

Condition: = =
Right Part: D (because at the teledata file the coordinate A10 is D for model year 2013)

Example #3: Setting the vehicle type FUSION

Left Part: External Input
Variable
A07
Condition: = =
Right Part: P (because at the teledata file the coordinate A07 is P for vehicle type FUSION)

Example #4:
Action: Exterior Mirror TURN LIGHT Fusion 2013
Teledata coordinate for Exterior Mirror: D40
Possible values for D40: A, B, C, D
Value of D40 for Exterior Mirror TURN LIGHT: D
Condition for Exterior Mirror TURN LIGHT: D40 = = D

Condition for Exterior Mirror NO TURN LIGHT Door Handle: D40 != D

Example #5:
Action: Door Handle CHROME Fusion 2013
Teledata coordinate for Door Handle: F34
Possible values for F34: A, B, C, D, E, F, G, H, J, K, L, M, N, P, R, S, T, U, W, X
Values of F34 for Door Handle CHROME: L, M, N, P, R, S, T, U, W, X
Condition for Door Handle CHROME : F34 > K
maestro User’s Manual 153

Condition for Door Handle NO CHROME : F34 <= K

The above procedure is for adding new conditions for an action. We follow similar
procedure to edit existing conditions of the Synchronizer. First we select an action. Next we
double click on the specific item of the conditions that we want to edit: Left Part, Condition or
Right Part.

5.4.5.2 Delete a condition

To delete the whole row of a condition we click at the Delete cell at the right of the
condition row.

Next a warning window appears where we confirm or not the deletion of the condition.

5.4.5.3 Save all conditions

We click at the button to save any changes we
made at the conditions of a specific action. Note that the sign in the front of the condition is a *
or ~ if the condition has not been saved, yet.

Condition sign Description

~ Existing condition has been modified but not saved

* New condition not saved yet

maestro User’s Manual 154

Condition sign Description

(number) Condition has been saved

In the next figure we show two conditions before and after we press the Save All button. To see
the updated actions at the Action Display Area you need to click on another action and next
click again the updated one.
maestro User’s Manual 155

5.5 Registration Tool

Many inos systems
tems include the task of registering the various sensors used to measure a
certain feature on the car’s body to a Global Coordinate System (GCS) defined by the customer,
usually the Car Coordinate System. This is necessary because all nominal 3D values of a certain
feature are given in the GCS, thus any comparison of a measured value to a nominal would
make sense only if both of them are referenced to the same coordinate system.

To select this tool, click once

on the following icon which is found on
Maestro’s Central Page,
Page, to give it the focus and once more to activate it.
it

A necessary condition for using the Registration Tool is to sample the calibration cubes for
every sensor in the right way and also fill in the corresponding Excel file with the sampled
data. For more information on these two tasks the reader is once again prompted to read
the “Ims Registrator User Manual”.

Once the user clicks on the Registration Tool window he/she is guided to the Tool’s main
screen shown in image 2.

Buttons

Enabled Sensors Area

Results Area

Error Graph Area

The screen contains 3 areas,

areas the Enabled Sensors area on the upper left part of the screen, the
Results area right below and the Error Graph area at the bottom.. Furthermore it contains 5
Buttons:
• Browse
• Register
• Create Report
• View Error Graph
• Save to .alf File
maestro User’s Manual 156

Finally, next to the Browse button there is a Dialog component where the path and name of the
used Excel File will be shown. Each one of these components will be described below.

5.5.1 Registration Tool Components

5.5.1.1 Enabled Sensors Area

The first area of the Registration Tool is the Enabled Sensors area. This window will
display the sensor information that was successfully retrieved from the Excel file that the user
filled in with the cube data. The information is shown in table format where the t columns
display the name given to each sensor and the corresponding index. To the far right column
there is also the information on the status of each sensor, i.e. Enabled or Disabled. The rows of
the table will be automatically adjusted to the number of of enabled Sensors. This table will be
shown once the user clicks on the Browse button and selects the Excel file with the cube data.

5.5.1.2 Results Area

The Results area will display the 6D transformation vector from the LCS of each sensor
to the GCS. The results
ults will be available after the user clicks on the Register button and they
will be contained in a table together with the sensor names and indices and with a calculated
average and maximum registration error for each one of them. The number of rows of the th table
will be automatically adjusted to the number of enabled sensors that were retrieved in the Excel
file.

5.5.1.3 Error Graph Area

The last part included in the GUI is the Error Graph area, which displays a bar graph
with the Maximum and Average Registration Error in mm for each one of the enabled sensors.
The graph will be visible immediately after the user clicks on the View Graph button.

5.5.1.4 Browse Button

The first button to be used in the Registration Tool is the Browse button. Once clicked, a
dialog window pops up and the user is prompted to select the Excel file that he/she has already
filled in with the necessary sampled cube data.
maestro User’s Manual 157

The only file types that this dialog will accept are the .xls and the .xlsx Excel file types.

When the user selects the Excel file, the path and name of it will be automatically displayed in
the dialog box right next to the Browse button The Excel file will be parsed and the table in the
Enabled Sensors window will be filled.

The Browse button is always enabled, that means in any level of the registration the user has the
opportunity to load another Excel file or reload the same one that he/she is using. Every time
that an Excel file is loaded
ed all other User Interface components (Enabled Sensor table, Results
table and Error Graph) will be cleared.

5.5.1.5 Register Button

The Register button
utton will initialize the registration of each enabled sensor to the GCS.
Prior to performing registration the Excel
Excel file with the sampled data should be parsed correctly,
otherwise the Register button
utton remains disabled. If the parsing of the Excel file is not successful
the user is notified with a corresponding error message. Once registration is complete the table
in Results table will be filled. The Register button will be disabled after a successful registration
until another successful parsing of an Excel file occurs.

5.5.1.6 Create Report Button

The Create Report button will copy the results of the registration contained in the Results
window to a generated “Info” sheet of the same Excel File that is used for reading the cube
data. It will be enabled once registration is complete and successful.. This button will remain
disabled after a successful saving of the results in the
he Excel file until another registration is
performed.

5.5.1.7 View Graph Button

When the user clicks on the View Graph button the Maximum and Average Registration
Error Bar Graph will be automatically displayed in the Error Graph window on the Registration
Tool’ss main screen. It will be enabled once registration is complete and successful. It will
remain disabled after the display of the Error Graph until another registration is performed.

5.5.1.8 Save to .alf File Button

The user has the opportunity to save the registration results in the Sensor.alf file by
clicking the Save to .alf File Button. Note that the Attribute List in the Sensor.alf file will be
maestro User’s Manual 158

updated with a “CameraRegistration” node which will contain the “PosVector3D”

“PosVector3D” list with the
corresponding (6x1) transformation vector.
vector

This button will remain disabled after a successful saving of the results in the .alf file until
another registration is performed.

5.5.2 ation actions

Registration

5.5.2.1 Selecting the Excel File

After loading Maestro and the Registration Tool, the first thing that the user should do is
select the appropriate Excel file that he/she has already filled in with the necessary sampled
cube data. This is possible by clicking on the Browse button and then selecting the Excel file in
the dialog window that will appear. Once the file is selected, the cube data will be retrieved and
loaded in the Enabled Sensors Window. If the reading is successful the Register button will be
enabled.

If the reading of thee cube data is not successful,, the user will be notified with the following
error message:
maestro User’s Manual 159

The most probable reason for this error message is that the Excel file is not filled in correctly. In
order to overcome this issue and fill in the file correctly, please consult the “Ims Registrator
User Manual”.

5.5.2.2 Performing Registration

In order to go on registering the sensors to the GCS, the user should click on the Register
button which must be enabled after a successful parsing of the Excel file. If the registration
regis is
itself also successful,, a message notifies the user and the registration results are displayed in the
Results table.

After that step the

he Registration Tool screen will look like the one the image below.

If the registration is successful but with big Average or Maximum Error (>0.1mm) the user is
notified with a corresponding message and prompted to view the Error Graph.

After the registration is performed the Register button is disabled until the selection and parsing
of another (or even the same) Excel file.
maestro User’s Manual 160

5.5.2.3 Displaying of the Error Graph

The Error Graph can be displayed by clicking on the View Error Graph button, only if
it is enabled, that means, only if a successful parsing of the Excel file and the corresponding
registration have taken place prior to this action. The bar graph will be automatically pasted on
the Error Graph window, as is shown in the next image.

As can be seen, the graph contains two axes, the error axis (y-axis) in mm and the Sensor index
axis (x-axis). The default enumeration of the error axis is from 0 to 0.10, but it will be adjusted
if the average or maximum error falls outside of this range. The maximum error is displayed –
for every sensor – with a red bar with a height equal to the actual value. The average error is
displayed with a green bar.

The enumeration of the Sensor index axis does not start from the intersection of the two
axes. That means, that any two bars in the graph correspond to the Sensor index displayed
on the right, e.g. in image 14 the first two bars correspond to Sensor 5, the next two bars to
Sensor 3, etc.

The bar graph will be adjusted automatically to the number of sensors used, altering the bars’
width.

Nevertheless, it is not recommended to use Excel files that contain a number of Sensors
greater than 40. If a project uses more than this number, then the registration could be very
easily done by splitting the sensors in sets of 10 or 20.

If either the Maximum or the Average Error exceed the value of 0.10mm, the enumeration of
the error axis will be also adjusted.
Once the Error Graph is displayed, the View Error Graph Button will no longer be enabled,
until a new registration takes place.
maestro User’s Manual 161

5.5.2.4 Saving the Registration

Registrat Results in the Excel file
The user can save the registration results in the same Excel file that he filled in with the
sampled cube data by pressing the Create Report button. The results will be saved in the sheet
with name “Info”, with the exact format as they are displayed in the Results window. If the
saving in the Excel file is successful the user will be notified with the following message
window:

The
he enumeration of the Sensor index axis does not start from the intersection of the two
axes. That means, that any two bars in the graph correspond to the Sensor index displayed
on the right, e.g. in image 14 the first two bars correspond to Sensor 5, the next two bars to
Sensor 3, etc.

Note that the Excel file should include the “Info” sheet otherwise the Registration Tool will
respond with the following error message:

If the saving is not successful the user will be also notified with the following message:

In this case make sure that you close the Excel file prior to saving the registration results. The
Create Report button will remain disabled after saving the results until a new registration takes
place.

5.5.2.5 Saving the Registration Results in an .alf file

Apart from saving the registration results in the Excel file, the user has the opportunity to
save the results in the Sensor.alf files that he/she is using for a certain project by clicking on the
Save to .alf File button.
The user will immediately be notified for the status of the saving of the .alf file. If it is
successful the following message window will appear:
maestro User’s Manual 162

The Save to .alf File button will remain disabled after saving the results until a new registration
takes place.
maestro User’s Manual 163

6 Troubleshooting
6.1 Special Instructions for Error Correction

Information in this paragraph addresses some non-common issues that aim to expert users
of the application.

This paragraph describes the possible errors that may occur during the usage of the
application and the necessary corrective actions to ensure the application is working on full
capabilities.

6.1.1 MixedMeasurement.ald mismatch

The application relies on using a consistent set of files for performing any operation on
them and performs some consistency check to detect conflicts at startup. A common source of
errors is updating the application measurement templates (e.g. by installing a new version of the
tool), without updating the corresponding system configuration files. In such a case you will be
presented with a dialog that prompts you to replace the inconsistent files with the version
contained in the “Templates”.

You can either confirm one by one all replacements (by selecting “Yes” every time the dialog
appears) or confirm all changes at one (by selecting “Yes to All”) from the beginning. In the
case you don’t want to replace the corresponding files you may choose one of the “No” or “No
to All” options.

It is strongly suggested that you select “Yes to All” in the above dialog. In the case you
haven’t confirmed the resolution of the conflict, maestro will launch anyway, but many
things may not work as expected.

6.1.2 Measurement point initialization

There are a couple of ways (e.g. saving an MP configuration before completing it) that
may cause some measurement points to fail to load for some sensors. These measurement
points are marked with a red square with a white exclamation inside, as can be seen in the
image below.
maestro User’s Manual 164

Obviously these measurement points cannot be tested, but their configuration can be corrected
and be saved afterwards to fix the errors.
maestro User’s Manual 165

7 Getting Help
If you face a problem that is not addressed in this manual or you come along with some
functionality of the application that is not clearly described neither by this document, not by the
application help files, you can seek for support in a number of other ways.
At any case you should be prepared to provide some information, in order to facilitate the
faster and more efficient support of your request. That information includes:
 Your name, company, position and contact details for communicating when there is a
resolution of the issue.
 Installation site and type of the system that is configured with the application.
 Exact version of the application, as described in the “About box”.
 System specification of the computer that the application is executed.
 Description of the problem and steps to reproduce it (in case of a problem report).

7.1 Web Support

You can report an issue or request support through the web at the dedicated inos customer
support system for maestro application.

guest
guest

In case you don’t have a user account, you can use username guest and password guest to log
in. After you log in you can click on the “New Issue” link to report an issue and follow the
instructions to fill in the loaded form.

7.2 Help Desk

The company service team is available during office hours (8:30am to 5pm) on +49 711
68689700, or in the mail address inos@inos-automation.de.