Vision Hardware — Camera, Lens, Lighting
77
Tổng quan hệ thống Machine Vision
Light → Lens → Sensor → Grab → Process → Result · Application-first approach · So sánh hãng camera (Basler, Cognex, Hikvision, IDS, FLIR)
78
Image Sensor & Camera Selection
Global vs Rolling Shutter · Pixel size trade-off (sensitivity vs resolution) · Exposure & motion blur · Bit depth (8/10/12-bit) · Frame rate · GigE/USB3/CoaXPress
79
Lens & Optics
Focal length · Aperture (f-number) · DOF · Magnification · Telecentric lens cho precision · Pinhole model · Distortion (barrel/pincushion) · FOV calculation
80
Lighting Design — Kỹ thuật chiếu sáng
Camera chỉ capture reflected light · Ring/Bar/Backlight/Darkfield/Dome/Coaxial/Structured light · Selection matrix: surface type × feature · Demo ảnh thực tế
81
Lighting nâng cao & Stability
Strobe vs Continuous · Strobe sync trigger timing · LED degradation theo thời gian · Ambient light interference · Lighting design workflow thực tế
OpenCV Core — Xử lý ảnh cơ bản
82
OpenCV & Mat Structure
Mat (rows, cols, type, data) · Pixel access (at<>, ptr<>) · ROI (SubMat) · Color spaces (BGR/HSV/Gray/Lab) · CvtColor · Channel split/merge · Drawing (circle, line, rect, text)
83
Geometric Transforms
Resize · Rotate · Flip · WarpAffine (GetRotationMatrix2D) · WarpPerspective · GetPerspectiveTransform · Crop & pad · Ứng dụng: image alignment, perspective correction
84
Thresholding & Morphology
Binary/Otsu/Adaptive threshold · Erode/Dilate/Open/Close/Gradient/TopHat/BlackHat · Structuring elements (rect/ellipse/cross) · Noise removal pipeline thực tế
85
Filtering & Edge Detection
GaussianBlur/MedianBlur/BilateralFilter · Sobel operator · Laplacian · Canny edge detection · Derivative filters · Sharpening · Denoising strategies cho production
86
Contour Analysis
FindContours · Contour hierarchy · Moments (area, perimeter, centroid) · BoundingRect/MinEnclosingCircle/FitEllipse · ConvexHull · ApproxPolyDP · Shape descriptors
87
Histogram & Color Analysis
CalcHist · EqualizeHist · CLAHE (adaptive) · InRange cho color segmentation · HSV-based object detection · Back projection · Practical color inspection
Detection & Measurement — Thuật toán nhận dạng
88
Blob Analysis & Connected Components
ConnectedComponentsWithStats · Area/Perimeter/Circularity/Aspect ratio · Blob filtering · Defect detection workflow · Object counting · Ví dụ nhà máy thực tế
89
Line & Circle Detection
HoughLines/HoughLinesP · HoughCircles · FitLine (L2/L1/Huber) · Custom edge-based circle fitting (LMS) · Line angle calculation · Ứng dụng alignment
90
Template Matching
MatchTemplate (NCC, CCORR, SQDIFF) · Rotation-aware matching (WarpAffine + angle sweep) · Multi-scale · Score threshold tuning · Golden sample strategy
91
Feature Detection & Descriptor Matching
ORB · AKAZE · KeyPoint & Descriptor · BFMatcher / FLANN · FindHomography · Perspective correction · Ứng dụng: part ID khi thay đổi góc/scale
92
Geometric Measurement & Calibration
Pixel-to-mm với checkerboard · FindChessboardCorners · CalibrateCamera · Undistort · N-point calibration · Measurement accuracy validation
93
Barcode, QR Code & OCR
ZXing/ZBar cho 1D/2D decode · Multi-code reading · Quality grading · Tesseract OCR · Font training · Character segmentation · Verification workflow
Production Vision — Pipeline & Đồng bộ
94
Vision Pipeline Architecture
Tool chain: Acquire → Pre-process → Locate → Measure → Output · VisionFlow graph · Async execution · Result aggregation · IVisionResult (OK/NG judge)
95
Training & Threshold Tuning
Golden image strategy (50-100 ảnh variation thực tế) · False reject vs false accept · Threshold tuning từ production data · SPC cho vision parameters · Recipe-driven config
96
Vision-Motion Synchronization
3 trigger modes (Software/Hardware/Free-run) · Full sync flow: position → grab → process → offset → compensation · Multi-camera anti-interference · Hand-eye calibration · Cycle time budget
Vision nâng cao — Fixture, Matching, Measurement
97
Fixture & Coordinate Space
Fixture: định vị hệ tọa độ theo sản phẩm · Affine Transform 2D · Training vs Runtime · Multi-Fixture · Cascaded Fixture · So sánh VisionPro/HALCON/VisionMaster
98
Shape-Based Pattern Matching
Edge-based matching · Pyramid search · Rotation/Scale invariant · Tự build shape model từ contour · Sub-pixel accuracy · Score evaluation
99
Caliper & Edge Measurement
1D projection profile · Gradient-based edge detection · Sub-pixel interpolation · Edge pair measurement · CogCaliperTool concept
100
Line/Circle Fitting & Gauging
Multi-caliper → Least squares fitting · Line fitting · Circle fitting · Angle measurement · Distance point-to-line · GD&T basics
101
Surface Inspection & Defect Detection
Golden image subtraction · Local contrast anomaly · Texture analysis · Scratch/Dent/Stain detection · Classification OK/NG
102
Color Inspection
Color space Lab/HSV · Delta E calculation · Multi-region color sampling · Color tolerance · Production color matching
103
Presence/Absence & Assembly Verification
Multi-region check · Pattern count · Orientation verify · PCB component check · Screw presence detection
104
Case Studies thực tế
Connector pin inspection · Label/barcode check · Assembly verification · Surface scratch detection · Robot guidance
105
Vision ↔ PLC/Robot Communication
TCP/IP result output · Trigger timing · Coordinate transform cho robot pick · Hand-eye calibration · Integration testing
106
3D Vision Fundamentals
Structured light triangulation · Height map · 3D point cloud basics · 3D measurement · Stereo vision concept