Adds Vision Compositing, a.k.a. Multi-Shot Bottom Vision to OpenPnP. Multiple corners of a part can be aligned individually and then combined into the whole-part alignment.

The following features are included:

• Align packages that are larger than the camera view.
• Align packages that are not rectangular in their overall shape.
• Improve accuracy by detecting in the camera center, avoiding errors from parallax, viewing & lighting side angles, and residual lens distortion.
• Align packages based on pad corners facing inwards, i.e. parts that are asymmetric on the outside, or so large you can’t capture their outside corners.
• Enable the Pipeline Editor to cycle through multiple shots.

More information:

• Read the Pull request (with extensive instruction for use).
• Watch the video: