HALCON: Connect to Camera, Perform Image Capturing, and Adjust Parameters

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This topic provides instructions on connecting to a Mech-Eye Industrial 3D Camera, perform image capturing, and adjust camera parameters of the camera with HALCON image acquisition assistant and the HALCON sample program provided by Mech-Mind.

Prerequisites

The camera and computer are properly connected.

For Nano (V3) and Pro XS (V3), it is recommended to connect the camera directly to the computer without using a network switch.

HALCON 20.11 or above has been installed on computer.

HALCON versions below 20.11 are not fully tested.

Mech-Eye SDK 2.0.0 or above has been installed on computer.

The version of the camera firmware must be consistent with that of Mech-Eye SDK. If not, please upgrade the camera firmware.

The IP addresses of the camera and computer are in the same subnet.

It is recommended to use static IP addresses. For instructions on setting the camera IP address, please refer to Set Camera IP Address with Mech-Eye Viewer.

In HDevelop, you can connect to the camera with the image acquisition assistant or the sample program provided by Mech-Mind.

Use Image Acquisition Assistant

Using the image acquisition assistant provided by HDevelop, you can quickly connect to the camera, perform image capturing and adjust camera parameters.

To open the image acquisition assistant: open HDevelop, and in the menu bar, select Assistants Open New Image Acquisition.

Connect to the Camera

In the Image Acquisition window, under the Source tab, select Image Acquisition Interface, and select GigEVision2 from the drop-down menu.

If the GigEVision2 option is unavailable, the GigEVision2 image acquisition interface is not installed. Please refer to HALCON’s Installation Guide and install the interface through MVTec Software Manager (SOM).

Under the Connection tab, from the drop-down menu of Device, select the device you would like to connect. Then, click Connect in the lower left.

If the camera is successfully connected, the Connect button changes to Disconnect. If this change does not occur, the camera connection failed. To disconnect from the camera in HDevelop, click Disconnect.
If the camera is already connected by another client, it cannot be connected by HDevelop. Please disconnect the camera from the other client first.
The camera name displayed in Device can be customized in Mech-Eye Viewer for easier distinction. Connect to the camera in Mech-Eye Viewer, and then customize the camera name. Avoid using special characters such as letters with accent marks, as these characters cannot be displayed in HDevelop.

Perform Image Capturing

To perform image capturing once: under the Connection tab, click Snap.

If the image capturing process takes too long, you can increase the MTU size of the camera, and enable jumbo frames on your computer.

You can also perform image capturing multiple times or continuously. To do this, you need to adjust the AcquisitionMode parameter first.

To perform image capturing multiple times:
- Switch to the Parameters tab, set the value of the AcquisitionMode parameter to MultiFrame.
- Click Refresh in the upper right, and then set the number of times for image capturing in the AcquisitionFrameCount parameter.
- Switch to the Connection tab and click Live to perform image capturing.
- After the set times of image capturing are completed, the Live button becomes Stop. Click Stop to stop image capturing.
To perform image capturing continuously:
- Switch to the Parameters tab, set the value of the AcquisitionMode parameter to Continuous.
- Switch to the Connection tab and click Live to perform image capturing.
- The Live button becomes Stop. Click Stop to stop image capturing.

You can still use Snap to perform single-time image capturing when AcquisitionMode is set to MultiFrame or Continuous.
When AcquisitionMode is set to SingleFrame, you can only perform single-time image capturing.

Select Data Type

After the camera is connected, the 2D image is obtained by default. You can select whether to obtain 2D image or depth map by adjusting the DeviceScanType parameter.

Click the Parameters tab and find the DeviceScanType parameter. Set its value according to your needs. The parameter values are explained below:

Value Data type

Areascan

2D image

Areascan3D

Depth map (an image containing depth information)
Perform image capturing to obtain the data type that you selected.

If Update Image in the upper right of the Parameters tab is checked, the image in the Canvas window is automatically updated as you adjust the parameters.

Value	Data type
Areascan	2D image
Areascan3D	Depth map (an image containing depth information)

Set Capture Region

After the camera is connected, if you need to trim the obtained image, you can set a capture region by adjusting the Height, Width, OffsetX and OffsetY parameters.

To set a capture region, follow these steps:

Select the data type for setting a capture region.
Perform image capturing once with Snap to check the current image.

Switch to the Parameters tab and adjust the Height, Width, OffsetX and OffsetY parameters. The following figure shows the four parameters and the capture region defined (orange box) relative to the original image.

Width: the width of the capture region
Height: the height of the capture region
OffsetX: the x-coordinate of the upper-left corner of the capture region (the upper-left corner of the original image being (0, 0))

OffsetY: the y-coordinate of the upper-left corner of the capture region

The above four parameters must satisfy the following requirements:

(Width + OffsetX) not greater than the width of the original image
(Height + OffsetY) not greater than the height of the original image

The width and height of the original image are displayed in the WidthMax and HeightMax parameters under Read-only parameters (Visibility level must be set to Expert or higher).

Perform image capturing again to see the trimming result.

If Update Image in the upper right of the Parameters tab is checked, the image in the Canvas window is automatically updated as you adjust the parameters.

Switch to the Code Generation tab, click Insert Code to generate the corresponding code.
If you need to set a capture region for the other data type:
1. Disconnect from the camera in the current image acquisition assistant.
2. Open a new image acquisition assistant, and connect to the camera.
3. Select the other data type and repeat the above steps.

The values of the four capture region parameters are not saved to parameter groups. If the camera is powered off, their values are reset. Please generate the corresponding code and save the code for future reference.
The values of these parameters are also reset if the values of the DeviceScanType and Scan3DBinningEnable parameters are changed.

Comparison of Capture Region and Scan3DROI

Mech-Eye Industrial 3D Camera provides another set of parameters for setting an ROI: Scan3DROILeft, Scan3DROITop, Scan3DROIHeight, and Scan3DROIWidth (collectively referred to as “Scan3DROI”).

The differences between the capture region parameters and Scan3DROI parameters are summarized below. Please select the set of parameters that suit your needs.

Capture region	Scan3DROI
Not saved to parameter groups, reset if camera powered off	Can be saved to parameter groups
Applicable to 2D image and depth map	Not applicable to 2D image
Image is trimmed	Image not trimmed
Can only be set in HDevelop	Can be set with visualized tool in Mech-Eye Viewer

Capture region

Scan3DROI

Not saved to parameter groups, reset if camera powered off

Can be saved to parameter groups

Applicable to 2D image and depth map

Not applicable to 2D image

Image is trimmed

Image not trimmed

Can only be set in HDevelop

Can be set with visualized tool in Mech-Eye Viewer

Adjust Parameters

If the quality of the obtained data is unsatisfactory, you can adjust the camera parameters under the Parameters tab.

The camera supports the parameter group function. By selecting a different parameter group, you can quickly change the parameter configuration for the camera. When adjusting parameters, please select a parameter group for saving the parameter values first.
You can add or delete a parameter group in Mech-Eye Viewer. After configuring the parameter group in Mech-Eye Viewer, click the Refresh button in the upper-right corner of the Parameters tab in the image acquisition assistant to obtain the latest camera configuration.

To adjust the camera parameters, follow these steps:

After the camera is connected, click the Parameters tab, set the UserSetSelector parameter to the parameter group that you want to modify.
Find the UserSetLoad parameter, and click Apply to the right to read in the configuration.

If parameter values are not updated after you click Apply, please click it again.
Find the parameter that you want to adjust and change its value.
Find the UserSetSave parameter, and click Apply to the right to save the configuration.
Switch to the Code Generation tab, click Insert Code to generate the corresponding code.

References

Camera parameters supported for GenICam generally correspond with those provided in Mech-Eye Viewer. For the parameter correspondence, descriptions and explanations of camera parameters supported for GenICam, please refer to Camera Parameters Supported for GenICam.
Setting camera parameters such as Auto-Exposure ROI, Depth Range and ROI usually requires the assistance of visualized tools for several rounds of fine tuning. Since HALCON does not provide visualized tools, you can set these parameters using the visualized tools provided by Mech-Eye Viewer. For detailed information, refer to Use Mech-Eye Viewer to Adjust Camera Parameters for GenICam Client.

You must disconnect from the camera in HDevelop before you can connect to it in Mech-Eye Viewer and adjust parameters. If you fail to connect the camera in Mech-Eye Viewer, close HDevelop and try again.

Use HALCON Sample Program

A series of HALCON sample programs are provided on GitHub. This section introduces how to use the connect_to_camera_and_capture_images sample program to connect to a camera, perform image capturing, adjust camera parameters, and save the data. You can run the program as is or modify it to better suit your needs.

The HALCON sample program is written in C++ and can be executed in the HDevelop integrated development environment directly.

Run the Sample Program

Please follow these steps to run the sample program:

Download the connect_to_camera_and_capture_images sample program: select Code Download ZIP.
Open the sample program in HDevelop: Open HDevelop, and drag the sample program into HDevelop.
Select the line containing the info_framegrabber operator in Program Windows, and click in the toolbar or press the F6 key to run this line.
In the Control Variables area, double-click DeviceInfos to display a list of all the available cameras.
In the list, double-click the camera that you want to connect, and copy the camera name after unique_name: or user_name:.

user_name is the custom camera name. You can customize the camera name in Mech-Eye Viewer.
Locate the following line, and replace MechEye with the copied unique_name or user_name.
```
DeviceInfo := 'MechEye'
```
Run the sample program by clicking in the toolbar or pressing the F5 key.
If the program is successfully executed, you can find the saved 2D image and point cloud in the folder where the sample program is located. The default file names are image2d.bmp and PointCloud.ply.

After executing the entire sample program, please click in the toolbar to reset program execution. Otherwise, the camera cannot be connected by Mech-Eye Viewer.
When the point cloud is displayed in the Canvas window, please click the orange Continue button in this window to continue the program execution. Otherwise, the program is stuck in the visualize_object_model_3d operator and will not proceed.
If the image capturing process takes too long, you can increase the MTU size of the camera, and enable jumbo frames on your computer.
If the network connection is poor, you can reduce data loss by increasing the maximum number of allowed packet gaps with the following operator. Replace ParameterValues with the number of allowed packet gaps.
```
set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxPacketGaps', ParameterValues)
```

Adjust Parameters

If the quality of the obtained data is unsatisfactory, you can adjust the camera parameters under the Parameters tab.

The camera supports the parameter group function; by selecting a different parameter group, you can quickly change the parameter configuration for the camera. Camera parameters must be set and saved under a parameter group.
You can add or delete a parameter group in Mech-Eye Viewer.

To adjust the camera parameters, follow these steps:

Use the following operator to obtain a list of available parameter groups.

get_framegrabber_param (AcqHandle, 'UserSetSelector_values', ParameterValues)

View the list of parameter groups in the ParameterValues variable in the Control Variables area.
Use the following operator to select the parameter group to modify. UserSetSelector and UserSetLoad are the camera parameters used to select and load a parameter group, respectively. Replace ParameterGroupName with the actual parameter group name.
```
set_framegrabber_param (AcqHandle, 'UserSetSelector','ParameterGroupName')
set_framegrabber_param (AcqHandle, 'UserSetLoad','ParameterGroupName')
```
Use the following operator to obtain the value of the specified parameter. Replace ParameterName with the actual camera parameter name. ParameterValues is the variable used to save the parameter value, and you can change it according to actual needs. Note that this variable does not need to be included in parentheses.
```
get_framegrabber_param (AcqHandle, 'ParameterName', ParameterValues)
```
View the parameter value in the ParameterValues variable in the Control Variables area.
Use the following operator to adjust the setting of the specified parameter. Replace ParameterName with the actual camera parameter name and NewParameterValue with the new parameter value.
```
set_framegrabber_param (AcqHandle, 'ParameterName', 'NewParameterValue')
```
Use the following operator to save the parameter value modification into the parameter group. UserSetSave is the camera parameter used to save the parameter group. Replace ParameterGroupName with the actual parameter group name.
```
set_framegrabber_param (AcqHandle, 'UserSetSave', 'ParameterGroupName')
```

References

Camera parameters supported for GenICam generally correspond with those provided in Mech-Eye Viewer. For the parameter correspondence, descriptions and explanations of camera parameters supported for GenICam, please refer to Camera Parameters Supported for GenICam.

Setting camera parameters such as Auto-Exposure ROI, Depth Range and ROI usually requires the assistance of visualized tools for several rounds of fine tuning. Since HALCON does not provide visualized tools, you can set these parameters using the visualized tools provided by Mech-Eye Viewer. For detailed information, refer to Use Mech-Eye Viewer to Adjust Camera Parameters for GenICam Client.

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