Usage Guide for HALCON Samples
Using the HALCON samples provided by Mech-Mind, you can complete procedures including camera connection, data acquisition, and hand-eye calibration.
Sample Introduction
Mech-Mind provides the following HALCON samples:
-
connect_to_camera_and_capture_images: Connect to the camera, adjust parameters, and acquire the 2D image and point cloud.
-
configure_camera_ip_address: Obtain and modify the IP address, subnet mask, and gateway settings of the camera.
-
obtain_depth_map: Obtain the depth map, which is a 2D image that contains only the Z values of the points. Intended for reducing cycle time.
-
obtain_textured_point_cloud: Obtain 3D data and the 2D image used for texturing the point cloud, and then construct the textured point cloud.
-
hand_eye_calibration: Perform hand-eye calibration. Contains two samples, determine_calibration_poses and perform_hand_eye_calibration.
-
obtain_point_cloud_with_normals: Obtain the point cloud with normals.
Obtain Samples
HALCON samples are included in the installation path of Mech-Eye SDK or can be obtained from GitHub by cloning. The samples in the installation path are the version at the time of Mech-Eye SDK release. The version on GitHub may contain the latest changes.
-
The samples in the installation path are located in xxx/Mech-Eye SDK-2.3.2/API/samples/halcon/area_scan_3d_camera.
-
The samples cloned from GitHub are located in xxx/mecheye_halcon_samples/area_scan_3d_camera.
Prerequisites
Before using the HALCON samples, please check if the following prerequisites are satisfied:
-
The camera and computer are connected correctly.
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 the computer.
HALCON versions below 20.11 are not fully tested. -
The camera firmware version is 2.0.0 or above.
If you need to upgrade the camera firmware, please install or upgrade Mech-Eye SDK first. Then, open Mech-Eye Viewer and click the Upgrade button. -
Make sure that the following IP addresses are in the same subnet and are unique:
-
The IP address of the camera
-
The IP address of the computer Ethernet port connected to the camera
For the methods of setting the IP addresses, refer to Use Mech-Eye Viewer to Set the Camera IP Address and Set IP Address on Computer.
-
Sample Usage Guide
The following topics provide the guide for using each sample on Windows:
-
connect_to_camera_and_capture_images: Connect to Camera, Adjust Parameters, and Acquire Data
-
configure_camera_ip_address: Obtain and Modify IP Configuration
-
obtain_depth_map: Obtain Depth Map
-
obtain_textured_point_cloud: Obtain Textured Point Cloud
-
hand_eye_calibration: Hand-Eye Calibration
-
obtain_point_cloud_with_normals: Obtain Point Cloud with Normals
|