Difference between revisions of "HALCON integration"

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== 3D Scanning Knowledge Base - Photoneo Wiki ==
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=About=
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Halcon is a software tool providing a standardized approach to machine vision with an integrated development environment (HDevelop) for building customized image processing solutions. Halcon library contains integration with a large variety of cameras and framegrabbers, including PhoXi 3D Scanners.
 +
To operate PhoXi 3D Scanner from within the Halcon environment it is necessary to:
 +
* Install Halcon
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* Install PhoXi Control
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* Install PhoXi Halcon Driver compatible with the installed versions of Halcon and PhoXi Control
  
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We have created this wiki to share the best practices, tips, tricks and other useful information regarding 3D scanning.
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=Documentation=
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All necessary documentation is available on the following links:
  
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== Topics ==
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Halcon Driver 1.2.14 documentation:
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:: [https://halcon.photoneo.com/doc/hAcqPhoXi-1.2.14.html @halcon.photoneo.com]
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PhoXi Control documentation:
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:: [https://www.photoneo.com/files/manuals/PhoXiControl1.2-UserManual.pdf PhoXi Control 1.2 - User Manual]
  
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[[PhoXi 3D scanners family]] - ''Hardware overview''
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HALCON documentation:
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:: [https://www.mvtec.com/products/halcon/documentation/ @mvtec.com]
  
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[[Physics of 3D scanning]]
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=Windows 10=
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== How to use PhoXi 3D scanners through HALCON ==
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;1) Download the last version of PhoXi Control and Halcon Driver from the Photoneo website: https://www.photoneo.com/3d-scanning-software/
  
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[[Applications]]
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;2) Setting environment variables
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:In Windows, go to Control panel\System and Security\System, then click on Advanced System settings on the left pane, the System properties window will open. Click on environment variables at the bottom of this window.
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[[File:env_var.png]]
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:In the Environment variables window, in the system variables pane, check if the system variables HALCONARCH, HALCONEXAMPLES, HALCONIMAGES, HALCONROOT are set correctly. (Same as in the picture below)
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[[File:env_var3.png]]
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:In Ubuntu, edit the file ~\.profile in a text editor and write the following line at the end (without the quotes):
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:"source /opt/halcon/.profile_halcon"
  
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== Scanning ==
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;3) Open example file hAcqPhoXi.hdev
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:located in C:\Users\Public\Documents\PhoHalcon\ with HDevelop.
  
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[[Scanning best practices]] - ''How to scan''
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;4) Launch PhoXiControl (PhoXiControl must be running in order to call API functions)
  
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[[Scans alignment]] - ''Creating a complete 3D model of the object''
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;5) Start our HALCON example (it connects to the last scanner in PhoXiControl)
  
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[[Scan coordinate space]] - ''Understanding the coordinate systems in which the 3D scanner outputs the pointcloud''
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;6) Edit open_framegrabber (AcqName, 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, 'false', 'default', 'DeviceValues[0]', -1, -1, AcqHandle)
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:Change 'DeviceValues[0]' to the scanners ID you want to connect to.
  
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[[File Camera]] - ''Creating the "File Camera" and reusing the scans''
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=Ubuntu 14=
  
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[[Confidence Map]] - ''What is the confidence map and what it tells about the scan quality''
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After the installation, please run following commands to create links to driver libraries:
  
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[[Point Cloud Topology]] - ''Explains the relationship between the order of the 3d points and the image sensor pixels''
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$ sudo ln -s /opt/PhoHalcon/libhAcqPhoXi.so /usr/lib/hAcqPhoXi.so
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$ sudo ln -s /opt/PhoHalcon/libhAcqPhoXixl.so /usr/lib/hAcqPhoXixl.so
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$ sudo ln -s /opt/PhoHalcon/libPhoXi_API_gcc4.9.4_Release.so.1.1.6 /usr/lib/libPhoXi_API_gcc4.9.4_Release.so.1.1.6
  
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== Tools and software ==
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=Upgrading the HALCON driver=
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When upgrading the HALCON driver, delete PhoXi_API_msvc12_Release_1.X.X.dll located in the MVTec folder (located in c:\Program Files\MVTec\HALCON-13.0\bin\x64-win64\ by default)
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[[PhoXi Control Application]] - ''Control application and API for PhoXi 3D scanners''
 
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[[Robot-Camera Calibration Tool]] - ''Aligning the coordinate spaces of 3D scanner and robot''
 
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[[3D Localization Configurator]] - ''Accurate pose estimation of CAD model in the 3D pointcloud''
 
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[[Bin Picking Solution]] - ''Picking randomly placed objects from the container, conveyor belt or hanger''
 
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[[HALCON integration]] - ''HALCON customers can use PhoXi 3D scanners via the HALCON PhoXi Interface''
 

Latest revision as of 12:02, 18 February 2020

About

Halcon is a software tool providing a standardized approach to machine vision with an integrated development environment (HDevelop) for building customized image processing solutions. Halcon library contains integration with a large variety of cameras and framegrabbers, including PhoXi 3D Scanners. To operate PhoXi 3D Scanner from within the Halcon environment it is necessary to:

  • Install Halcon
  • Install PhoXi Control
  • Install PhoXi Halcon Driver compatible with the installed versions of Halcon and PhoXi Control

Documentation

All necessary documentation is available on the following links:

Halcon Driver 1.2.14 documentation:

@halcon.photoneo.com

PhoXi Control documentation:

PhoXi Control 1.2 - User Manual

HALCON documentation:

@mvtec.com

Windows 10

How to use PhoXi 3D scanners through HALCON

1) Download the last version of PhoXi Control and Halcon Driver from the Photoneo website
https://www.photoneo.com/3d-scanning-software/
2) Setting environment variables
In Windows, go to Control panel\System and Security\System, then click on Advanced System settings on the left pane, the System properties window will open. Click on environment variables at the bottom of this window.

Env var.png

In the Environment variables window, in the system variables pane, check if the system variables HALCONARCH, HALCONEXAMPLES, HALCONIMAGES, HALCONROOT are set correctly. (Same as in the picture below)

Env var3.png

In Ubuntu, edit the file ~\.profile in a text editor and write the following line at the end (without the quotes):
"source /opt/halcon/.profile_halcon"
3) Open example file hAcqPhoXi.hdev
located in C:\Users\Public\Documents\PhoHalcon\ with HDevelop.
4) Launch PhoXiControl (PhoXiControl must be running in order to call API functions)
5) Start our HALCON example (it connects to the last scanner in PhoXiControl)
6) Edit open_framegrabber (AcqName, 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, 'false', 'default', 'DeviceValues[0]', -1, -1, AcqHandle)
Change 'DeviceValues[0]' to the scanners ID you want to connect to.

Ubuntu 14

After the installation, please run following commands to create links to driver libraries: 

$ sudo ln -s /opt/PhoHalcon/libhAcqPhoXi.so /usr/lib/hAcqPhoXi.so
$ sudo ln -s /opt/PhoHalcon/libhAcqPhoXixl.so /usr/lib/hAcqPhoXixl.so
$ sudo ln -s /opt/PhoHalcon/libPhoXi_API_gcc4.9.4_Release.so.1.1.6 /usr/lib/libPhoXi_API_gcc4.9.4_Release.so.1.1.6

Upgrading the HALCON driver

When upgrading the HALCON driver, delete PhoXi_API_msvc12_Release_1.X.X.dll located in the MVTec folder (located in c:\Program Files\MVTec\HALCON-13.0\bin\x64-win64\ by default)

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