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samples: update mecheye_halcon_samples to SDK 2.4.0 #22

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samples: update mecheye_halcon_samples to SDK 2.4.0 #22

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4 changes: 4 additions & 0 deletions area_scan_3d_camera/connect_to_camera_and_capture_images.hdev
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Expand Up @@ -26,6 +26,10 @@
<c>* Set the "grab_timeout" parameter.</c>
<c>* The "grab_timeout" parameter defines the maximum time in milliseconds that the frame grabber will wait for an image to be grabbed before timing out.</c>
<l>set_framegrabber_param (AcqHandle, 'grab_timeout', 8000)</l>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c>* Set the maximum number of packet gaps allowed in the GigE Vision stream. </c>
<c>* A packet gap occurs when one or more packets are missing during the data transmission. </c>
<c>* Setting this parameter to 500 allows a maximum of 500 packet gaps in the stream.</c>
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4 changes: 4 additions & 0 deletions area_scan_3d_camera/hand_eye_calibration/determine_calibration_poses.hdev
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Expand Up @@ -37,6 +37,10 @@
<c>* Set the "grab_timeout" parameter.</c>
<c>* The "grab_timeout" parameter defines the maximum time in milliseconds that the frame grabber will wait for an image to be grabbed before timing out.</c>
<l>set_framegrabber_param (AcqHandle, 'grab_timeout', 10000)</l>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c>* Set the calibration board model.</c>
<c>* Replace "BDB-5" with the calibration board model in use. </c>
<c>* Possible values include BDB-5, BDB-6, BDB-7, OCB-005, OCB-010, OCB-015, OCB-020, CGB-020, CGB-035, and CGB-050.</c>
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10 changes: 7 additions & 3 deletions area_scan_3d_camera/hand_eye_calibration/perform_hand_eye_calibration.hdev
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Expand Up @@ -27,13 +27,17 @@
<c>* Obtain the firmware version of the camera.</c>
<l>get_framegrabber_param (AcqHandle, 'DeviceFirmwareVersion', FirmwareVersion)</l>
<c>* Stop execution if the firmware version is lower than 2.1.0.</c>
<l>if (FirmwareVersion &lt; '2.1.0')</l>
<l>if (FirmwareVersion &lt; '2.4.0')</l>
<l> stop()</l>
<l>endif</l>
<c></c>
<c>* Set the "grab_timeout" parameter.</c>
<c>* The "grab_timeout" parameter defines the maximum time in milliseconds that the frame grabber will wait for an image to be grabbed before timing out.</c>
<l>set_framegrabber_param (AcqHandle, 'grab_timeout', 10000)</l>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c>* Set the "DeviceScanType" parameter to "Areascan" to obtain the 2D image.</c>
<l>set_framegrabber_param (AcqHandle, 'DeviceScanType', 'Areascan')</l>
<c>* Set the camera mounting mode.</c>
Expand Down Expand Up @@ -122,7 +126,7 @@
<l>timeout := 10</l>
<l>while (1)</l>
<l> wait_seconds(0.5)</l>
<l> set_framegrabber_param (AcqHandle, 'UserSetLoad', 0)</l>
<l> set_framegrabber_param (AcqHandle, 'UpdateCalibStatus', 0)</l>
<c> * Check whether the above processes have been completed.</c>
<l> get_framegrabber_param (AcqHandle, 'CollectStatus', CollectRet)</l>
<l> if (CollectRet == 'CollectDone' or CollectRet == 'COLLECT_DONE') </l>
Expand Down Expand Up @@ -165,7 +169,7 @@
<l>timeout := 100</l>
<l>while (1)</l>
<l> wait_seconds(0.5)</l>
<l> set_framegrabber_param (AcqHandle, 'UserSetLoad', 0)</l>
<l> set_framegrabber_param (AcqHandle, 'UpdateCalibStatus', 0)</l>
<c> * Check whether the calculation has been completed.</c>
<l> get_framegrabber_param (AcqHandle, 'CalibStatus', CalibRet) </l>
<l> if (CalibRet == 'CalibDone' or CalibRet == 'CALIB_DONE') </l>
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6 changes: 6 additions & 0 deletions area_scan_3d_camera/obtain_depth_map.hdev
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Expand Up @@ -28,6 +28,12 @@
<l>if (FirmwareVersion &lt; '2.0.3')</l>
<l> stop()</l>
<l>endif</l>
<c></c>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c></c>
<c>* Set the "DeviceScanType" parameter to "Areascan3D" to obtain the 3D data.</c>
<l>set_framegrabber_param (AcqHandle, 'DeviceScanType', 'Areascan3D')</l>
<c>* Obtain the available options of the "ComponentSelector" parameter.</c>
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6 changes: 6 additions & 0 deletions area_scan_3d_camera/obtain_point_cloud_with_normals.hdev
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Expand Up @@ -27,6 +27,12 @@
<l>if (FirmwareVersion &lt; '2.2.0')</l>
<l> stop()</l>
<l>endif</l>
<c></c>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c></c>
<c>* Set the "DeviceScanType" parameter to "Areascan3D" to obtain the 3D data.</c>
<l>set_framegrabber_param (AcqHandle, 'DeviceScanType', 'Areascan3D')</l>
<c>* Obtain the available options of the "ComponentSelector" parameter.</c>
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6 changes: 6 additions & 0 deletions area_scan_3d_camera/obtain_textured_point_cloud.hdev
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Expand Up @@ -27,6 +27,12 @@
<l>if (FirmwareVersion &lt; '2.0.3')</l>
<l> stop()</l>
<l>endif</l>
<c></c>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c></c>
<c>* Set the "DeviceScanType" parameter to "Areascan3D" to obtain the 3D data.</c>
<l>set_framegrabber_param (AcqHandle, 'DeviceScanType', 'Areascan3D')</l>
<c>* Obtain the available options of the "ComponentSelector" parameter.</c>
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2 changes: 1 addition & 1 deletion profiler/README.md
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Expand Up @@ -47,4 +47,4 @@ This section describes the method for connecting to a specific laser profiler. T
* [trigger_with_software_and_fixed_rate_continuous](https://github.com/MechMindRobotics/mecheye_halcon_samples/tree/master/profiler/trigger_with_software_and_fixed_rate_continuous.hdev):
Trigger multiple rounds of data acquisition with the signals input from software, trigger line scans at a fixed rate, and then retrieve the acquired data.
* [trigger_with_external_device_and_fixed_rate_continuous](https://github.com/MechMindRobotics/mecheye_halcon_samples/tree/master/profiler/trigger_with_external_device_and_fixed_rate_continuous.hdev):
Trigger multiple rounds of data acquisition with signals input from the external device, trigger line scans at a fixed rate, and then retrieve the acquired data.
Trigger multiple rounds of data acquisition with signals input from the external device, trigger line scans at a fixed rate, and then retrieve the acquired data.
15 changes: 5 additions & 10 deletions profiler/trigger_with_external_device_and_encoder.hdev
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Expand Up @@ -34,23 +34,18 @@
<c>* Set the "grab_timeout" parameter.</c>
<c>* The "grab_timeout" parameter defines the maximum time in milliseconds that the frame grabber will wait for an image to be grabbed before timing out.</c>
<l>set_framegrabber_param (AcqHandle, 'grab_timeout', 20000)</l>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c>* Set the maximum number of packet gaps allowed in the GigE Vision stream. </c>
<c>* A packet gap occurs when one or more packets are missing during the data transmission. </c>
<c>* Setting this parameter to 500 allows a maximum of 500 packet gaps in the stream.</c>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxPacketGaps', 500)</l>
<c>* Set the "DeviceScanType" parameter to "Areascan" to obtain the raw image.</c>
<l>set_framegrabber_param (AcqHandle, 'DeviceScanType', 'Areascan')</l>
<c></c>
<c>* Set the "ExposureMode" parameter to "Timed" and the "ExposureTime" parameter to 80 μs.</c>
<l>set_framegrabber_param (AcqHandle, 'ExposureMode', 'Timed')</l>
<l>set_framegrabber_param (AcqHandle, 'ExposureTime', 80)</l>
<c>* Set the "ComponentSelector" parameter to "Intensity" and the "PixelFormat" parameter to "Mono8" to obtain the raw image. </c>
<l>set_framegrabber_param (AcqHandle, 'ComponentSelector', 'Intensity')</l>
<l>set_framegrabber_param (AcqHandle, 'PixelFormat', 'Mono8')</l>
<c></c>
<c>* Obtain the raw image from the laser profiler.</c>
<l>grab_image (RawImage, AcqHandle)</l>
<c>* Save the raw image to the "RawImage" BMP file.</c>
<l>write_image( RawImage , 'bmp' , 0 , 'RawImage' )</l>
<c></c>
<c>* Set the "DeviceScanType" parameter to "Linescan3D" to obtain the profile data.</c>
<c>* If the laser profiler has not fully completed the data acquisition, the "DeviceScanType" parameter may be locked.</c>
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15 changes: 5 additions & 10 deletions profiler/trigger_with_external_device_and_fixed_rate.hdev
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Expand Up @@ -34,23 +34,18 @@
<c>* Set the "grab_timeout" parameter.</c>
<c>* The "grab_timeout" parameter defines the maximum time in milliseconds that the frame grabber will wait for an image to be grabbed before timing out.</c>
<l>set_framegrabber_param (AcqHandle, 'grab_timeout', 20000)</l>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c>* Set the maximum number of packet gaps allowed in the GigE Vision stream. </c>
<c>* A packet gap occurs when one or more packets are missing during the data transmission. </c>
<c>* Setting this parameter to 500 allows a maximum of 500 packet gaps in the stream.</c>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxPacketGaps', 500)</l>
<c>* Set the "DeviceScanType" parameter to "Areascan" to obtain the raw image.</c>
<l>set_framegrabber_param (AcqHandle, 'DeviceScanType', 'Areascan')</l>
<c></c>
<c>* Set the "ExposureMode" parameter to "Timed" and the "ExposureTime" parameter to 80 μs.</c>
<l>set_framegrabber_param (AcqHandle, 'ExposureMode', 'Timed')</l>
<l>set_framegrabber_param (AcqHandle, 'ExposureTime', 80)</l>
<c>* Set the "ComponentSelector" parameter to "Intensity" and the "PixelFormat" parameter to "Mono8" to obtain the raw image. </c>
<l>set_framegrabber_param (AcqHandle, 'ComponentSelector', 'Intensity')</l>
<l>set_framegrabber_param (AcqHandle, 'PixelFormat', 'Mono8')</l>
<c></c>
<c>* Obtain the raw image from the laser profiler.</c>
<l>grab_image (RawImage, AcqHandle)</l>
<c>* Save the raw image to the "RawImage" BMP file.</c>
<l>write_image( RawImage , 'bmp' , 0 , 'RawImage' )</l>
<c></c>
<c>* Set the "DeviceScanType" parameter to "Linescan3D" to obtain the profile data.</c>
<c>* If the laser profiler has not fully completed the data acquisition, the "DeviceScanType" parameter may be locked.</c>
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14 changes: 5 additions & 9 deletions profiler/trigger_with_external_device_and_fixed_rate_continuous.hdev
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Expand Up @@ -33,22 +33,18 @@
<c>* Set the "grab_timeout" parameter.</c>
<c>* The "grab_timeout" parameter defines the maximum time in milliseconds that the frame grabber will wait for an image to be grabbed before timing out.</c>
<l>set_framegrabber_param (AcqHandle, 'grab_timeout', 60000)</l>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c>* Set the maximum number of packet gaps allowed in the GigE Vision stream. </c>
<c>* A packet gap occurs when one or more packets are missing during the data transmission. </c>
<c>* Setting this parameter to 500 allows a maximum of 500 packet gaps in the stream.</c>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxPacketGaps', 500)</l>
<c>* Set the "DeviceScanType" parameter to "Areascan" to obtain the raw image.</c>
<l>set_framegrabber_param (AcqHandle, 'DeviceScanType', 'Areascan')</l>
<c></c>
<c>* Set the "ExposureMode" parameter to "Timed" and the "ExposureTime" parameter to 80 μs.</c>
<l>set_framegrabber_param (AcqHandle, 'ExposureMode', 'Timed')</l>
<l>set_framegrabber_param (AcqHandle, 'ExposureTime', 80)</l>
<c>* Set the "ComponentSelector" parameter to "Intensity" and the "PixelFormat" parameter to "Mono8" to obtain the raw image.</c>
<l>set_framegrabber_param (AcqHandle, 'ComponentSelector', 'Intensity')</l>
<l>set_framegrabber_param (AcqHandle, 'PixelFormat', 'Mono8')</l>
<c>* Obtain the raw image from the laser profiler.</c>
<l>grab_image (RawImage, AcqHandle)</l>
<c>* Save the raw image to the "RawImage" BMP file.</c>
<l>write_image( RawImage , 'bmp' , 0 , 'RawImage' )</l>
<c></c>
<c>* Set the "DeviceScanType" parameter to "Linescan3D" to obtain the profile data.</c>
<c>* If the laser profiler has not fully completed the data acquisition, the "DeviceScanType" parameter may be locked.</c>
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17 changes: 7 additions & 10 deletions profiler/trigger_with_software_and_encoder.hdev
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Expand Up @@ -32,23 +32,18 @@
<c>* Set the "grab_timeout" parameter.</c>
<c>* The "grab_timeout" parameter defines the maximum time in milliseconds that the frame grabber will wait for an image to be grabbed before timing out.</c>
<l>set_framegrabber_param (AcqHandle, 'grab_timeout', 20000)</l>
<c>* Set the "[Stream]GevStreamMaxBlockDuration" parameter to 70% of the "grab_timeout" parameter.</c>
<c>* The "[Stream]GevStreamMaxBlockDuration" parameter defines the maximum transmission time for a data block in microseconds.</c>
<l>get_framegrabber_param (AcqHandle, 'grab_timeout', grabTimeout)</l>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxBlockDuration', 0.7*(grabTimeout*1000))</l>
<c>* Set the maximum number of packet gaps allowed in the GigE Vision stream. </c>
<c>* A packet gap occurs when one or more packets are missing during the data transmission. </c>
<c>* Setting this parameter to 500 allows a maximum of 500 packet gaps in the stream.</c>
<l>set_framegrabber_param (AcqHandle, '[Stream]GevStreamMaxPacketGaps', 500)</l>
<c>* Set the "DeviceScanType" parameter to "Areascan" to obtain the raw image.</c>
<l>set_framegrabber_param (AcqHandle, 'DeviceScanType', 'Areascan')</l>
<c></c>
<c>* Set the "ExposureMode" parameter to "Timed" and the "ExposureTime" parameter to 80 μs.</c>
<l>set_framegrabber_param (AcqHandle, 'ExposureMode', 'Timed')</l>
<l>set_framegrabber_param (AcqHandle, 'ExposureTime', 80)</l>
<c>* Set the "ComponentSelector" parameter to "Intensity" and the "PixelFormat" parameter to "Mono8" to obtain the raw image. </c>
<l>set_framegrabber_param (AcqHandle, 'ComponentSelector', 'Intensity')</l>
<l>set_framegrabber_param (AcqHandle, 'PixelFormat', 'Mono8')</l>
<c></c>
<c>* Obtain the raw image from the laser profiler.</c>
<l>grab_image (RawImage, AcqHandle)</l>
<c>* Save the raw image to the "RawImage" BMP file.</c>
<l>write_image( RawImage , 'bmp' , 0 , 'RawImage' )</l>
<c></c>
<c>* Set the "DeviceScanType" parameter to "Linescan3D" to obtain the profile data.</c>
<c>* If the laser profiler has not fully completed the data acquisition, the "DeviceScanType" parameter may be locked.</c>
Expand All @@ -75,6 +70,8 @@
<c>* Set the "DataAcquisitionTriggerSource" parameter to "Software", so that data acquisition is triggered by the software.</c>
<c>* For Mech-Eye LNX-8080A: Comment out the following line.</c>
<l>set_framegrabber_param (AcqHandle, 'DataAcquisitionTriggerSource', 'Software')</l>
<c>* Set the "AcquisitionMode" to "SingleFrame", so that the laser profiler performs a single round of data acquisition.</c>
<l>set_framegrabber_param (AcqHandle, 'AcquisitionMode', 'SingleFrame')</l>
<c>* Set the "TriggerMode" parameter to "Off".</c>
<c>* The "TriggerMode" parameter controls if the selected trigger is active. </c>
<l>set_framegrabber_param (AcqHandle, 'TriggerMode', 'Off') </l>
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