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HDevelop User`s Manual

1. Filter the example programs To reduce the amount of listed example programs enter a word or substring into the Filter text field Subsequently only example programs matching this substring in the file name or short description will be displayed We pretend that you are looking for a measuring example from the semiconductor industry Click on H next to Industry Click on the subtopic Semiconductors The examples belonging to the semiconductor industry are listed on the right Enter the word measure into the Filter text field Note how the list is updated as you type Now you have a short list of example programs to select from You may need to resize the example browser to fully read the short descriptions of the listed programs Select measure_ic_leads dev by clicking on it Click Load The selected example program is then loaded Alternatively you can load an example program by double clicking on it The example browser is closed unless Keep dialog open is checked The program lines of the loaded example program are now displayed in the program window The PC is set to the first executable line of the program leading comments are ignored The variable window is also updated It lists the variables that are used in the main procedure which is initially the current procedure The variables are currently uninstantiated i e their current value is undefined This is indicated by the question mark Bo
2. This program will be translated into HTuple error set_check give_error error threshold image amp region 100 255 if error 2 al write_string WindowId HTuple error number HTuple error exit 1 set_check give_error As can be seen the operator dev_error_var is eliminated and replaced by the use of the error variable later on The points mentioned above might cause these two problems e Ifthe second parameter of dev_error_var cannot be derived from the program because no con stant false or true are used but expressions the value will be interpreted as true that means start to use the variable To avoid confusion use only the constants false or true as values for the second parameter e The usage of a variable starts after the first call of dev_error_var ErrVariable true In C this means that all successive lines i e lines below until the first dev_error_var ErrVariable false will have the assignment to ErrVariable This might lead to a different behavior compared with HDevelop if dev_error_var is called inside a loop because here the operators inside the loop before dev_error_var might also use ErrVariable after the second execution of the loop body Therefore Try not to use dev_error_var inside a loop Use it right at the beginning of the program 9 2 Code Generation for C HALCON NET This section describes how to create a HALCON application in C starting
3. 217 comparison operations 186 concat_obj 121 178 connection 35 80 136 continue 90 194 196 Contrast 151 Control 90 control data 225 control flow break 196 continue 196 elseif 193 exit 197 for endfor 194 if sa else cis if endif 192 operators 192 repeat until 194 return 197 stop 197 while endwhile 194 coordinates status bar 44 Copy 58 variable values 123 Copy History to Clipboard 44 copy_obj 178 count_obj 80 178 Create Model 148 create model 144 Create New Procedure 87 Create ROI 149 Cut 57 endif 192 Deactivate 59 Delete 58 Delete All Test Images 159 Delete All Unused Local 88 Delete Current 88 Delete Generated Code Lines 96 168 Delete Test Image 158 Delphi Borland 9 Detect A11 159 determine pose bounds 166 Determine Recognition Rate 165 Index 231 dev_ operators 91 dev_clear_obj 92 dev_clear_window 79 91 dev_close_inspect_ctr1l 92 dev_close_window 79 91 219 220 dev_display 79 92 126 220 dev_display 220 dev_error_var 93 171 dev_error_var 202 dev_inspect_ctrl 92 122 dev_map_par 93 dev_map_prog 93 97 dev_map_var 93 97 dev_open_window 78 91 92 94 97 219 220 dev_open_window 220 dev_set_check 72 93 171 dev_set_check 202 dev_set_color 80 91 94 220 dev_set_colored 80 92 dev_set_draw 80 92 93 dev_set_line_style 219 dev_set_line_width 80 92 220 dev_set_lut 81 92 dev_set_paint 81 9
4. Programming 40 Programming HDevelop Feature Histogram Clip ConnectedRegions Jo x Feature farea y Channel fi y IV Update 1 7 5964 K 100 0 A O i 1 2610 5964 y Histogram Options af Output Display selected y Min 4100 00 2 Color whte y Max 5964 00 Draw fill z Output Destination Line width 1 originating window y x Statistics Figure 5 9 Selecting regions with a similar area in the feature histogram orientation_region SelectedRegions Phi area_center SelectedRegions Area Row Column The operator orientation_region returns a tuple of values For each region in SelectedRegions a corresponding orientation value in Phi is returned The operator area_center in the same way returns the area row and column of each input region as tuples Again run the program and inspect the calculated control variables You can inspect multiple control variables in one inspection window This is especially useful if the control variables all relate to each other as in this example In the variable window select all control variables hold down the lt Ctr1 gt key and right click Inspect see figure 5 10 on page 41 5 13 Looping Over the Results Being an integrated development environment HDevelop provides features found in other programming languages as well Variable assignment expressions and control flow Variable assignment and control flow are i
5. a El i add new parameter les El Move Down El iconic parameters input Remove output control parameters input output Figure 6 33 Creating a new procedure 6 4 3 1 Procedure Interface Dialog The procedure interface dialog enables you to define the interface of new procedures and view and edit the interface of existing procedures It is displayed in figure 6 33 Properties Procedure Name This text field specifies the name of the procedure If the dialog is opened in order to create a new procedure it contains a text field for the procedure name to be entered If you edit an existing procedure the name of the procedure is displayed in the combo box Procedure Name on top of the dialog You can edit the interface of another procedure by selecting it from the combo box Local The check box to the right of the combo box determines whether the procedure is a local or ex ternal procedure Local procedures are always saved within the HDevelop program while external procedures are saved as stand alone files GUI Reference Password For external procedures additionally the edit status can be specified that determines if the procedure can be viewed and modified by all users or if it is protected by a password see section Edit Status of External Procedures on page 111 Local procedures cannot be protected 108 Graphical User Interface Short Descr
6. e Visual Basic NET HALCON NET section 9 4 on page 208 e Visual Basic NET HALCON COM section 9 5 on page 210 e Visual Basic 6 HALCON COM section 9 6 on page 213 e C section 9 7 on page 215 including some language specific details of the code generation and optimization aspects Because HDevelop does more than just execute a HALCON program the behavior of an exported pro gram will differ in some points from its HDevelop counterpart A prominent example is that in HDe velop all results are automatically displayed while in the exported programs you have to insert the corresponding display operators explicitly Section 9 8 on page 217 describes these differences in more detail 9 1 Code Generation for C This section describes how to create a HALCON application in C starting from a program developed in HDevelop 200 Code Export 9 1 1 Basic Steps 9 1 1 1 Program Export The first step is to export the program using the menu File gt Export Here select the language C HALCON C and save it to a file A file will be created that contains the HDevelop program as C source code For every HDevelop procedure except the main procedure the exported file contains a C procedure with the corresponding name Iconic input and output parameters of a procedure are declared as Hobject and Hobject respectively while control input and output parameters are declared as HTuple and HTuplex respectively All
7. ALCON the Power of Machine Vision HDevelop User s Guide EC Mi MVTec Software GmbH Building Vision for Business HDevelop the interactive development environment of HALCON Version 8 0 4 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical photocopying recording or otherwise without prior written permission of the publisher Edition 1 July 1997 Edition 2 November 1997 Edition 3 March 1998 HALCON 5 1 Edition 4 April 1999 HALCON 5 2 Edition 5 October 2000 HALCON 6 0 Edition 6 June 2002 HALCON 6 1 Edition 6a December 2002 HALCON 6 1 1 Edition 7 December 2003 HALCON 7 0 Edition 7a July 2004 HALCON 7 0 1 Edition 8 July 2005 HALCON 7 1 Edition 8a April 2006 HALCON 7 1 1 Edition 8b December 2006 HALCON 7 1 2 Edition 9 June 2007 HALCON 8 0 Edition 9a October 2007 HALCON 8 0 1 Edition 9b April 2008 HALCON 8 0 2 Edition 9c March 2009 HALCON 8 0 3 EC Copyright 1997 2010 by MVTec Software GmbH M nchen Germany MVTec Software GmbH Microsoft Windows Windows NT Windows 2000 Windows XP Windows 2003 Windows Vista and Visual Basic are either trademarks or registered trademarks of Microsoft Corporation All other nationally and internationally recognized trademarks and tradenames are hereby recognized More information about HALCON can be found at http ww
8. Changing the Edit Status of a Protected Procedure To change the status of a protected procedure you must first unlock it temporarily by entering the pass word Then you can use the procedure interface dialog page 107 to change the password or remove the password to turn the protected external procedure into an unprotected external or even a local procedure Click the button Password to change the edit status The following options are available Lock You can lock the protected procedure so its body cannot be accessed in the current session without supplying the password again Remove Selecting this option removes the password When the procedure is saved it is no longer pro tected For turning a protected external procedure into a local procedure without a password it is sufficient to activate the check box Local in the procedure interface dialog page 107 6 5 Operator Window 113 x Choose new protection state for the procedure Remove New Password Cancel Figure 6 37 Changing the edit status of a protected procedure New password The password window appears and you assign the new password by the same process you used for the old one Cancel The operation is cancelled without altering the status Warning When working with protected procedures be aware that the password cannot be reconstructed so be very careful not to forget it and not to repeat a typing error when assigning it Further in some situ
9. ator dev_clear_window clears the active window s content and its history This corresponds to the usage of the button Clear in the graphics window Please note that dev_open_window and dev_close_window are not exported to Visual Basic Visual Basic NET and C because here one HWindowXCtr1 is used dev_set_window_extents With this operator you can set the size and position of the active HDevelop graphics window GUI Reference 92 Graphical User Interface dev_set_window This operator activates the graphics window containing the given ID This ID is an output parameter of dev_open_window After the execution the output is redirected to this win dow This operator is not needed for exported code in C or C because here every window operation uses the ID as a parameter The operator has no effect for exported code in Visual Basic Visual Basic NET and C dev_set_color dev_set_colored dev_set_color has the same effects as the menu item Menu Visualization gt Color page 80 dev_set_colored is equal to the menu item Menu Visualization gt Colored page 80 dev_set_draw This operator has the same effects as the menu item Menu Visualization gt Draw page 80 dev_set_line_width For an explanation see the menu item Menu Visualization gt Line Width page 80 dev_set_lut For an explanation see the menu item Menu Visualization gt Lut page 81 dev_set_paint For an explanation see the menu item Menu Visualization g
10. gt t discard all but one of successive identical elements from t Table 8 5 Basic operations on tuples control data 8 5 3 Basic Tuple Operations A basic tuple operation may be selecting one or more values combining tuples concatenation or getting the number of elements see table 8 5 for operations on tuples containing control data The concatenation accepts one or more variables or constants as input They are all listed between the brackets separated by commas The result again is a tuple Please note the following t t t t returns the number of elements of a tuple The indices of elements range from zero to the number of elements minus one i e t 1 Therefore the selection index has to be within this range Tuple V1 V2 V3 V4 for i O to Tuplel 1 by 1 fwrite_string FileHandle Tuple i n endfor In the following examples the variable Var contains 2 2 3 a a 2 3 b b 3 Var 8 9 3 2 2 3 a a 2 3 b b 8 9 Var 9 Var 4 a Var 4 6 a 2 3 subset Var 3 6 7 a 3 b remove Var 3 6 7 2 2 3 a 2 b find Var 2 3 1 5 uniq Var 2 3 a 2 3 b Further examples can be found in the program tuple dev The HALCON operators that correspond to the basic tuple operations are listed in table 8 6 Note that these direct operations cannot be used for iconic tuples i e iconic objects cannot be se
11. in the model e whether to optimize the model page 156 by using a reduced number of points e whether to pregenerate the model completely page 157 and e the Minimum Contrast page 157 points must have in a search image to be compared with the model 7 3 2 The Menu Create Model and the Tab Model Creation 155 7 3 2 18 The Model Parameter Angle Step The standard model parameters Start Angle page 153 and Angle Extent page 153 specify how much the object is allowed to rotate To speed up the matching process the Matching Assistant pre computes instances of the model at intermediate angles in this range at steps specified in the parameter Angle Step Note that each time you create a model RO page 143 or change the parameter Contrast page 151 the Matching Assistant automatically selects a suitable value to obtain the highest possible accuracy You can select a higher value manually This may be useful to speed up the search process in special cases please note however that a large value may decrease the accuracy of the estimated orientation and even prevent the Matching Assistant from finding the object You can restore the automatically selected value by clicking the button Auto Select If you already loaded test images page 158 you can quickly test the effect of the selected parameter value via the menu item Inspect gt Determine Recognition Rate page 165 7 3 2 19 Letting the Matching Assistant Select a Suitable V
12. pan image zoom window size in out Figure 4 2 Tools in the graphics window 4 3 Image Acquisition Assistant The image acquisition assistant is a powerful tool to acquire images from files including AVI files directories or image acquisition devices supported by HALCON through image acquisition interfaces To use this assistant select Assistants gt Open New Image Acquisition The window is displayed in figure 4 3 It features several tab cards that can be stepped through one after another Ultimately the assistant generates HDevelop code that can be inserted into the current program Select the entry Help in the menu of the image acquisition assistant to open its online help Image Acquisition Image Acquisition 01 Es File Acquisition Code Generation Help 2 cH S Fak Source Connection Parameters Code Generation Image File s TF Recursive Select File s Select Directory Image Acquisition Interface J File y Detect Figure 4 3 Image acquisition assistant The tab card Source determines the acquisition method and the image source In the default setting images are acquired from files This is described in the following section Alternatively images are acquired from an image acquisition device e g a camera This is described in section 4 3 2 on page 25 4 3 1 Acquiring Images From Files or Directories You can specify a selection of image files or a direct
13. s Guide chapter 7 on page 71 for more details 9 1 1 3 Compiling and Linking in UNIX Environments To compile and link the new program called e g test cpp under UNIX you can use the example makefile which can be found in the directory HALCONROOT examples cpp by calling make PROG test Alternatively you can set the variable PROG in makefile to test and then just type make You can link the program to the Parallel HALCON libraries by calling make PROG test PAR 1 or just type make PAR 1 if you set the variable PROG as described above For more details see the Programmer s Guide chapter 7 on page 71 9 1 2 Optimization 201 9 1 2 Optimization Optimization might be necessary for variables of class HTuple This kind of optimization can either be done in HDevelop or in the generated C code In most cases optimization is not necessary if you program according to the following rules 1 Using the tuple concatenation it is more efficient to extend a tuple at the right side like T T New because this can be transformed to T Append New in C and requires no creation of a new tuple whereas T New T which is translated into T New Append T would need the creation of a new tuple 2 Another good way to modify a tuple is the operator insert see section 8 5 2 on page 175 In this case HDevelop code like T i New can directly be translated into the efficient and sim
14. strlen s s i s ii i2 split s1 s2 regexp_match s1 s2 regexp_replace s1 s2 s3 regexp_select s1 s82 regexp_test s1 s2 convert v using specification s concatenate vi and v2 search character s2 in s1 search substring s2 in s1 search character s2 in s1 reverse search substring s2 in s1 reverse length of string select character at position i 0 lt i lt strlen s select substring from position i1 to position i2 split s1 in substrings at s2 extract substrings of s1 matching the regular expression s2 replace substrings of s1 matching the regular expression s2 with s3 select tuple elements from s1 matching the regular expression s2 return how many tuple elements in s1 match the regular expression s2 Table 8 10 String operations 8 5 7 String Operations 183 The result of the conversion is left justified within the field The result of a signed conversion always begins with a sign or lt space gt Ifthe first character of a signed conversion is not a sign a space character is prefixed to the result This means that if the space flag and flag both appear the space flag is ignored tt The value is to be converted to an alternate form For d and s see below conversions this flag has no effect For o conversion see below it increases the precision to force the first digit of the result to be a zero For x or X conversion see below a non zero result has 0x or OX prefixed to
15. 211 213 216 219 Procedures menu Create New Procedure 87 Delete All Unused Local 88 Delete Current 88 Duplicate 87 Edit Interface 88 Edit Procedure 89 External Procedure Settings 89 Insert All As Local 88 Insert Used As Local 88 Make All External 89 program counter 15 program window 15 102 226 edit line 103 Properties 54 pull down menu 46 Pyramid Levels 152 pyramid levels lock model and model image 150 pyramid levels model 150 pyramid levels model image 150 pyramid display 149 Quit 56 Read Image 53 read_image 21 32 34 53 54 93 169 read_image FileName 169 read_image Image 169 Recent Programs 46 48 recognition rate determine 165 recognition speed optimize 164 Redo 57 reduce_domain 134 138 reference to assistant elements 146 regexp_match 185 regexp_replace 185 regexp_select 186 regexp_test 186 region 226 colors 80 empty 225 line width 80 shape 81 regiongrowing 95 regions visualization 80 regular expressions 185 Release Generated Code Lines 96 167 Remove from User Tab 119 repeat 90 194 196 repeat 194 replace Find Replace 59 236 Index reserved words 191 Reset 63 157 reset graphics window 82 Reset Parameters 82 Reset Procedure Execution 77 Reset Program Execution 77 reset_obj_db 94 Restrictions 201 205 207 209 212 215 return 90 109 197 ROI creation 149 row 44 Row Scale Step
16. GUI Reference 88 Graphical User Interface 6 2 5 3 Edit Interface Synopsis Edit procedure interface This menu item opens the procedure interface window and displays the interface of the current procedure or the first procedure from the list if main is the current procedure The menu item has the same effect as the button Edit Interface page 107 in the Program Window see page 102 The interface of external procedures that are protected with a password can only be edited after the corresponding password has been entered see section Edit Status of External Procedures on page 111 6 2 5 4 Delete Current Synopsis Delete the current procedure If the current procedure is a local procedure it is deleted from the program and the main procedure becomes the current procedure All calls to the local procedure in the current program are marked as invalid code This item is disabled if the current procedure is the main procedure or if it is an external procedure 6 2 5 5 Delete All Unused Local Synopsis Delete all local procedures that are not used in the current program All local procedures that cannot be reached by any procedure call from the main procedure are deleted from the program If the current procedure is among the deleted procedures the main procedure becomes the current procedure 6 2 5 6 Insert Used As Local Synopsis Insert all used external procedures into the current program as local procedures
17. See also the following sections Switching Between Horizontal and Vertical Layout You can toggle the orientation of the two parts of the variable window To do this double click the dividing line between both parts You can also drag that line to resize the parts Managing Variables In large programs the variable window can become quite cluttered which makes watching selected vari ables difficult Therefore you can customize the selection of displayed variables At the bottom of the variable window three tabs are available e A11 All variables are displayed at once e Auto The variables of the current and the previous operator call are displayed This is useful when single stepping through the program because only the variables relevant to the current context are displayed e User A user defined selection of variables is displayed Variables may be added and removed using the context menu of the variable window see below If the tab User is active variables may be added from a list in the context menu In the other two tabs variables are added by selecting them first and clicking Add to User Tab in the context menu Context menu In both parts of the variable window distinct context menus are available by right clicking in the window The entries that are common in both parts are described here e Clear Variable The selected variables are cleared and appear as undefined e Add to User Tab The selected variables are added to the tab
18. and Max Column Scale page 154 according to the ranges probably needed for your images Create Model gt Advanced Model Parameters page 154 e Minimum Contrast page 157 Increase the value and check whether the matching still succeeds in all images GUI Reference 146 Matching Assistant Optimization page 156 Point Reduction Select a higher reduction rate and check whether the matching still succeeds in all images Angle Step page 155 size and Scale Step page 155 size Increase the values and check whether the matching still succeeds in all images Please note that the accuracy may suffer if you increase the step size Use Model gt Advanced Model Use Parameters page 162 Subpixel page 163 If your application doesn t require sub pixel accuracy you can speed up the matching by selecting the value none Last Pyramid Level page 163 Increase the value and check whether the matching still succeeds in all images Note that as a result of this modification wrong instances of the model may be found Furthermore the accuracy of the calculated position orientation and scale may decrease 7 3 Matching Assistant Reference The Matching Assistant consists of the following elements the pull down menus File Create Model page 148 Use Model page 158 Inspect page 165 Code Generation page 166 and Help page 168 a tool bar with a selection of important buttons Load Assistant Settings
19. area 1 center 279 489 Region 17 area 2 center 304 5 152 Region 18 area 4 center 308 5 153 Reninn 19 farea 2411 renter 304 152 4 2 cma Graphics Window 3600 Selected Iconic Object a Ol xj SiaTMa y Erft 100 y Figure 5 7 Interactive inspection of an iconic variable containing regions whenever an image is added that uses the full domain To clear the stack and thus the graphics window manually click the clear icon see figure 4 2 on page 23 5 7 Inspecting Variables When you move the mouse cursor over the variable ConnectedRegions you see that it contains 98 regions Right click on the icon ConnectedRegions and select Clear Display to display only the con nected regions in the graphics window Right click again and select Display Content gt Select This menu entry opens a variable inspection window which lists the contents of the variable ConnectedRegions The selected region of this inspection window is displayed in the graphics win dow using the current visualization settings Set Draw to margin and Shape to ellipse and select some regions from the list An example is illustrated in figure 5 7 For now close the variable inspection window The large number of regions is due to the coarse setting of the bounds of the threshold operator In the following we will use one of HDevelop s tools to find more appropriate settings interactive
20. e The third column consists of the text fields which contain variable names in case of iconic and control output parameters and expressions in case of control input parameters If you want to change the suggestions offered by the system variable names or default values you may do so either manually or by pressing the arrow button connected with the respective text field This opens a list containing a selection of already defined variables and other reasonable values from the operator knowledge base By clicking the appropriate item you set the text field and the list disappears e The fourth column indicates the parameter s default semantic type and its data type in parentheses Hover the mouse cursor over the second to fourth column to get a short description for the corresponding parameter as a tool tip Please refer to the following rules on how parameters obtain their values and how you may specify them Iconic input parameters Possible inputs for these parameters are iconic variables of the corresponding list If there is no need to execute the operator or procedure call immediately you may even specify new variable names i e names that do not already exist in the variable window but will be instantiated later by adding further operators or procedure calls to the program body In any case you have to specify iconic parameters exclusively with variable names It is not possible to use expressions GUI Reference 116 Graphica
21. exit 56 90 91 197 Exit Assistant 96 148 exponential functions 188 Export 63 Export 51 UTF 8 encoding 53 External Procedure Settings 89 external procedure modified 49 External Procedures 66 false 225 Feature Histogram 86 Feature Inspection 86 File 146 menu 46 file history 46 File menu Cleanup 54 Export 51 Insert All 48 Insert Mainbody 49 Insert Procedures 49 Insert Program 48 New Program 46 Open Example 47 Open Program 46 Print 55 Properties 54 Quit 56 Read Image 53 Recent Programs 48 Save 49 Save A11 51 Save Procedure As 50 Save Program As 50 file_exists 93 Find Again 61 Find Model 159 Find Replace 59 for 41 42 75 90 102 103 194 196 for loop 194 for 218 225 gauss_image 95 gen_empty_obj 121 178 gen_lowpass 95 gen_tuple_const 179 General Options 69 get_image_pointer1 220 get_mposition 93 get_system 219 Give Error 72 graphics window 124 graphics window 15 219 225 clear 79 close 79 colors 80 image size 79 line width 80 open 78 regions 80 81 select iconic variable 79 window size 79 Gray Histogram 86 gray value histogram 86 133 inspection 86 131 status bar 44 Greediness 163 GUL 3 H_MSG_FAIL 202 H_MSG_FALSE 202 H_MSG_TRUE 202 H_MSG_VOID 202 HALCON example programs 47 modules 54 HALCON News WWW 100 HALCON Reference 99 HALCONIMAGES 53 HALCONROOT 53 Inde
22. 155 Run 73 Run to Insert Cursor 74 Run Until Here 105 runtime status bar 44 Runtime error 202 Runtime Settings 72 save local procedure 49 Save 49 Save A11 51 Save Current Assistant Settings 96 148 Save Model 148 Save Procedure As 50 Save Program As 50 Save Window 87 scale range 154 scale step size 155 scale_image 136 SDI 98 SDI 45 Search Documentation 100 search object 159 search parameters advanced 162 search parameters standard 161 See also 95 Select Graphics Window 82 select test image 160 select_gray 138 select_obj 177 178 select_shape 115 121 137 138 select_shape_xld 137 138 semantics 169 sequence file 26 Set Breakpoint 76 Set Parameters 82 set_check 93 set_color 91 220 set_line_style 219 set_line_width 220 set_paint 92 set_part 220 set_system 171 set_tposition 42 set_system 219 Shape 81 shape model load 147 shape model save 148 Shape models may cross the image border 164 shortcuts 12 Show Caller 105 Show Code Preview 96 168 Show Procedure 105 Show Processing Time 44 72 sigma_image 95 single document interface 45 skeleton 95 smooth_image 95 Sort by Name 119 Sort by Occurrence 119 split 185 standard model parameters 150 standard search parameters 161 Start Angle 153 status bar 44 Step Forward 75 Step Into 75 Step Out 76 Step Over 74 Stop 76 stop 19 73 74 90 91 197 stop HDevelop program 7
23. 171 Meaning Abbreviation Notation line feed NL LF n horizontal tabulator HT t vertical tabulator VT v backspace BS b carriage return CR r form feed FF f bell BEL a backslash single quote 2 A arbitrary character hexadecimal xnn arbitrary character octal Onnn Table 8 1 Surrogates for special characters true the effective value of Val is set to 1 In general every integer value other than 0 means true Please note that some HALCON operators take logical values for input e g set_system In this case the HALCON operators expect string constants like true or false rather than the boolean values true or false In addition to these general types there are special constants and the type tuple which are specific to HALCON or HDevelop respectively constants There are constants for the return value result state of an operator The constants can be used together with the operator dev_error_var and dev_set_check These constants represent the normal return value of an operator so called messages For errors no constants are available there are more than 400 error numbers internally see the Extension Package Programmer s Manual In table 8 2 all return messages can be found tuple The control types are only used within the generic HDevelop type tuple A tuple of length 1 is interpreted as an atomic value A tuple may consist of several numerical data items with different Constant Meani
24. 3 Limitations and Troubleshooting 205 9 2 3 Limitations and Troubleshooting Besides the restrictions mentioned in this section and in section 9 8 on page 217 please also check the description of the HDevelop operators in section 6 2 6 2 on page 91 9 2 3 1 Variable Names The export adds the prefix ho_ to all local iconic and hv_ to all local control variables respectively in order to avoid collisions with reserved words 9 2 3 2 Exception Handling In HDevelop every exception normally causes the program to stop and report an error message in a dialog window This might not be useful in C The standard way to handle this in CF is by using the try catch mechanism This allows to access the reason for the exception and to continue accordingly Thus for HDevelop programs containing error handling dev_ set_check give_error the corresponding code is automatically included Every operator call for which it is assumed that the HALCON error mechanism is turned off is enclosed in a try block followed by a catch block The latter handles the exception and assigns the corresponding HALCON error number to the error variable activated by dev_error_var or to a local error variable otherwise Please note that a call of dev_ set_check give_error has no influence on the operator call The exception will always be raised This is also true for messages like H_MSG_FAIL which are not handled as exceptions in C for example 9 2 3 3
25. 6 2 7 2 Successors In many cases the task results in a natural sequence of operators Thus as a rule you use a thresholding after executing an edge filter or you execute a region processing e g morphological operators after a segmentation To facilitate a reasonable processing all the possible operators are offered in this menu item 6 2 7 3 Alternatives Since HALCON includes a large library this menu item suggests alternative operators Thus you may for example replace mean_image with operators such as gauss_image sigma_image or smooth_image 6 2 7 4 See also Contrary to Alternatives operators are offered here which have some connection to the current oper ator Thus the median filter median_image is not a direct alternative to the mean filter mean_image Similarly the regiongrowing operator regiongrowing is no alternative for a thresholding In any case they offer a different approach to solve a task References might consist of pure informative nature too the operator gen_lowpass which is used to create a lowpass filter in the frequency domain is a reasonable reference to a Gaussian filter 6 2 7 5 Keywords This menu item gives access to HALCON operators through keywords which are associated with each operator The tab card Keywords of the online help window is opened It is described in section Keywords on page 129 6 2 8 Menu Assistants This menu assembles assistants for specific machine vi
26. 6 The Menu Help Via the menu Help you can access this online documentation HDevelop Language 169 Chapter 8 HDevelop Language This chapter introduces the syntax and the semantics of the HDevelop language In other words it illustrates what you can enter into a parameter slot of an operator or procedure call In the simplest case this is the name of a variable but it might also be an arbitrary expression like sqrt A Besides control structures like loops and the semantics of parameter passing are described Note that the HALCON operators themselves are not described in this chapter For this purpose refer to the HALCON reference manual All program examples used in this chapter can also be found in the directory HALCONROOT examples hdevelop Manuals HDevelop 8 1 Basic Types of Parameters HALCON distinguishes two kinds of data control data numbers or strings and iconic data images regions etc By further distinguishing input from output parameters we get four different kinds of parameters These four kinds always appear in the same order in the HDevelop parameter list In the reference manual operator signatures are visualized in the following way operator iconic input iconic output control input control output As you see iconic input objects are always passed first followed by the iconic output objects The iconic data is followed by the control data and again the input parameters succeed the outp
27. 9 3 1 2 The C Template The exported file is intended to be used together with the predefined C project that can be found in the directory HALCONROOT examples c HDevelopTemplateCOM This project contains a form with a display window HWindowXCtr1 and a button labeled Run Add the file generated by HDevelop to the project in the Solution Explorer Add Existing Item Now the project is ready for execution Run the project and then press the button Run on the form which will call the exported code 9 3 2 Program Structure The file created by HDevelop contains a subroutine with the corresponding name for every HDevelop procedure except the main procedure which is contained in the subroutine action Iconic input and output parameters of a procedure are passed as HUntypedObjectX and out HUntypedObjectX respec tively while control input and output parameters are passed as object and out object respectively The subroutine RunHalcon contains a call to the subroutine action and has a parameter Window which is of type HWindowX This is the link to the window on the form to which all output operations are passed In addition another subroutine is created with the name InitHalcon This subroutine applies the same initializations that HDevelop performs Most of the variables iconic as well as control are declared locally inside the corresponding subroutines Iconic variables belong to the class HUntypedObjectX and control variables
28. Add Select an additional directory from the file selection dialog page 140 This directory will be appended to the list All subdirectories of the selected directory will be scanned as well Delete Delete the selected directory from the list Programs using any external procedure from that directory will no longer run Rescan Rescan all listed directories to reflect any changes in the file system 6 2 2 Menu Edit 67 External Procedures This tab card lists all external procedures in the order they are loaded from the configured directories page 66 For each procedure the state loaded unloaded the search directory the path relative to the search directory the number of uses in the current program and the number of unsaved modifications is listed The tab card is displayed in figure 6 14 AT User Interface Directories External Procedures Manage Passwords Procedure Use Unre 4 A External Procedures List of all external procedures and its loading state 89 Visualization Settings 8 Runtime Settings compare_control loaded H procedures compare_control dvp compare_iconic loaded H procedures compare_iconic dvp compare_images loaded H procedures compare_images dvp compare_objs loaded H procedures compare_objs dvp compare_regions loaded H procedures compare_regions dvp compare_tuples loaded H procedures compare_tuples dvp compare_xlds loaded H procedures compare_xids dvp compose_test_index loaded 9 H
29. Assistant provides different ROI page 143 shapes axis parallel and arbitrarily oriented rectangles circles and ellipses as well as free form shapes including polygons You draw rectangular circular and elliptic ROIs as follows Select the corresponding drawing mode and click into the image Then move the mouse over the object while keeping the left mouse button pressed the selected shape appears After releasing the mouse button you can move the ROI by dragging its center marked with a cross with the left mouse button Furthermore you can edit the shape by dragging its boundaries You finish the creation by clicking once with the right mouse button or by clicking the Stop button in the tool bar of the main window By selecting the menu item Create Model gt Create ROI gt Arbitrary Region or the corresponding button in the tab Model Creation you can create polygons and free form shapes To create a polygon click with the left mouse button to mark each corner point a click with the right mouse button closes the polygon and finishes the creation To create a free form ROI draw it directly while keeping the left mouse button pressed a click with the right mouse button closes the shape and finishes the creation Note that in both cases you cannot edit the ROI after its creation In order to create an optimal model please assure that the region of interest contains only characteristic parts of the object and no clutter After creating an R
30. Directories Apart from dragging and dropping images there is an equivalent method from within HDevelop Select File gt Read Image to get a list of image directories to choose images from Again this will open a native file selection dialog Browse to and select the desired image from there and click OK to open up the dialog Read Image described above 4 2 Viewing Images When images are read as described above they are automatically displayed in the active graphics win dow This is the default behavior in HDevelop but the automatic display of images can be suppressed if desired e g to speed up computationally intensive programs Initially the loaded image fills the graphics window entirely The window itself is not resized so the aspect ratio of the image might be skewed Using the tool box of the graphics window you can easily zoom the image or change the window size with regard to the image We recommend to adapt the window size to the size of the image because otherwise the display is slowed down The image size the window size and the displayed part of the image are set with the tool bar icons of the graphics window see figure 4 2 An iconic view of the loaded image is also displayed in the variable window When the image is cleared in the graphics window it can always be restored by double clicking this icon 4 3 Image Acquisition Assistant 23 clear select magnify image size ES as BA AAA Ert o oT p
31. Directory not in List xj p The directory H project procedures so selected for saving the procedure is not in the list of external procedure directories Without adding the directory to that list the saved procedure cannot be used and will immediatly be removed From the list of external procedures Do you want to add the directory to the list of external procedure paths Yes No Cancel Figure 6 3 Adding a new directory to the list of external procedure directories 6 2 1 7 Save Program As Synopsis Save changes of the current HDevelop program to a new file Shortcut Ctrl Shift S A file selection dialog page 140 is opened You can specify a new file name and save the current program under that name The new file name becomes the default name of the current program so that subsequent Save operations will use that name instead of the old The file name of the program you save is added to the menu Recent Programs 6 2 1 8 Save Procedure As Synopsis Save current procedure as an external procedure or as an HDevelop program Using this menu entry you can save the currently selected procedure as an external procedure or an HDevelop program A file selection dialog page 140 is opened where you can select the file type e HDevelop procedures dvp The procedure is saved as an external procedure If the target directory is not already configured in the external procedure directories see Menu Edit gt Prefer
32. EE Sh oa wR EE SOS i oop A 2 223 ee BS ere hE 2S SS EES SEE EES ERD SS 35 Add Addiional Program LINES coce ee pee ee e s RR eRe AE Bee 36 Understanding the Image Display lt o e a0 e004 a oe E ed St Inspecting Variables o o scce a ae AE a ha A ae em A 5 8 Improving the Threshold Using the Gray Histogram IEA 5 10 Re Bxrecuis the Program oso s oe eee be ee ewe ee eee ee ee SAL ave the PEGA oe kG Sac EREDAR BARRE EEG Baa Baa eS BSG 5 12 Selecting Regions Based on Features gt gt s ss ono kb ee eR RE ee RE EG 2 15 Looping Over the Results oops en 43h 8 24208 480 ew bes SUM DUES ec eR ee HA RR SS EE Bee eee ER oreo es Graphical User Interface 6 1 Main Window 5 ee ew ER HEA REE eee Ee eee eed 10 10 11 11 13 17 21 21 22 23 23 25 29 7 G2 Went Bat ok ee Se eh OS Be ee eS ee eS ae de ee LS 46 O20 Mem Pile cr srece t eee a a a we a ew A E a RS 46 Mol MEE o a Be BAA RA A AG Se RA eo ee a 56 O22 Mpu ESGCU S 24 0046 548 484ee eee Fa beagle we Se eG eS 73 G24 Metin Visializatien o 2 054 bey ee eRe AS oe bh eS eS 78 O20 Menu POCERO AR 87 ab Menw0peraters 2 64 25 442 eee Se bo PhS ee A ee s 89 627 Menmi Siprestions er spa ssa de ee a a a 94 az Menu Assistants ora a A eee eS SEES 95 6 2 9 Memi Window c ec 5b 0b be MR ap SS ea RR Bs 97 0210 Meni Help oca cae baw ee bea Gea eee Ge a bo wa See 4 99 Ga CIBER Be ER ALA A Aes Row Baca oa a BS 101 64 Program Window 6 ce be we a Eh wae ee Ee 102 641
33. Interface to edit the interface of the selected procedure e Make sure Local is unchecked Only external procedures can be protected e Click the button Password to assign a password to the procedure Then a separate window appears and the new password must be entered twice See figure 6 35 for an example If both times the same password is used clicking OK assigns the password Otherwise an error message is raised and you have to repeat the password assignment When a protected procedure is finally saved it is stored in a binary format When you start HDevelop the next time the protected procedure is locked i e when trying to edit the procedure e g by selecting it from the combo box in the program window a corresponding message is displayed in the program window See figure 6 36 for an example Additionally a password button is displayed in the program window Upon entering the correct password the procedure is temporarily unlocked and stays unlocked as long as you do not close HDevelop GUI Reference 112 Graphical User Interface LI x Please enter your password to lock the procedure Password Ji Confirm Figure 6 35 Entering a password to protect an external procedure Program Listing gt ox E Secret Image Values Edit Interface This procedure is locked g Password For displaying and editing this procedure you must enter the password Figure 6 36 A locked external procedure
34. The Propram Area cion SO eS a aoe a we Ba Se Bee ii 102 642 PC 1C and Break Points gt s poe s s ace we a 104 643 Creating and Editing Procedures 2 coe cee s edee ee a Ee eS 105 6 3 Operator Window e ce s poraa n pia p eee pe SO a bw a ew G 113 65 1 Operator Name Field odo 24542 24525454 eee a a e 114 032 Parameter Display ec oocrscsss SS e AY See E EAE ES 114 0 53 Control BUHE s ecese eee e Oe e i a ee ee 117 66 Marable Window 2 p cas a eS a RS Ba ea SA D e a 117 66 1 Iconic Variables 4 6 04 844664 40684 be eh ew eee ee ES 120 66 2 Control Variables ooo Se rd ee a we a Bee a 122 67 Graphics Window o eeso bee eae A RR RENEE ee ee ae a 124 0S Help Window sa A GE hs BERG aS eee a E ee aS 127 G2 oom WiNGOW IN 131 6 10 Gray Histogram Window s s 2 4 42054 6 446 434500 84 Gewese ES 133 6 11 Peatire Histogram Window lt e e cp ee caco naa 6284 oe wee ee Eee eS 137 6 12 Feature Inspeccion Window lt es cos eo a See wa ee wae ee 138 GAS Diabas oo ck es ear PE bee E ole Se ee eS 140 6 13 1 Pile Selection Dials e ces be ee ee ORE 140 6 132 Unsaved Chang s o conan RR Be ls ee a Se Ge Se 141 Matching Assistant 143 7 1 Introducing the Matching Assistant of HDevelop o o 143 7 2 How to Use the Matching Assistant of HDevelop o 144 Tar eating the Medel ce ee AA AT 144 Tas lenge me Model 6 cote re eRe AA A ees 144 7 2 3 Optiminme ihe Parameters espesa npea np he E a ws 145 7 3 Matching Ass
35. The combo box for file type has no effect because only HDevelop programs with the extension dev can be loaded If you want to open 6 13 2 Unsaved Changes 141 your file with a write protection choose the check box at the bottom of this dialog window To open your specified file you press the button Open This action deletes an already loaded HDevelop program and all created variables The same actions as with File gt New Program are performed Now you can see the main procedure body of your new program in the program window The file name is displayed in the title bar of the main window All its uninstantiated variables are shown in the variable window To indicate that they do not have any computed values the system provides the iconic and control variables with a question mark The program counter is placed on top of the program body and you are ready to execute the program The visualization and options will be reset after loading same as Menu File gt New Program see page 46 You can cancel this task by pressing the corresponding button By using one of the two buttons Open or Cancel the dialog window disappears 6 13 2 Unsaved Changes File operations that will delete the current program such as loading a new program trigger a security check This security check prevents you from deleting the current program accidentally if the program has not been saved A dialog box appears and asks whether you want to save the HDevelop pro
36. Tuple oxLD Filter o Arithmetic Figure 6 48 Help Window Search Enter a search query into the text field and click Search to start a full text search Both online docu mentation HTML and offline documentation PDF are searched The search result is displayed below the query The rank in percent indicates how well each found document satisfies the query The query may consist of one or multiple words HDevelop will find all documents that contain any of the specified words To search for a phrase enclose it in double quotes radiometric calibration Boolean searches with and or and not can also be specified To find all documents that say anything about filters except Gaussian filters enter filter not gauss 6 8 Help Window 129 Contents Index Keywords Filter 1D Barcode 2D Barcode 2D Datacode 2D Transformation 3D Matching 3D Projection 3D Reconstruction Absolute Value Access Acquisition Acquistion Adaptive Threshold Addition affine_trans_point_3d convert_point_3d_cart_to_spher convert_point_3d_spher_to_cart convert_pose_type create_pose get_pose_type hom_mat3d_compose hom_mat3d_identity hom_mat3d_invert hom_mat3d_rotate hom_mat3d_rotate_local hom_mat3d_scale hom_mat3d_scale_local ham maad Fn nase Figure 6 49 Keywords and associated HALCON operators Keywords This tab card gives access to HALCON operators by using keywords which are associated with each operator It contai
37. Unsaved changes page 141 Shortcut Ctrl N This menu item deletes the current program including all local procedures The contents of variables are deleted before removing them In addition all graphics windows except one are closed The last graphics window is cleared The display parameters for the remaining graphics window are reset to the default values stored in the preferences see section Visualization Settings on page 71 The runtime settings of the preferences are reset to their default values see section Runtime Settings on page 72 6 2 1 2 Open Program Synopsis Load an existing HDevelop program Checks for Unsaved changes page 141 Shortcut Ctrl O A file selection dialog page 140 pops up to select an HDevelop program Please note that only native HDevelop programs can be loaded Thus text C C Visual Basic Visual Basic NET and C versions of a file are rejected After you have loaded a program the corresponding file name is added to the top of the menu Recent Programs This allows you to quickly switch between recently loaded programs 6 2 1 Menu File Category La Filter measure C s lt S lt S Pharmaceutical Photogrammetry and r Example Short Description Precision engineering a Measure pins of an IC using fuzzy Fuzzy_measure_pin dev Printing measuring Rubber synthetic mat measure_ic_leads dey Measure leads of an IC
38. User e Sort by Name The variables are sorted in alphabetical order e Sort by Occurrence The variables appear in the same order as they are defined in the program e Update Variables Toggle whether variables will be updated during program execution This is the same setting as in the runtime preferences see page 72 e Cleanup Delete all unused variables see page 54 Only applicable when the tab User is selected e Add Variable This submenu contains a list of all variables that are currently not displayed in the tab User Clicking a variable name adds the variable to the tab e Remove from User Tab The selected variables are removed from the tab User GUI Reference 120 Graphical User Interface Variable View main Iconic Yariables Image Region ImageReduce ImageReduced image Control Variables type byte channels 1 size 704 460 with ROI of area 118631 center 197 644 323 781 Figure 6 41 Displaying information about an iconic variable with a reduced domain 6 6 1 Iconic Variables The iconic variables are represented by icons which contain an image a region or an XLD depending on the current value The icons are created depending on the type of data according to the following rules e For images the icon contains a zoomed version of them filling the icon completely Due to the zooming onto the square shape of the icon the aspect ratio of the small image might be wro
39. a search string into the Filter text box As you type the list is updated to contain only example programs matching the string in either the file name or the short description field The filtering is case insensitive GUI Reference 48 Graphical User Interface Loading an Example Program Double click an example program in the list or select it and click the button Load Clicking Load in new HDevelop opens the program in a new instance of HDevelop which is useful if there are unsaved changes in the current program Either way you can keep the dialog open by checking the corresponding box beforehand This can be useful if you wish to scan through several example programs quickly 6 2 1 4 Recent Programs Synopsis Load recently used HDevelop programs Checks for Unsaved changes page 141 This submenu contains a list of the most recently used HDevelop programs Simply click on a program name to load it 6 2 1 5 Insert Program Synopsis Insert parts of another HDevelop program into the current program Selecting an entry in this submenu opens a file selection dialog page 140 for the selection of an HDe velop program Insert All Synopsis Insert a complete HDevelop program into the current program The main body of the selected program is inserted at the IC All local procedures of the selected program are copied to the current program under their original name If a local procedure of that name al
40. both parameters at the same time as follows To increase the value use the slider of Contrast Low then the value Contrast High will follow automatically Vice versa to decrease the value use the slider of Contrast High 2 Hysteresis threshold If there is no single contrast value that selects all significant object pixels without including clutter try using different values for Contrast Low andContrast High Then pixels are selected in two steps First pixels that have a contrast higher than Contrast High are selected then pixels that have a contrast higher than Contrast Low and that are connected to a high contrast pixel either directly or via another pixel with contrast above the lower threshold are added We recommend to proceed as follows Increase both values using the slider of Contrast Low until no clutter pixels are selected anymore Then decrease Contrast Low to add more object pixels If significant object parts remain unselected decrease Contrast High Note that these parameters are used only to select model points in the model image In the test images the object may have a lower contrast You can also let the Matching Assistant select suitable values automatically based on the model image GUI Reference 152 Matching Assistant An additional method for removing clutter is to specify a minimum size for the model components If you cannot find suitable parameter values that exclude the c
41. bytes Region A region is a set of image points without gray values A region can be imagined as a binary image mask Regions are implemented using runlength encoding The region size is not limited to the image size see also set_system clip_region true false in the HALCON reference manual String is the type name for character strings A string starts and ends with a single quote in between any character can be used except single quote The empty string consists of two consecutive single quotes The maximum length of a character string is limited to 1024 characters Tuple A tuple is an ordered multivalue set In case of control data a tuple can consist of a large number of items with different data types The term tuple is also used in conjunction with ficonic objects if it is to be emphasized that several ficonic objects will be used Type ficonic variables can be assigned with data items of type fimage Tregion and XLD The types of fcontrol data items can be one of finteger freal boolean or string Variable window In HDevelop the variable window manages the control and ficonic data XLD is the short term for eXtended Line Description Itis used as a superclass for contours polygons and lines Command Line Switches 227 Appendix B Command Line Switches HDevelop accepts the following command line switches hdevelop options HDevelop options lt program gt dev open the program for editi
42. color images is processed Images with channel numbers other than three are skipped through the use of the operator continue An alternative is to invert the condition and put the processing instructions between if and endif But the form with continue tends to be much more readable when very complex processing with lots of lines of code is involved i Images while i Image Images i count_channels Image Channels if Channels 3 continue endif extensive processing of color image follows endwhile break The opeator break enables you to exit for while and repeat loops The program is then continued at the next line after the end of the loop A typical use of the operator break is to terminate a for loop as soon as a certain condition becomes true e g as in the following example Number Regions AllRegionsValid 1 check whether all regions have an area lt 30 for i 1 to Number by 1 ObjectSelected Regions i area_center ObjectSelected Area Row Column if Area gt 30 AllRegionsValid 0 break endif endfor In the following example the operator break is used to terminate an infinite while loop as soon as one clicks into the graphics window while 1 grab_image Image FGHandle dev_error_var Error 1 dev_set_check give_error get_mposition WindowHandle R C Button 8 8 Limitations 197 dev_error_var Error 0 dev_set_check give_error if Error H_
43. contains only the return operator By default a local procedure is created If you want to create an external procedure instead you have to disable the check box Local and optionally specify chapter and subchapter Additionally you can select the path the procedure is stored in which by default is the first path specified in the preferences see section External Procedures on page 66 Further section Edit Status of External Procedures on page 111 shows how to protect an external procedure by a password so that only authorized persons can view and modify it When creating a new procedure from selected program lines HDevelop automatically determines suit able interface parameters for the procedure from the usage of the variables in the selected code The following different options can be selected in the combo box Selection Scheme to determine the pro cedure parameters Only In Only Out Variables that are exclusively input and output variables become input and output procedure parameters respectively GUI Reference 110 Graphical User Interface ee 101 x a Edit Interface Properties Procedure Name p_init_image I Local Short Description Initialize graphics window Chapter Image Init Width Heigl Parameters Selection Scheme Only In Al Out y 3 n D Hel threshold Image Region 0 50 l E Reset connection Region ConnectedRec E Show Procedure les El select shape Conne
44. control flow structure is the condition with alternative If the condition is true the block between if and else is executed If the condition is false the part between else and endif is executed To enter all three operators at once select the operator ifelse in the operator window and make sure the check box next to the operator is ticked 8 7 Control Flow Operators 193 abs acos and asin assign atan atan2 band bnot bor break bxor catch ceil chr chrt comment continue cos cosh cumul deg deviation else elseif endfor endif endtry endwhile environment exit exp z fabs false find floor gt fmod for gen_tuple_const H_MSG_FAIL 5 H_MSG_FALSE H_MSG_TRUE H_MSG_VOID if ifelse insert int inverse is_number ldexp log log10 lsh max max2 mean median min min2 not number or ord ords pow rad rand real regexp_match regexp_replace regexp_select regexp_test remove repeat return round rsh select_rank sgn sin sinh sort sort_index split sqrt stop strchr strlen strrchr strrstr strstr subset sum tan tanh throw true try uniq until while xor if lt condition gt else endif Table 8 19 Reserved words elseif This operator is similar to the else part of the previous control flow structure However it allows to test for an additional condition The block between elseif and endif is executed if lt condition1 gt is false and lt condition2 gt is true elseif may be followed by an arbitrary number of additi
45. coordinate system of the graphics window corresponds to the most recently displayed im age which is automatically zoomed so that every pixel of the image is visible The coordinate system can be changed interactively using the tool bar of the graphics window or the menu Menu Visualization 6 7 Graphics Window 125 Figure 6 45 Graphics Window s Window 3600 Image ig y Figure 6 46 Coordinate display in the graphics window gt Set Parameters gt Zoom see section Menu Visualization on page 78 or with the operator dev_set_part see section Develop on page 91 Every time an image with another size is displayed the coordinate system will be adapted automatically Each window has a history that contains all e objects and GUI Reference e display parameters that have been displayed or changed since the most recent clearing or display of an image This history is used for redrawing the contents of the window The history is limited to a maximum number of 30 redraw actions where one redraw action contains all objects of one displayed variable 126 Graphical User Interface Other output like text or general graphics like disp_line or disp_circle or iconic data that is dis played using HALCON operators like disp_image or disp_region are not part of the history and are not redrawn Only the object classes image region and XLD that are displayed with the HDevelop operator dev_display or by
46. display two images of different size the second one will appear clipped if it is larger than the first image or filled up with black areas if it is smaller For a correct display you must use the operator dev_set_part before displaying an image with dev_display as follows dev_set_part 0 0 ImageHeight 1 ImageWidth 1 dev_display Image In this example Image is the image variable ImageHeight and ImageWidth denote its size You can query the size of an image with the operator get_image_pointer1 Please consult the HALCON Reference Manuals for more details Note that the operator dev_set_part and its HALCON library equivalent set_part is more commonly used for displaying and thereby zooming parts of images By calling it with the full size of an image as shown above you assure that the image exactly fits the window Changing display parameters If you change the way how results are displayed color line width etc in HDevelop interac tively via the menu Visualization these changes will not be incorporated in the exported pro gram We recommend to insert the corresponding Develop operators e g dev_set_color or dev_set_line_width in the HDevelop program explicitly This will result in the appropriate call set_color set_line_width etc in the exported code Tips amp Tricks 221 Chapter 10 Tips amp Tricks This chapter contains helpful information for working with HDevelop 10 1 Keycodes In order to spee
47. double clicking on an icon are part of the history You may change the size of the graphics window interactively by gripping the window border with the mouse Then you can resize the window by dragging the mouse pointer After this size modification the window content is redisplayed Now you see the same part of the window with changed zoom Tool Bar Icons le Clear the graphics window and its history A Switch to select mode In this mode you can select regions or XLDs that are displayed in the graph ics window A selected item is highlighted with a dashed border If multiple layers of region XLD data are displayed in the graphics window the first click selects the uppermost region XLD under the mouse cursor Each subsequent click at the same position selects the region XLD below the currently selected item The variable name of the selected item is displayed in the title bar of the graphics window You can use the select mode to inspect gray value histograms and features of individual regions or XLDs In the example image illustrated in figure 6 45 on page 125 the displayed image of a tooth rim is overlaid with region data A single region is selected q Combined move zoom tool Drag the displayed image with the left mouse button to alter the displayed portion Use the mouse wheel to zoom in and out al Magnifying glass Click into the graphics window to magnify the area at the mouse cursor See figure 6 47 for an illustration o
48. fields 7 3 5 3 Inserting the Generated Code Lines Via the menu item Code Generation gt Insert Code also accessible as tool bar button or as button inside the tab Code Generation you can insert the code that is generated according to the current settings of the Matching Assistant into the program window 7 3 5 4 Releasing the Generated Code Lines Via the menu item Code Generation gt Release Generated Code Lines you can release the gen erated and inserted code lines After releasing the code lines all connections between the Matching Assistant and the program window of HDevelop are lost That is changes e g the deletion of code lines can then only be applied directly in the program window and not from within the Matching Assis tant anymore GUI Reference 168 Matching Assistant 7 3 5 5 Deleting the Generated Code Lines Via the menu item Code Generation gt Delete Generated Code Lines you can delete the code lines that you have previously generated and inserted to the program window of HDevelop from within the Matching Assistant Note that this works only as long as you have not yet released the code lines 7 3 5 6 Preview of the Generated Code Lines Via the menu item Code Generation gt Show Code Preview you can open the dialog for the Code Preview in the tab Code Generation Here you have the possibility to e g edit or replace individual operators of the code lines proposed by the Matching Assistant 7 3
49. integer or a real depending on the type of the number Note that strings starting with Ox are interpreted as hexadecimal numbers and strings starting with O zero as octal numbers for example the string 20 is converted to the integer 20 020 to 16 and 0x20 to 32 If called with a string that does not represent a number or with a variable of the type integer or real number returns a copy of the input environment returns the value of an environment variable Input is the name of the environment variable as a string ord gives the ASCII number of a character as an integer chr converts an ASCII number to a character ords converts a tuple of strings into a tuple of ASCID integers chrt converts a tuple of integers into a string 8 5 14 Operation Precedence See table 8 18 for the precedence of the operations for control data Some operations like functions t etc are left out because they mark their arguments clearly 8 6 Reserved Words The identifiers listed in table 8 19 on page 193 are reserved words and their usage is strictly limited to their predefined meaning They cannot be used as variable names Language 192 HDevelop Language band bxor bor and xor or ae P SS h unary minus not Table 8 18 Operation precedence increasing from top to bottom 8 7 Control Flow Operators The operators introduced in this section execute a block of operators c
50. interface File is selected two buttons become available to select an image file or an image directory respectively The File interface also supports AVI files or sequence files seq The latter are special to HALCON they contain a list of image file names that will be loaded in succession Specify the desired connection parameters and click Connect to establish or update the connection to the actual device The connection status can also be toggled in the tool bar see figure 4 4 on page 24 4 3 2 Acquiring Images Through Image Acquisition Interfaces 27 You can grab single images with the button Snap or switch to continuous grabbing mode using the button Live Live mode can be stopped by clicking the same button again which is now labeled Stop Clicking the button Detect attempts to re detect valid parameters for the currently selected image ac quisition interface Usually this is done automatically when the interface is selected from the list on the tab card Source The button Reset A11 sets all connection parameters back to their default values Set Device Parameters The tab card Parameters contains a list of parameters specific to the selected device It becomes available once the connection to the device has been activated See figure 4 8 for an example parameter list Please refer to the HTML page of the selected interface for detailed information You can click the help button of the assistant to get to the corresponding p
51. of the window e You close a graphics window using the close button of the window frame Figure 6 45 shows an example graphics window which is displaying a gray value image of a tooth rim overlaid with region data One of the displayed regions is selected illustrated by the dashed border The variable name and index of the selected region is displayed in the title bar Every HDevelop graphics window has its own visualization parameters Thus modifying the parameters see section Menu Visualization on page 78 applies to the currently active graphics window only i e the parameter settings of all other open graphics windows remain unchanged Additionally the new parameter settings are used as the default settings in all graphics windows yet to be opened The origin of the graphics window is the upper left corner with the coordinates 0 0 The x values column increase from left to right the y values row increase from top to bottom When the mouse cursor is placed inside a graphics window the coordinates row column and the gray value at that position are displayed in the status bar see page 44 Sometimes it is desired to display this information close to the mouse cursor This can be achieved by holding down the lt Ctr1 gt key note this does not work when the zoom in and out tool is selected since pressing lt Ctr1 gt inverts the corresponding zoom action Figure 6 46 shows the coordinate gray value display Normally the
52. operator or procedure call parameters Here every sequence of characters without single quotation marks is interpreted as a variable name If this name did not exist before the variable is created in the operator dialog area by pressing Ok or Enter The variable type is specified through the type of the parameter where it was used for the first time Variables that correspond to an iconic object parameter create an iconic variable variables for a control parameter create a control variable Every time an operator or procedure call is executed the results are stored in variables connected to its output parameters This is achieved by first deleting the contents of the variable and then assigning the new value to it The variable window is similar to a watch window used in window oriented debuggers Inside this window you are able to keep track of variable values Corresponding to the two variable types there are two areas in the variable window One for iconic data above or left and the other for control data below or right All computed variables are displayed showing their iconic or control values if the automatic update has 6 6 Variable Window 119 not been switched off see section Runtime Settings on page 72 In case of a tuple result which is too long the tuple presentation is shortened indicated by three dots In this case the full content of a variable can be displayed in an inspection window by double clicking the value list
53. output of iconic data in the graphics window after the execution of a HAL CON operator With the default settings all iconic data computed in the run mode is displayed in the current graphics window You may want to suppress this automatic output e g because it slows down the performance or because the program handles the visualization itself If the output is suppressed you have the same behavior as exported C C Visual Basic Visual Basic NET or C code where automatic output of data is not supported Enable the Context Menu in the Graphics Window See also dev_set_preferences If this option is activated the context menu is available when clicking in a graphics window with the right mouse button This behavior may be undesirable if a program provides user interaction with the mouse 6 2 3 Menu Execute In this menu item you find all necessary functions to execute an HDevelop program In HDevelop program execution is always continued at the top most procedure call which in most cases corresponds to the current procedure call The procedure body displayed in the program window belongs to the current procedure 6 2 3 1 Run Synopsis Execute the current program from the PC Shortcut F5 The program line marked by the PC is the first line that is executed All following program lines are going to be performed until the end of the current program After the execution is finished the main procedure becomes the current procedure N
54. procedures compose_test_index dy decompose_test_index loaded H procedures decompose_test_index determine_xld_type loaded H procedures determine_xld_type d gen_test_image loaded H procedures gen_test_image dvp gen_test_region loaded H procedures gen_test_region dvp gen_test_region_compl loaded H procedures ace Figure 6 14 External Procedures gt External Procedures GUI Reference 68 Graphical User Interface Manage Passwords Using this tab card you can conveniently manage the editing status and passwords of all external proce dures The external procedures are divided into three categories from left to right External procedures without a password unprotected external procedures for which the password has already been entered in this session unlocked and external procedures that are locked with a password For an explanation of the different states see section Edit Status of External Procedures on page 111 Using the arrow buttons between the columns or the left and right cursor key you can move the selected external procedures to a different status If you move procedures from the first to the second column a password dialog is displayed which is described in section Protecting a Procedure on page 111 The same password is applied to all selected procedures If you move procedures from the second to the third column the bodies of the corresponding external procedures will be
55. provides tab cards for setting up the appearance and language of the user interface Program Listing Here you can specify the font and the syntax highlighting used in the program window You can choose one of the pre defined color schemes or set up your own by clicking on the colored buttons Changing any color automatically switches to the color scheme User defined The Indent Size specifies the number of spaces an indenting level in the program window accounts for In HDevelop the bodies of loops and conditionals are indented aT eae Program Listing Fonts Language Layout AL External Procedures 8 General Options Font Courier 10 Indent Size 4 3 89 visualization Settings Colors 28 Runtime Settings a HALCON operators caa as Internal Operations r Default Classic Internal Procedures Pastel Black External Procedures e User defined Control Statements ENEE cores M Deactivated ines B Invalid Lines Eo zj Line Numbers Background Figure 6 12 User Interface gt Program Listing Fonts In this tab card the font settings of HDevelop may be modified General The font used throughout the user interface menu entries labels etc Help Window The body font used in the help window menu Menu Help gt Help Program Listing The font used in the program window This is the same font as on the tab card Program Listing see above Values and Parameters The font used for displaying values in the varia
56. respectively The gray values on which the two vertical lines lie are displayed next to the lines in the same color E Display linear histogram the default a Display logarithmic histogram Initially the histogram is displayed at full vertical range i e up to the peak value The displayed part can be manipulated with the following buttons 6 10 Gray Histogram Window 135 E Zoom histogram display to a selected area Click this button and drag an area inside the histogram to view that area Li Spread the histogram horizontally so that only the area between the lines is displayed d Display the full histogram b Reset the display of the histogram vertically da Reset the display of the histogram horizontally 2 Force minimum histogram width Do not adjust the width of the histogram when resizing the window Histogram Options e Quantization Display the histogram quantized The bucket size can be specified with the slider or entered into the spinner box e Smoothing Display the histogram smoothed The smoothing factor can be specified with the slider or entered into the spinner box Horizontal Vertical The visible part of the histogram can be specified parametrically by entering the minimum and maximum values into the spinner boxes These values are adapted when the visible area is set with the buttons next to the histogram Whenever new image data is evaluated in the gray histogram window the adaptation of these
57. starts executing the program at the line next to the PC The execution continues until the line before the IC is executed Any break points or stop instructions inbetween cause the program execution to be stopped 6 2 3 3 Step Over Synopsis Execute the next operator in the current program Shortcut F6 ha 6 2 3 Menu Execute 75 This entry enables you to run a program even if it is not complete step by step HDevelop executes the operator or procedure call directly to the right of the PC After the operator or procedure call has terminated all computed values are assigned to their respective variables that are named in the output parameter positions Their graphical or textual representation in the variable window is also updated If iconic data has been computed you will see its presentation in the current graphics window In the status bar the runtime of the operator or procedure call is indicated unless the time measurement has been deactivated The PC is then moved to the next operator or procedure call to execute If the operators or procedure calls are specified in a sequential order this is the textual successor In case of control statements e g if endif or for endfor the PC is set on the end marker e g endif or endfor after the execution of the last operator or procedure call inside the statement s body After endfor and endwhile the PC is always set on the beginning of the loop If a condition
58. the export based on HALCON NET see section 9 4 on page 208 9 5 1 Basic Steps 9 5 1 1 Export The first step is to export the program using the menu File gt Export Here select the language Visual Basic NET HALCON COM and save it to file The result is a new file with the given name and the extension vb 9 5 2 Program Structure 211 9 5 1 2 The Visual Basic NET Template The exported file is intended to be used together with the predefined Visual Basic NET project that can be found in the directory HALCONROOT examples vb net HDevelopTemplateCOM This project contains a form with a display window HWindowXCtr1 and a button labeled Run Add the file generated by HDevelop to the project in the Solution Explorer Add Existing Item Now the project is ready for execution Run the project and then press the button Run on the form which will call the exported code 9 5 2 Program Structure The file created by HDevelop contains a subroutine with the corresponding name for every HDe velop procedure except the main procedure which is contained in the subroutine action Iconic input and output parameters of a procedure are passed as ByVal HUntypedObjectX and ByRef HUntypedObjectX respectively while control input and output parameters are passed as ByVal Object and ByRef Object respectively The subroutine RunHalcon contains a call to the subrou tine action and has a parameter Window which is of type H
59. the matching process a so called image pyramid is created both for the model image and for the search images The pyramid consists of the original full sized image and a set of downsampled images For example if the original image first pyramid level has the size 600x400 the second level image has the size 300x200 the third level 150x100 and so on The object is then searched first on the highest pyramid level i e in the smallest image The results of this fast search are then used to limit the search in the next pyramid image whose results are used on the next lower level until the lowest level is reached Using this iterative method the search is both fast and accurate You can inspect the model image pyramid together with the corresponding models via the menu item Create Model gt Display Image Pyramid page 149 which opens the corresponding dialog of the tab Model Creation We recommend to choose the highest pyramid level at which the model contains at least ten pixels and still resembles the original shape You can enter the value directly in the text field or by using the slider next to it Alternatively you can let the Matching Assistant select a suitable value automatically 7 3 2 The Menu Create Model and the Tab Model Creation 153 Note that the Matching Assistant can check whether the model contains enough points on the selected number of pyramid levels only when actually creating the model In case the model does not c
60. the median of a tuple For both functions the resulting value will be of type real if at least one of the elements is of type real If all elements are of type integer the resulting value will also be of type integer select_rank returns the element at rank i and works for tuples containing int or real values The index i is of type int deg and rad convert numbers from radians to degrees and from degrees to radians respectively real converts an integer to a real For real as input it returns the input int converts a real to an integer and truncates it round converts a real to an integer and rounds the value For integer it returns the input The function abs always returns the absolute value that is of the same type as the input value The following example file name euclid_distance dev shows the use of some numerical functions vi 18 8 132 4 33 19 3 V2 233 23 32 786 234 4224 63 33 Diff Vi V2 Distance sqrt sum Diff Diff Dotvalue sum V1 V2 First the Euclidian distance of the two vectors V1 and V2 is computed by using the formula d y Vli V2 The difference and the multiplication square are successively applied to each element of both vectors Afterwards sum computes the sum of the squares Then the square root of the sum is calculated After that the dot product of V1 and V2 is determined by the formula V1 V2 X Vl V2 i 8 5 13 Miscellaneous Functions sort sorts the tup
61. the range of rotation is defined relative to the model image i e a starting angle of 0 corresponds to the orientation the object has in the model image Therefore to allow rotations up to 5 e g you should set the starting angle to 5 and the angle extent to 10 We recommend to limit the allowed range of rotation as much as possible in order to speed up the search process and to minimize the required memory If the loaded test images page 158 show the object in its extreme orientations you can let the Matching Assistant determine the range of rotation i e the Pose Bounds page 166 by pressing the Run button of the tab Inspect and viewing the result in the Statistics output of the same tab Furthermore you must limit the allowed range if the object is almost symmetrical Otherwise the search process will find multiple almost equally good matches on the same object at different angles which match at which angle is returned as the best can therefore jump from image to image The suitable range of rotation depends on the symmetry For a cross shaped or square object the allowed extent must be less than 90 for a rectangular object less than 180 and for a circular object 0 Note that if you have chosen a very large angle and scale range you may find it useful to switch off the complete pregeneration page 157 of the model GUI Reference 154 Matching Assistant 7 3 2 16 The Model Parameters for the Sca
62. the tab Model Creation e Do multiple objects overlap If the objects are to be recognized in this state nevertheless try decreasing the Maximum Overlap page 163 in the dialog Advanced Model Use Parameters in the tab Model Use e Ifthe object is found but not at the expected position or orientation check the following e If multiple matches are found on one and the same object decrease the Maximum Overlap page 163 in the dialog Advanced Model Use Parameters e If an almost symmetric object is found at the wrong orientation try reducing the param eters specifying the allowed range of rotation page 153 in the dialog Standard Model Parameters page 150 in the tab Model Creation 7 3 3 11 Specifying Standard Model Use Parameters Via the menu item Use Model gt Standard Model Use Parameters you can specify e the Minimum Score the object must have and e the number of instances of the object that are searched for in an image Maximum Number of Matches Additionally advanced search parameters can be specified via the menu item Use Model gt Advanced Model Use Parameters 162 Matching Assistant 7 3 3 12 The Search Parameter Minimum Score When comparing a region in a test image with the model page 143 the Matching Assistant calculates a measure of similarity the so called score page 144 which ranges between O no similarity and 1 perfect similarity With the parameter Minimum Score you can specify a minimu
63. there is no match the text field will blink shortly Otherwise the first matching program line in the current procedure is highlighted Each subsequent click of Find highlights the next matching program line If the last matching line of the current scope has been reached the text field blinks shortly The next click on Find starts over at the beginning Finding All Occurrences of the Search Text Enter the search text and click Find A11 All matched lines are listed at the bottom of the dialog along with the corresponding procedure name and line number Click on a search result to jump to the corresponding procedure and highlight the matching program line This function is recommended before doing a global replace to preview which program lines will be affected An example is displayed in figure 6 9 You can even select multiple lines from the search result by holding the lt Ctrl gt key The following actions may be performed for all selected lines either from the context menu of the search result or the corresponding menu entries or tool bar icons Cut page 57 Copy page 58 Delete page 58 Activate page 58 and Deactivate page 59 Replacing Variable Names Click Variables to specify the search context Enter the search text and the replace text You can replace parts of variable names by keeping Whole Words unchecked Click Find until the desired line is found Afterwards click Replace to replace all occurrences of the search
64. to abort 6 2 5 Menu Procedures The menu Procedures contains all functionality that is needed to create modify copy or delete HDe velop procedures To save procedures refer to the Menu File menu page 46 6 2 5 1 Create New Procedure Synopsis Create a new internal or external procedure Selecting this item opens the Procedure Interface Dialog window The procedure interface dialog and the mechanism of creating procedures are described in section Creating and Editing Procedures on page 105 6 2 5 2 Duplicate Synopsis Copy a procedure under a different name Selecting this menu item opens a dialog with which it is possible to copy existing procedures The dialog is displayed in figure 6 26 The combo box Source contains all local procedures in the current program and all external procedures In the Target text field the name of the copied procedure can be entered Clicking the OK button creates a copy of the source procedure Cancel dismisses the dialog The copy retains the status local or external of the source procedure The copy of an external procedure is placed in the same directory as the source procedure Duplicate Procedure 21xj Source y Target Figure 6 26 Duplicate Procedure Duplicating external procedures that are protected with a password see Edit Status of External Proce dures on page 111 is also possible The associated password is also used for the duplicated procedure
65. to install defined positions for program interruption Under UNIX you can use exit in combination with a startup file and the command line switch run Thus HDevelop will not only load and run your application automatically but also terminate when reaching exit Comments The operator comment allows to add a line of text to the program This text has no effect on the execution of the program A comment may contain any sequence of characters 6 2 6 2 Develop Synopsis Select operators specific to HDevelop This menu contains several operators that help to adapt the user interface These operators offer the same functionality that you have using mouse interaction otherwise They are used to configure the environment from within a program Using these operators the program performs actions similar to the setting of a color in the parameter window opening a window in the menu bar or iconifying the program window with the help of the window manager All operators in this menu start with the prefix dev_ It has been introduced to have a distinction to the underlying basic HALCON operators e g dev_set_color and set_color The effects of each operator are described as follows dev_open_window dev_close_window dev_clear_window The operators dev_open_window and dev_close_window are used to open and to close a graphics window respectively During opening the parameterization allows you to specify the window s size and position The oper
66. true for messages like H_MSG_FAIL which are not handled as exceptions in C for example When handling exceptions you also have to be aware that the COM interface always resets the output parameters at the beginning of the operator execution Thus when the exception occurs output variables are set to Nothing Therefore you cannot use the values of variables used as output parameters of the operator causing the exception 9 3 3 3 Memory Management The NET Framework s runtime environment CLR Common Language Runtime has a mechanism called garbage collector which is used by the CLR to remove no longer needed NET objects from 208 Code Export memory As mentioned earlier in the exported C code every iconic object is represented by a NET HUntypedObjectX object which contains a reference to a COM HUntypedObjectX object From the garbage collector s point of view a NET HUntypedObjectX object is rather small Thus it might not be collected from memory although the underlying iconic object e g an image might in fact occupy a large portion of memory In order to avoid memory leaks caused by this effect in the exported code every iconic object is deleted explicitly before it is assigned a new value 9 4 Code Generation for Visual Basic NET HALCON NET This section describes how to create a HALCON application in Visual Basic NET starting from a program developed in HDevelop HALCON can be used together with Visual Bas
67. type and the number of channels are shown m The button next to the scale combo box enlarges the zoom window so that partially visible pixels at the border become fully visible 6 10 Gray Histogram Window 133 6 10 Gray Histogram Window Synopsis Display gray value histogram of active graphics window See also Menu Visualization p Gray Histogram The gray histogram window is a sophisticated tool for the inspection of gray value histograms which can also be used to select thresholds interactively and to set the range of displayed gray values dynamically 0 x Channel fi y Y Update 255 D 255 A Histogram Options Quantization Smoothing i Vertical fo fies fadaptive y Horizontal o 25s adaptive y Af Output Display hoe y Min 0 Color fcolored3 Y Maxf2ss Draw fill Y Output Destination Line Width fi originating window y _A Statistics ggigg Gray Values Number Percent Peak 112 1845 0 703812 Range Mana 262144 100 Selection Wr a 262144 100 Outside 0 0 Figure 6 51 Gray Histogram When opening the tool the histogram of the image shown in the currently active graphics window is displayed When the tool is already open the following means of sending new image data to the tool are available GUI Reference 134 Graphical User Interface e Make another graphics window active or display another image in the active graphics window Whenever y
68. without any parameters and a subsequent loading of the program Or you can convert HDevelop programs to other programming languages without opening the graphical user interface at all A full list of the supported command line switches is available with the following command hdevelop help See appendix B on page 227 for a listing of the available switches 15 User Interface When HDevelop is started for the first time it looks similar to figure 2 1 The main window offers a menu and a tool bar for quick access to frequently used functions The status bar at the bottom of the window displays messages and image properties In addition the following windows are available by default 1 Graphics window This window displays iconic data images regions and XLDs It provides its own tool bar to quickly zoom and pan the displayed image and a context menu to adapt the visualization settings The context menu is available by right clicking inside the window It contains the most frequently used entries from the menu Visualization You can open multiple graphics windows The one marked with a lit bulb in the upper right corner is the active graphics window i e it is the target for subsequent display operations The graphics window works like an image stack Images can be overlayed with regions or XLDs or with images that have a reduced domain The image stack and thus the graphics window can be explicitly cleared and rebuilt 2 Operator
69. you to find unresolved procedures in your current program If the current program or the loaded procedures contain unresolved procedure calls they are listed here along with the calling procedure name The tab card is displayed in figure 6 16 General Options General Options Select the behavior of pressing the Return key in the operator window Defines the default button in the operator window The following options are available e OK Enter and execute Enter the operator in the program window and execute it the default behavior e Enter Enter the operator without executing it The selected option may be toggled temporarily in the operator window by pressing lt Ctr1 gt lt Return gt i e if OK Enter and execute is set pressing lt Ctrl gt lt Return gt in the operator window enters the current operator without executing it Save program and external procedures automatically before execution If this option is enabled and you click any of the execution buttons like Run or Step Over and there are unsaved GUI Reference 70 Graphical User Interface Preferences AT User Interface Procedures Manage Passwords Procedure Use Unresolved Procedure Calls 4 gt as External Procedures List of all unresolved procedure calls within the current program and the loaded procedures AY General Options Name Caler 299 Visualization Settings Runtime Settings Figure 6 17 External Pr
70. 01 and Image Acquisition 02 respectively When you open a new assistant a menu entry is added to the top of the menu Assistants from which the correspond ing assistant can be restored if it has been closed The current setup is lost and the menu entry disappears if the associated assistant is exited explicitly see below If you want to keep the setup for later sessions you can always save it to a file Different assistants have different menus usually corresponding to the available tab cards These menus provide functionality specific to the assistant s task There are also some menu entries that are available in every assistant They are described in the following FilebLoad Assistant Settings Using this entry a previous configuration can be loaded from a file which has been generated using the menu entry Save Current Assistant Settings File gt Save Current Assistant Settings You can save the configuration of an assistant to a file for later use The default extension for these configuration files is das File gt Close Dialog The assistant is closed but the current configuration is preserved This menu entry performs the same function as the assistant s close button You can restore a closed assistant by clicking the numbered entry in the menu Assistants which is generated when a new assistant is opened File gt Exit Assistant The assistant is quit The resources used by the assistant are released The link to the generat
71. 1 Shape Synopsis Specify representation shape for regions See also dev_set_shape Here you specify the representation shape for regions You can display not only the region s original shape but also its enclosing rectangle or its enclosing circle 6 2 4 12 Lut Synopsis Specify look up table for gray value mapping See also dev_set_lut This menu item activates different look up tables which can be used to display gray value images and color images in different intensities and colors In the case of a true color display the image has to be redisplayed due to the missing support of a look up table in the graphics hardware For color images only the gray look up tables can be used which change each channel separately with the same table 6 2 4 13 Paint Synopsis Specify image visualization See also dev_set_paint This menu item defines the mode to display gray value images For more information see the menu item Set Parameters below 6 2 4 14 Apply Immediately Synopsis Update behavior of visualization changes in active graphics window If this menu entry bears a checkmark any changes to the visualization settings are applied immediately to the active graphics window Otherwise the changes are deferred until the next object is displayed in the active graphics window 6 2 4 15 Update Window GUI Reference Synopsis Specify the output behavior of the active graphics window If this menu entry bears a chec
72. 180 tuple_neg 180 tuple_not 188 tuple_not_equal 186 tuple_number 191 tuple_or 188 tuple_ord 191 tuple_ords 191 tuple_pow 189 tuple_rad 189 tuple_rand 191 tuple_real 189 tuple_regexp_match 185 tuple_regexp_replace 185 tuple_regexp_select 186 tuple_regexp_test 186 tuple_remove 178 238 Index tuple_round 189 tuple_rsh 181 tuple_select 178 tuple_select_range 178 tuple_select_rank 189 tuple_sgn 189 tuple_sin 188 tuple_sinh 188 tuple_sort 191 tuple_sort_index 191 tuple_split 185 tuple_sqrt 189 tuple_str_bit_select 184 tuple_strchr 184 tuple_string 181 tuple_strlen 184 tuple_strrchr 184 tuple_strrstr 184 tuple_strstr 184 tuple_sub 180 tuple_sun 189 tuple_tan 188 tuple_tanh 188 tuple_unig 178 tuple_xor 188 type 226 boolean 225 integer 225 real 225 226 string 225 226 Undo 57 Unicode 53 UNIX 200 216 unnamed 43 unsaved changes 43 until 102 103 194 until 194 Update Graphics Window 73 Update Program Counter 72 Update Variables 72 119 Update Window 81 Use Model 158 User 119 User Interface 64 UTF 8 encoding 53 70 variable meee variable window 15 variable window 117 226 layout 119 resize 119 tabs A11 Auto User 119 variables 172 view image pyramid 149 view model image 149 view test image 160 visible objects 160 Visual Basic 9 export of HDevelop programs 213 Visual Basic NET 9 export of HDevelop p
73. 2 dev_set_part 84 92 125 220 dev_set_part 220 dev_set_preferences 73 dev_set_shape 81 92 dev_set_window 78 92 dev_set_window_extents 79 91 dev_unmap_par 93 dev_unmap_prog 93 dev_unmap_var 93 dev_update_pc 72 93 dev_update_time 72 93 dev_update_var 72 93 dev_update_window 73 92 93 Develop 91 disp_circle 126 disp_image 126 disp_line 126 disp_region 126 Display 79 Display Image Pyramid 149 Display Model 149 Display Selected Test Image 160 drag and drop 11 21 Draw 80 dump_window 78 Duplicate 87 dyn_threshold 95 Edit program line 103 Edit Interface 88 Edit menu Activate 58 Copy 58 Cut 57 Deactivate 59 Delete 58 Find Again 61 Find Replace 59 Paste 58 Preferences 62 Redo 57 Undo 57 Edit Procedure 89 else 192 193 else 192 elseif 90 193 Enable the Context Menu in the Graphics Window 73 encoding 53 native 53 70 UTF 8 53 70 endfor 41 75 194 195 endfor 194 endif 75 192 193 196 endif 192 endwhile 75 194 endwhile 194 Error message 221 escape strings 170 example programs 47 Exception handling 202 205 207 210 212 215 Execute menu Abort Procedure Execution 78 Call Stack 76 Clear All Breakpoints 77 Clear Breakpoint 77 Index Reset Procedure Execution 77 Reset Program Execution 77 173 Run 73 Run to Insert Cursor 74 Set Breakpoint 76 Step Forward 75 Step Into 75 Step Out 76 Step Over 74 Stop 76
74. 2 lessor equal tuple_less_equal ti gt t2 greaterofequal tuple_greater_equal ti t2 equal tuple_equal ti t2 not equal tuple_not_equal Table 8 11 Comparison operations regexp_select See also tuple_regexp_select regexp_select s1 s2 returns only the elements of the tuple s1 that match the regular expression s2 In contrast to regexp_match the original tuple elements instead of the matching substrings are returned Tuple elements that do not match the regular expression are discarded For example assign regexp_select List jpg Selection sets Selection to all the strings from List that look like file names of JPEG images Please note that the backslash character has to be escaped to be preserved regexp_test See also tuple_regexp_test regexp_test s1 s2 returns the number of elements of the tuple s1 that match the regular expression s2 Additionally a short hand notation of the operator is available which is convenient in conditional expressions si s2 8 5 8 Comparison Operations In HDevelop the comparison operations are defined not only on atomic values but also on tuples with an arbitrary number of elements They always return values of type boolean table 8 11 shows all comparison operations t1 t2andt1 t2are defined on all types Two tuples are equal true if they have the same length and all the data items on each index position are equal If the operands have different types intege
75. 4 program 74 strchr 184 string 226 concatenation 174 184 operations 181 Index 237 special characters 170 strlen 184 strrchr 184 strrstr 184 strstr 184 Subpixel 163 Successors 95 Suggestions Alternatives 95 Keywords 95 Predecessors 94 See also 95 Successors 95 syntax 169 terminology 11 test image sequence delete 159 test image delete 158 test image display 160 test image select 160 Test Images 159 test images load 158 test model 144 158 test_region_point 93 threshold 34 35 37 136 trigonometric functions 187 true 225 tuple 226 concatenation 176 177 tuple_abs 189 tuple_acos 188 tuple_add 180 tuple_and 188 tuple_asin 188 tuple_atan 188 tuple_atan2 188 tuple_band 181 tuple_bnot 181 tuple_bor 181 tuple_bxor 181 tuple_ceil 189 tuple_chr 191 tuple_chrt 191 tuple_concat 178 tuple_cos 188 tuple_cosh 188 tuple_cumul 189 tuple_deg 189 tuple_deviation 189 tuple_div 180 tuple_environment 191 tuple_equal 186 tuple_exp 189 tuple_fabs 189 tuple_find 178 tuple_floor 189 tuple_fmod 189 tuple_greater 186 tuple_greater_equal 186 tuple_int 189 tuple_inverse 191 tuple_is_number 191 tuple_ldexp 189 tuple_length 178 tuple_less 186 tuple_less_equal 186 tuple_log 189 tuple_log10 189 tuple_1sh 181 tuple_max 189 tuple_max2 189 tuple_mean 189 tuple_median 189 tuple_min 189 tuple_min2 189 tuple_mod 180 tuple_mult
76. 62 and Greediness page 163 automatically via the menu item Use Model gt Optimize Recognition Speed page 164 which can be accessed also via the tab Model Use If the reached recognition speed is not sufficient you can try to modify parameters manually However please be aware that such a modification may result in a lower accuracy of the calculated position orienta tion or scale or even prevent the Matching Assistant from finding the object Therefore we recommend to check whether the matching still succeeds in all test images page 143 after each modification How the different parameters influence the recognition speed is described below Please note that when ever you modify a model parameter the internally stored model must be created anew you must start this creation and the search explicitly using the button Find Model or the button Detect A11 in the tab Model Use After each modification determine the resulting recognition speed using the dialog Optimize Recognition Speed page 164 The following modifications can speed up the matching processes Create Model gt Standard Model Parameters page 150 e Number of Pyramid Levels page 152 Increase the value and check whether the matching still succeeds in all images e Allowed ranges of rotation page 153 and scale page 154 Set the parameters Start Angle page 153 Angle Extent page 153 Min Row Scale page 154 Max Row Scale page 154 Min Column Scale page 154
77. 815 two_numbers This code is displayed as empty_tuple one_integer 4711 two_numbers 4711 0 815 8 5 4 Tuple Creation 179 This is useful for constant tuples with a fixed small length More general tuples can be created by successive application of the concatenation or the operator insert together with variables expressions or constants If we want to generate a tuple of length 100 where each element has the value 4711 it might be done like this assign tuple for 1 100 1 i assign tuple 4711 tuple endfor which is displayed as tuple for i 1 to 100 by 1 tuple tuple 4711 endfor Because this is not very convenient a special function called gen_tuple_const is available to construct a tuple of a given length where each element has the same value Using this function the program from above is reduced to assign gen_tuple_const 100 4711 tuple which is displayed as tuple gen_tuple_const 100 4711 If we want to construct a tuple with the same length as a given tuple there are two ways to get an easy solution The first one is based on gen_tuple_const assign gen_tuple_const tuple_oldl 4711 tuple_new which is displayed as tuple_new gen_tuple_const tuple_oldl 4711 The second one is a bit tricky and uses arithmetic functions assign tuple_old 0 4711 tuple_new which is displayed as tuple_new tuple_old 0 4711 Language 180 HDevelop Langua
78. 9 see page 76 Reset program execution F2 see page 77 CNA egy Reset current procedure execution Shift F2 see page 77 102 Graphical User Interface About current procedure execution Shift F8 see page 78 Display visualization settings see page 82 Open zoom window see page 86 Open gray histogram window see page 86 Open feature histogram window see page 86 Open feature inspection window see page 86 FP y A Open help window F1 see page 99 6 4 Program Window The program window see figure 6 30 on page 104 is divided into three areas e At the top you find elements for selecting procedures or editing the interface of existing proce dures e Below this the column at the left side contains the PC the IC and optionally one or more break points e The main part of the program window contains the program code of the current HDevelop proce dure These three parts are described in the following sections but in the reverse sequence 6 4 1 The Program Area The main part of the program window contains the program code of the current HDevelop procedure Here the user can obtain information about the inserted operators or procedure calls A program is built up such that every line contains exactly one operator or procedure call with its parameters or an assignment An exception are the conditional constructs if and ifelse and the loop constructs while for and until They cont
79. 9 set 76 Add Variable 119 button 225 add_channels 134 138 advanced model parameters 154 C 9 215 advanced search parameters 162 compile and link UNIX 216 A11 119 compile and link Windows 216 Alternatives 95 export of HDevelop programs 9 215 Always Find 160 C 9 Angle Extent 153 compile and link UNIX 200 Angle Step 155 compile and link Windows 200 Apply Immediately 81 export of HDevelop programs 199 CH 9 area_center 40 export of HDevelop programs 203 205 230 Index Call Stack 76 Cascade Windows 98 categories example programs 47 channel gray value 86 131 channel number 132 channel selection gray histogram 134 check box Always Find 160 check box Pregenerate Shape Model 157 check box Shape models may cross the image border 164 Cleanup 54 119 Clear All Breakpoints 77 Clear Breakpoint 77 Clear Graphics Window 79 Clear Variable 119 click 11 clipboard 57 58 Close Assistant 148 Close Dialog 96 Close Graphics Window 79 close_window 219 Code Generation 166 Code generation 199 code generation file 24 image acquisition interface 28 code generation preview 168 code lines delete 168 code lines insert 167 code lines release 167 code options 167 code variables 167 Color 80 color graphics window 80 Colored 80 column 44 Column Scale Step 155 COM 205 210 213 comment 58 59 90 91 comment 59 91 217 217 217 217
80. Develop Generate Code On the tab card Code Generation the settings made in the other tab cards are turned into executable code The basic structure of the code and the corresponding variable names can be specified Control Flow Initialization Only Generate only code to initialize the image acquisition interface with the param eters specified in the other tab cards and to close it down properly Additional code for image acquisition and processing can be added later Acquire Single Image Also generate code to acquire an image Acquire Images in Loop Also add a loop around the image acquisition code Further image pro cessing can be added inside this loop The image acquisition interface is addressed by a so called handle The variable name of this handle can be specified in the text field Connection Handle The variable name of the acquired image s can be setin Image Object Click Code Preview to inspect the code Click Insert Code to generate the code in the program window at the IC Image Acquisition Image Acquisition 01 File Acquisition Code Generation Help Ca E Fak Source Connection Parameters Code Generation Acquisition A Control Flow Jacquire Images in Loop y Insert Code Acquisition Mode Asynchronous Acquisition y IV Auto Disconnect Variable Names Connection Handle JacqHandle Loop Counter index Image Object image Image Files ImageFiles _A Code Preview Insert Operator Repla
81. Develop procedures except the main procedure In order to perform windows operations in HDevelop procedures aimed to be exported to C or C the corresponding HALCON operators like open_window close_window or set_line_style should be used instead in that case ignore the warning issued by HDevelop e Window size In exported Visual Basic Visual Basic NET and C programs the size of the window on the form is predefined 512 x 512 thus it will normally not fit your image size Therefore you must adapt the size interactively or by using the properties of the window 220 Code Export e Displaying results Normally the result of every operator is displayed in the graphics window of HDevelop This is not the case when using an exported program It behaves like the HDevelop program running with the option update window off We recommend to insert the operator dev_display in the HDevelop program at each point where you want to display data This will not change the behavior of the HDevelop program but result in the appropriate call in the exported code When generating code for C or C close the default graphics window using dev_close_window and open a new one using dev_open_window before the first call of dev_display in order to assure a correct export Displaying images In HDevelop images are automatically scaled to fit the current window size This is not the case in exported programs For example if you load and
82. HDevelop program icon from a file browser and drop it on the HDevelop window to load it lt O 2 O 53 3 O pue Introducing HDevelop middle mouse button With three button mice the middle mouse button is mostly used under UNIX to paste text which has previously been selected into text fields Otherwise it provides the same functionality as the left mouse button or none at all mouse wheel Most recent three button mice combine the middle mouse button with a scrolling wheel HDevelop supports the mouse wheel in many places The mouse wheel operates the GUI ele ment under the mouse cursor Using the mouse wheel you can for instance quickly scroll large program listings select values from lists or perform continuous zooming of displayed images In general windows that provide a scroll bar can be quickly scrolled with the mouse wheel Further more the values of spinner boxes text fields that expect numerical data can be decremented and incremented with the mouse wheel Keyboard Usage HDevelop is very keyboard friendly Most functions of the graphical user interface that can be operated using the mouse can be accessed from the keyboard as well Many of the most important functions are available through keyboard shortcuts which are worthwhile memorizing When programming with HDevelop keeping both hands on the keyboard can increase the productivity Therefore many naviga tional tasks like selecting parameter fields or se
83. MSG_TRUE and Button 0 break endif endwhile stop The operator stop stops the program after the operator is executed The program can be continued by pressing the Step Over or Run button exit The exit operator terminates the HDevelop session return The operator return returns from the current procedure call to the calling procedure If return is called in the main procedure the PC jumps to the end of the program i e the program is finished Language 8 8 Limitations This section summarizes the restrictions of the HDevelop language e Maximum number of objects per parameter 100000 e Maximum length of strings 1024 characters e Maximum length of a variable or procedure name 256 characters 198 HDevelop Language Code Export 199 Chapter 9 Code Export The idea of code export or code generation is as follows After developing a program according to the given requirements it has to be translated into its final environment For this the program is transferred into another programming language that can be compiled HDevelop allows to export a developed HDevelop program to the programming languages C Visual Basic Visual Basic NET C and C by writing the corresponding code to a file The following sections describe the general steps of program development using this feature for the languages e C section 9 1 e C HALCON NET section 9 2 on page 203 e C HALCON COM section 9 3 on page 205
84. Mar 9 17 23 57 2007 o m writable yes 2D Metrology 3D Metrolo Size 4689 Bytes w Lines of Code 57 BarCode ts Used Local Procedures o DataCode Q 5 Unused Local Procedures 0 OCRIOCY w D x Matchin Used External Procedures 0 z lt b Used Protected Procedures 0 o D Oo Copy to Clipboard Figure 6 6 Properties General left Used Modules right 56 Graphical User Interface Procedure Options Print Procedures Define whether procedures are printed or not e Used Local Procedures print only used local procedures e All Local Procedures print all local procedures e Used External Procedures also print used external procedures Only Procedure Interface If this box is checked the procedure body is not printed Instead only the interface of the procedure is printed The bodies of external procedures that are locked by a password see section Edit Status of External Procedures on page 111 are not printed 6 2 1 15 Quit Synopsis Quit HDevelop Checks for Unsaved changes page 141 Shortcut Ctrl Q See also exit This menu item terminates HDevelop 6 2 2 Menu Edit In this menu you find all necessary functions to modify the current HDevelop procedure body displayed in the program window Furthermore a comprehensive find and replace functionality is offered You can also access the preferences of HDevelop from this menu CA ox Name print large Printer Selection And Properties Pr
85. Matching Assistant can read the image file types TIFF BMP GIF JPEG PPM PGM PNG and PBM Please note that the test images must have the same size as the model image A dialog appears in the tab Model Use which enables you to test the matching on the loaded images 7 3 3 2 Deleting a Test Image When you select the menu item Use Model gt Test Images gt Delete Test Image or click the but ton Delete inside the dialog Test Images of the tab Model Use the currently selected test image is deleted from the list of test images You can select a test image page 160 by clicking onto its index number or path in the text field left to the buttons You can also delete all test images at once 7 3 3 The Menu Use Model and the Tab Model Use 159 7 3 3 3 Deleting All Test Images When you select the menu item Use Model gt Test Images gt Delete All Test Images or click the button Delete A11 in the dialog Test Images of the tab Model Use all test images are deleted from the list of test images You can also delete a selected test image page 158 GUI Reference 7 3 3 4 Test Images With the menu item Use Model gt Test Images you can e load page 158 test images e delete page 158 a selected test image or delete all test images e display an already selected test image and e open the dialog Test Images inside the tab Model Use The dialog Test Images inside the tab Model Use you need to additionally e select a test image fo
86. Memory Management The NET Framework s runtime environment CLR Common Language Runtime has a mechanism called garbage collector which is used by the CLR to remove no longer needed NET objects from memory As mentioned earlier in the exported C code every iconic object is represented by a NET HObject object From the garbage collector s point of view a NET HObject object is rather small Thus it might not be collected from memory although the underlying iconic object e g an image might in fact occupy a large portion of memory In order to avoid memory leaks caused by this effect in the exported code every iconic object is deleted explicitly before it is assigned a new value 9 3 Code Generation for Cf HALCON COM This section describes how to create a HALCON application in C starting from a program developed in HDevelop HALCON can be used together with C based on the COM interface of HALCON A detailed description of this interface can be found in the Programmer s Guide part IV on page 113 Note that this export is only provided for backwards compatibility We recommend to use the export based on HALCON NET see section 9 2 on page 203 206 Code Export 9 3 1 Basic Steps 9 3 1 1 Export The first step is to export the program using the menu File gt Export Here select the language C HALCON COM and save it to file The result is a new file with the given name and the extension cs
87. OI you can specify standard model parameters Typically you now select what contrast page 151 the points must have in order to be included in the model 7 3 2 2 Displaying the Model Image Pressing the button Display Model in the tool bar of the Matching Assistant you can display the model image if available if you loaded a shape model page 147 from file the model image is not available You can alternatively display the model image via the button Display in the dialog Display Image Pyramid of the tab Model Creation accessed also via the menu item Create Model gt Display Image Pyramid If you already created a model ROJI page 143 the model itself is displayed as well When increasing the values for Image and Model using the sliders or the text boxes you can display the pyramid levels see the corresponding section about pyramid images 7 3 2 3 Displaying the Image Pyramid Using the dialog Display Image Pyramid accessed via the menu item Create Model gt Display Image Pyramid or directly inside the tab Model Creation you can display the model image page 143 see how to display the model image and inspect the pyramid of models and the corresponding images by e selecting which model level is displayed e selecting which image level is displayed and e locking or unlocking model and image level GUI Reference 150 Matching Assistant 7 3 2 4 Displaying the Model on the Different Pyramid Levels You can sele
88. Semiconductors Surveillance and security measure_pin dev Measure pins of an IC Transport Wood and timber industry pack E Method E Locate IC on a board and measure pin pm_measure_board dey distances Operator New in version Tl Keep dialog open Load Load in new HDevelop Figure 6 2 Open Example 6 2 1 3 Open Example Synopsis Load HDevelop example program by selecting it from a categorized list Checks for Unsaved changes page 141 Selecting this menu item opens a dialog that allows you to load HDevelop example programs grouped by categories The dialog is displayed in figure 6 2 Browsing the Categories The tree on the left contains a structured list of categories Clicking the icon in front of a category toggles the display of its children Alternatively double clicking any category label shows and hides the subcategories while also selecting the node of the tree There can be multiple levels of categories If you select a category all its matching example programs are listed in the area on the right You can select multiple categories by holding down the lt Ctr1 gt key while clicking additional categories An HDevelop example program may appear multiple times under different topics and categories Filtering the Matched Example Programs Both the file name and the short description of the matched example programs are displayed You can reduce the number of listed programs by entering
89. The external procedures used in the current program are copied as local procedures The external proce dure files are left untouched 6 2 5 7 Insert All As Local Synopsis Insert all external procedures into the current program as local procedures All external procedures are copied to the current program as local procedures regardless if they are used or not The external procedure files are left untouched With this menu item you can change all of your procedures to become local If your program contains protected external procedures HDevelop issues a warning and inserts only the procedures that are not locked Individual procedures can be made local or external via the check box Local in the procedures interface see section Procedure Interface Dialog on page 107 For changing the edit status of an external procedure see section Edit Status of External Procedures on page 111 6 2 6 Menu Operators 89 6 2 5 8 Make All External Synopsis Convert all local procedures into external procedures The formerly local procedures are now stored as external procedures in a selectable directory of the list of external procedure directories see section External Procedures on page 66 If no directories are configured you can select a target directory from a dialog HDevelop will add the selected target directory to the list if you tell it to Otherwise the operation will be cancelled For changing the edit status of an extern
90. WindowX This is the link to the window on the form to which all output operations are passed In addition another subroutine is created with the name InitHalcon This subroutine applies the same initializations that HDevelop performs Most of the variables iconic as well as control are declared locally inside the corresponding subroutines Iconic variables belong to the class HUntypedObjectX and control variables belong to Object Depending on the program additional subroutines and variables are declared 9 5 2 1 Arrays If a single value is inserted into an Object array a special subroutine is called to ensure that the array is valid If the array is too small or of the wrong type it is recreated in the appropriate way 9 5 2 2 Expressions All parameter expressions inside HDevelop are translated into expressions based on the HALCON tuple operators Therefore an expression might look somewhat complex In many cases these expressions can be changed to simple Visual Basic NET expressions For example TupleSub becomes a simple subtraction To ensure that the exported program has the same effect in Visual Basic NET this exchange 1s not applied automatically because the semantics are not always identical 9 5 2 3 Stop The HDevelop operator stop is translated into a subroutine in Visual Basic NET that creates a message box This message box causes the program to halt until the button is pressed 212 Code Export 9 5 2 4 E
91. Zoom Window on page 131 6 2 4 19 New Zoom Window Synopsis Open additional zoom window See section Zoom Window on page 131 6 2 4 20 Gray Histogram Synopsis Display gray value histogram of active graphics window Selecting this entry opens a sophisticated tool for the inspection of gray value histograms which can also be used to select thresholds interactively and to set the range of displayed gray values dynamically It is described in section Gray Histogram Window on page 133 6 2 4 21 Feature Histogram Synopsis Interactive inspection of feature histograms This menu item opens a sophisticated tool for the inspection of feature histograms It is described in section Feature Histogram Window on page 137 6 2 4 22 Feature Inspection Synopsis Inspection of shape and gray value features of individual regions This window provides a tool for the convenient inspection of shape and gray value features of individual regions It is described in section Feature Inspection Window on page 138 6 2 5 Menu Procedures 87 6 2 4 23 Save Window Synopsis Save the contents of the active graphics window to an image file The graphics window is saved as is including displayed regions and XLDs A file dialog pops up Select the destination directory enter a file name and select the output format TIFF BMP JPEG PNG or PostScript Afterwards click Save to actually save the image file or Cancel
92. _var or to a local error variable otherwise Please note that a call of dev_ set_check give_error has no influence on the operator call The exception will always be raised This is also true for messages like H_MSG_FAIL which are not handled as exceptions in C for example 9 4 3 3 Memory Management The NET Framework s runtime environment CLR Common Language Runtime has a mechanism called garbage collector which is used by the CLR to remove no longer needed NET objects from memory As mentioned earlier in the exported Visual Basic NET code every iconic object is represented by a NET HObject object From the garbage collector s point of view a NET HObject object is rather small Thus it might not be collected from memory although the underlying iconic object e g an image might in fact occupy a large portion of memory In order to avoid memory leaks caused by this effect in the exported code every iconic object is deleted explicitly before it is assigned a new value 9 5 Code Generation for Visual Basic NET HALCON COM This section describes how to create a HALCON application in Visual Basic NET starting from a program developed in HDevelop HALCON can be used together with Visual Basic NET based on the COM interface of HALCON A detailed description of this interface can be found in the Programmer s Guide part IV on page 113 Note that this export is only provided for backwards compatibility We recommend to use
93. age automatically Depending on the parameter type different selection methods are enabled As an example parameters with a defined range of values can be specified by dragging a slider or entering the value parametrically If a value is changed a reset button to the right is activated Some parameters provide a check box which attempts to set the parameter automatically if clicked If Update Image is checked parameter changes are immediately reflected in the graphics window by acquiring a new image The button Refresh updates the list of parameters which is useful if parameters have side effects You can reset all parameters to their default values at once by clicking Reset A11 uisition Image Acquisition 01 E Ol xi File Acquisiti Code Generation Help pals sar Source Connection Parameters Code Generation Interface Library hAcquEye dll 3 2 dies Image Refresh acquire new image at parameter change Extras PM Peraneters I vetiky bean z l sortbyname selection of parameters optional digital_output po P and sorting edge enhancement dse Zl reset parameter sero enen CTA TE pz SA external_trigger False x set parameter automatically flip_horizontal fase El p flip_vertical false y 5 aoe ma a F r gain_boost dasse y ix gain_master fc E AT Pl gamma roo SS AH IT 1 104 9ms Figure 4 8 Device specific parameters example 28 Acquiring Images with H
94. ain two and in case of ifelse three program lines which enclose the body Every line starts with an operator or procedure name which is indented if necessary to highlight the structure created by the above mentioned control structures After the operator or procedure name the parameters are displayed in parentheses Parameters are separated by commas The program window is used to visualize program lines but not to modify them You cannot change a program body by modifying the text directly Editing the program text in HDevelop is done in the operator window see section Operator Window on page 113 The main reason for this principle is the advantage that it facilitates providing sophisticated help Thus many input errors can be avoided 6 4 1 The Program Area 103 jo x Edit dev_open_window in procedure main at line 7 E Edit interface Enter Operator or Procedure dev_open_window y ry Parameters A dev_update_window off read image Clip clip le Row 0 rectangle origin y integer teri Clipy Width He ht E he Yer image poimteri ELIO o Wil ASA Column 0 gt rectangle origin x integer dev_close_vindow dev_oper window 0 0 Width 2 Height 2 black Wind Width Width 2 Y rectangle extent x integer dev display Clip E Zon U Height Height 2 v rectangle extent y integer bin_threshold Clip Dar Para black had connec
95. al procedure see section Edit Status of External Procedures on page 111 6 2 5 9 External Procedure Settings Synopsis Configure settings for external procedures When you select this menu item the window Preferences gt External Procedures appears With it you can define one or more directories where external procedures are stored and searched for Please note that by default no directory is defined Inside the defined directories also the contained subdirectories are scanned Therefore it is recommended to select directories with a restricted depth in order to speed up the search process If you change the list of directories the list of all available external procedures is updated See also section External Procedures on page 66 6 2 5 10 Edit Procedure Synopsis Select a procedure for editing in the program window This submenu lists all procedures in submenus grouped by chapter and section title see section Proce dure Interface Dialog on page 107 Procedures without a chapter title are listed directly in the menu Edit Procedure If you click on a procedure name it will become the current procedure in the program window You can also select procedures in the combo box of the program window page 102 6 2 6 Menu Operators Synopsis Select HALCON operators and procedures This menu item comprises all HALCON and HDevelop operators including the HDevelop control con structs Furthermore procedures can be
96. alue but is no longer displayed in the graphics window Also the PC is not advanced indicating that the second line of the program is yet to be executed Adding program lines with Enter is especially useful if some of the input parameters use variable names that will be added to the program at a later time Successor Click on the just inserted program line to select it You can let HDevelop suggest operators based on the selected line Open the menu Suggestions gt Successors This menu is filled dynamically to show typical successors of the currently selected operator We want to split the selected pixels into contiguous regions Move the mouse pointer over the menu entries The status bar displays a short description of the highlighted operator Looking through the menu entries the operator connection looks promising so we click on it Any operator selected through this menu is transferred to the operator window Again the variable names suggested by HDevelop look reasonable so press lt Return gt This is equiva lent to clicking the OK button though this can be changed in the preferences of HDevelop This time two program lines are executed The threshold operation and the connection operation As noted above Clicking OK executes from the PC to the IC In the graphics window the contiguous regions calculated by the operator connection are now dis played in alternating colors te E oD o a 36 Progr
97. alue for Angle Step When you click the button Auto Select that is placed right beside the slider for the parameter Angle Step the Matching Assistant selects a suitable value for the angle step size to obtain the highest possible accuracy 7 3 2 20 The Model Parameters Row Scale Step and Column Scale Step The standard model parameters for the scale range page 154 specify how much the object is allowed to be scaled in row and column direction To speed up the matching process the Matching Assistant pre computes instances of the model at intermediate scales in this range at steps specified in the parameters Row Scale Step and Column Scale Step Note that each time you create a model RO page 143 or change the parameter Contrast page 151 the Matching Assistant automatically selects a suitable value to obtain the highest possible accuracy You can select a higher value manually This may be useful to speed up the search process in special cases please note however that a large value may decrease the accuracy of the estimated orientation and even prevent the Matching Assistant from finding the object You can restore the automatically selected value by clicking the button Auto Select If you already loaded test images page 158 you can quickly test the effect of the selected parameter value via the menu item Inspect gt Determine Recognition Rate page 165 7 3 2 21 Letting the Matching Assistant Select a Suitable Value for Row Scale Step
98. ame functionality as in HDevelop When editing a generated program you are free to use any of the classes of HALCON COM to extend the functionality 9 3 3 Limitations and Troubleshooting Besides the restrictions mentioned in this section and in section 9 8 on page 217 please also check the description of the HDevelop operators in section 6 2 6 2 on page 91 9 3 3 1 Variable Names The export adds the prefix ho_ to all local iconic and hv_ to all local control variables respectively in order to avoid collisions with reserved words 9 3 3 2 Exception Handling In HDevelop every exception normally causes the program to stop and report an error message in a dialog window This might not be useful in C The standard way to handle this in CF is by using the try catch mechanism This allows to access the reason for the exception and to continue accordingly Thus for HDevelop programs containing error handling dev_ set_check give_error the corresponding code is automatically included Every operator call for which it is assumed that the HALCON error mechanism is turned off is enclosed in a try block followed by a catch block The latter handles the exception and assigns the corresponding HALCON error number to the error variable activated by dev_error_var or to a local error variable otherwise Please note that a call of dev_ set_check give_error has no influence on the operator call The exception will always be raised This is also
99. amming HDevelop 5 6 Understanding the Image Display After having executed the three lines of our program the graphics window actually displays three layers of iconic variables the image Clip the region Region and the tuple of regions ConnectedRegions from bottom to top Place the mouse pointer over the icons in the variable window to obtain basic information about the variables The display properties of images and the topmost region can be adjusted from the context menu of the graphics window For images the look up table henceforth called LUT and the display mode referred to as paint can be set The LUT specifies gray value mappings Experiment with different settings Right click in the graphics window and select some values from the menus Lut and Paint Make sure the menu entry Update Window is checked Notice how the display of the image changes while the regions remain unchanged The menu entries Colored Color Draw Line Width and Shape change the display properties of the topmost region Set Draw to margin Color to cyan and Shape to ellipse The display of ConnectedRegions which is the topmost layer changes accordingly The region Region is still dis played in filled red A more convenient way to set many display properties at once is available through the menu entry Set Parameters It opens the settings window displayed in figure 5 6 After trying some settings click the button Reset to
100. anced settings are only provided in this window Furthermore an interactive preview is provided which visualizes the current settings Select Graphics Window only with multiple graphics windows Keep in mind that each graphics window keeps its own private set of visualization settings When multiple graphics windows are opened in the current session you can switch between the settings of the different graphics windows by selecting the corresponding window handle 6 2 4 Menu Visualization 83 Update This check box corresponds to the setting of Menu Visualization gt Apply Immediately If it is checked every change of a parameter will immediately lead to a redisplay of the image regions or XLD in the graphics window Otherwise the parameters become active for the next display of an object double click on an icon or execution of an operator Reset Reset to the visualization settings defined in the Preferences page 62 Use settings for new windows Make the current settings also the default settings for new graphics windows Pen settings Here the display modes for regions and XLDs are specified You can select the color single or multiple the drawing mode filled or outlined the line width and the shape of the regions You can select up to 12 colors by clicking the appropriate check box They are used to emphasize the connectivity of different regions in the graphics window If you choose a single color present
101. and Column Scale Step When you click the button Auto Select that is placed right beside the sliders for the parameters Row Column Step Size the Matching Assistant selects suitable values for both scale step sizes based on the model image GUI Reference 156 Matching Assistant 7 3 2 22 The Model Parameter Metric The parameter Metric lets you choose whether the polarity of the contrast is to be observed when comparing a test image with the model By default the polarity is used use_polarity i e the points in the test image must show the same direction of the contrast as the corresponding points in the model You can choose to ignore the polarity globally ignore_global_polarity at the cost of a slightly lower recognition speed In this mode an object is recognized also if the direction of its contrast reverses e g if your object can appear both as a dark shape on a light background and vice versa A third mode lets you ignore the polarity locally ignore_local_polarity i e objects are also recog nized if the direction of the contrast changes only in some parts This mode can be useful e g if the object consists of a part with a medium gray value within which either darker or brighter sub objects lie Please note however that the recognition speed decreases dramatically in this mode especially if you allowed a large range of rotation page 153 Finally you can choose to ignore the color polarity igno
102. ard deviation tuple_deviation cumul a cumulative sums of a tuple tuple_cumul median a median of a tuple tuple_median select_rank a i sqrt a deg a rad a real a int a round a abs a fabs a ceil a floor a fmod al a2 sgn a element at rank i of a tuple square root y a convert radians to degrees convert degrees to radians convert integer to real truncate real to integer convert real to integer absolute value of a integer or real absolute value of a always real smallest integer value not smaller than a largest integer value not greater than a fractional part of a1 a2 with the same sign as al element wise sign of a tuple tuple_select_rank tuple_sqrt tuple_deg tuple_rad tuple_real tuple_int tuple_round tuple_abs tuple_fabs tuple_ceil tuple_floor tuple_fmod tuple_sgn Table 8 16 Numerical functions applies to the function sum that determines the sum of all values If the input arguments are strings string concatenation will be used instead of addition Language 190 HDevelop Language The functions mean deviation sqrt deg rad fabs ceil floor and fmod work with integer and real the result is always of type real The function mean calculates the mean value and deviation the standard deviation of numbers sqrt calculates the square root of a number cumul returns the different cumulative sums of the corresponding elements of the input tuple and median calculates
103. ared of all procedure calls except the main procedure call The latter is reset i e all variables have undefined values and the PC is set to the first executable line of the main procedure The break points however are not cleared This menu item is useful for testing and debugging programs 6 2 3 13 Synopsis Shortcut Reset Procedure Execution Reset procedure execution Shift F2 The variables of the current procedure are reset i e all variables have undefined values and the PC is set to the first executable line of the current procedure This menu item is useful for debugging procedures without affecting the calling procedures GUI Reference 78 Graphical User Interface 6 2 3 14 Abort Procedure Execution Synopsis Abort execution of current procedure Shortcut Shift F8 All variables of the current procedure are reset The PC is set back to the line in the calling procedure from which the current procedure was called The calling procedure becomes the current procedure 6 2 4 Menu Visualization Via this menu you can open or close graphics windows and clear their displays Furthermore you may specify their output behavior during runtime Most functions are also available from the context menu of the graphics windows 6 2 4 1 Open Graphics Window Synopsis Open a new graphics window See also dev_open_window When selecting this menu entry a dialog window pops up Here you may specify some
104. arrays of values Empty region An empty fregion contains no points at all i e its area is zero Graphics window A graphics window is used in THDevelop for displaying e g images Tregions and XLD HDevelop is an interactive program for the creation of HALCON applications Iconic data are image data i e image arrays and data which are described by coordinates and are derived from image arrays e g Tregions images and TXLD Image An image consists of one or more multi channel image image arrays and a region as the definition domain All image arrays have the same dimension but they can be of different pixel types The size of the region is smaller or equal than the size of the image arrays The fregion determines all image points that should be processed Iconic object Generic implementation of ficonic data in HALCON integer is the type name for integer numbers Operator data base The operator data base contains information about the HALCON operators It is loaded at runtime from the binary files in HALCONROOT help Glossary 226 Glossary Program window In HDevelop the program window contains the program It is used to edit copy delete and paste lines and to run or debug the program Operator window In the operator window of HDevelop the parameters of the selected operators can be entered or modified Real is the type name for floating point numbers They are implemented using the C type double 8
105. as well as operator or procedure calls In addition you can replace variable names and substitute operator or procedure calls The dialog is displayed in figure 6 8 GUI Reference Search Context The search context can be set to one of the following entities Variables Find program lines with variable names that match the search text 60 Graphical User Interface Operators Find program lines with operator or procedure calls that match the search text Texts Full text search Find program lines that match the search text anywhere No replacing is allowed in this mode to prevent breaking the consistency of the program code Search Scope A11 Search the main procedure all local and all external procedures Program Search the main procedure and all used procedures Current Procedure Search the current procedure only Please note that locked procedures are not searched see section Edit Status of External Procedures on page 111 Search Parameters Case Sensitive By default the case of the search text is ignored thus searching for image will find Image or IMAGE as well Check this box to make the search case sensitive Whole Words By default program lines are matched even if the search text is only part of a word thus an operator search for hold matches operator calls to threshold Check this box to match only whole words Finding Single Occurrences of the Search Text Enter the search text and click Find If
106. at the descriptions of the corresponding operators which have the same name but start with tuple_ In particular at the description of tuple_regexp_match you find further information about the used syntax a list of possible options and a link to suitable literature about regular expressions regexp_match See also tuple_regexp_match regexp_match s1 s2 searches for elements of the tuple s1 that match the regular expression s2 It returns a tuple with the same size as the input tuple exceptions exist when working with capturing groups see the description of tuple_regexp_match in the Reference Manual for details The resulting tuple contains the matching results for each tuple element of the input tuple For a successful match the matching substring is returned Otherwise an empty string is returned regexp_replace See also tuple_regexp_replace regexp_replace s1 s2 s3 replaces substrings in s1 that match the regular expression s2 with the string given in s3 By default only the first matching substring of each element in s1 is replaced To replace all occurrences the option replace_al1 has to be set in s2 see tuple_regexp_replace For example assign regexp_replace List jpg png List substitutes file names that look like JPEG images with PNG images 186 HDevelop Language Operation Meaning HALCON operator ti lt t2 less than tuple_less t1 gt t2 greater than tuple_greater t1 lt t
107. at the end of the parameter list The latter is displayed by an array of text fields containing the parameter names Reset If you are creating a new procedure clicking this button removes all entered parameters If you are editing an existing procedure the first click of this button restores the original interface i e any changes to the parameters are undone The second click removes all parameters Remove Using this button you can remove single parameters from the list Before clicking this button focus the corresponding parameter by clicking its text field 6 4 3 Creating and Editing Procedures 109 Move Up Move Down Using these buttons you can alter the order of the parameters Select a parameter by clicking its text field and use the buttons to change its position OK Activating the button OK on bottom of the dialog either creates a new procedure or commits the changes made in the procedure interface depending on whether the interface dialog was invoked in order to create a new procedure or to modify the interface of an existing procedure In the latter case not only the interface itself might be changed but also the procedure s program body and variable lists as new variables might have been added or existing variables might have been removed or renamed If you are editing an existing procedure interface the checkbox Adapt program becomes avail able If it is checked all calls to the procedure in the current program are che
108. ation you may specify this color by selecting it in the list box With the parameter Shape default is original you may specify the presentation shape for regions You can display not only the region s original shape but also its enclosing rectangle or its enclosing circle etc The line width of the presented regions XLDs or lines is specified with help of the menu item Line Width For regions the draw mode can be specified Either it might be filled item fi11 or outlined item margin These settings are also completely available from the corresponding menu entries in the menu Visualization A description of the functionality is provided there The preview shows the current settings which is helpful if the active graphics window does not contain any regions or XLDs e Draw see also page 80 e Colored see also page 80 e Color see also page 80 e Shape see also page 81 e Line Width see also page 80 LUT settings Using LUT you are able to load different look up tables for visualization With the help of a false color presentation you often get a better impression of the gray values of an image In the case of a true color display the image has to be redisplayed due to the missing support of a look up table in the graphics hardware For color images only the gray look up tables can be used which change each channel separately with the same table See the description of the menu e
109. ations protected external procedures behave different from common external or local procedures In particular as they can not be viewed and modified by unauthorized users they also can not be copied printed or exported to any programming language however they can be duplicated using the menu entry Menu Procedures gt Duplicate Additionally if a protected external procedure contains a call to another procedure for which the interface was changed the procedure call is not adapted to the changes but is disabled for the current program At last if a protected external procedure contains any stop instructions they are ignored 6 5 Operator Window This window is used to edit and display an operator or procedure call with all its parameters Here you will obtain information about the number of the parameters of the operator or procedure the parameter types and parameter values You can modify the parameter values according to your image processing tasks For this you may use the values proposed by HDevelop or specify your own values The operator window consists of the following three parts e At the top you find the operator name field with which you can select operators or procedures e The large area below the operator name field is called the parameter display it is used to edit the parameters of an operator or procedure e The row of buttons at the bottom allows to control the parameter display GUI Reference 114 Graph
110. be represented in fewer digits than the specified minimum it is expanded with leading zeroes The default precision is 1 The result of converting a zero value with a precision of 0 is no characters f The floating point number argument is printed in decimal notation in the style ddd ddd where the number of digits after the radix character is equal to the precision specifica tion If the precision is omitted from the argument six digits are output if the precision is explicitly 0 no radix appears e E The floating point number argument is printed in the style 1d ddde dd where there is one digit before the radix character and the number of digits after it is equal to the precision When the precision is missing six digits are produced if the precision is 0 no radix character appears The E conversion character produces a number with E introducing the exponent instead of e The exponent always contains at least two digits However if the value to be printed requires an exponent greater than two digits additional exponent digits are printed as necessary g G The floating point number argument is printed in style f or e or in style E in the case of a G conversion character with the precision specifying the number of significant digits The style used depends on the value converted style e is used only if the exponent resulting from the conversion is less than 4 or greater than or equal to the precision Trailing zeros are remove
111. belong to object Depending on the program additional subroutines and variables are declared 9 3 2 1 Arrays If a single value is inserted into an object array a special subroutine is called to ensure that the array is valid If the array is too small or of the wrong type it is recreated in the appropriate way 9 3 2 2 Expressions All parameter expressions inside HDevelop are translated into expressions based on the HALCON tuple operators Therefore an expression might look somewhat complex In many cases these expressions can be changed to simple C expressions For example TupleSub becomes a simple subtraction To ensure that the exported program has the same effect in C this exchange is not applied automatically because the semantics are not always identical 9 3 3 Limitations and Troubleshooting 207 9 3 2 3 Used Classes There are only six classes types that are used object for control parameters and HUntypedObjectX for iconic data In addition there is the container class HTupleX which comprises all operators of HALCON processing tuples in this case the data type object Then there are the classes HWindowXCtr1 and its low level content HWindowX HWindowXCtrl is used inside the project for the output window and a variable of class HWindowX directs the output to this window Finally the class HOperatorSetX is used as a container for all HALCON operators There is no need for other classes as long as the program has the s
112. bjectX and control variables belong to Variant The subroutine RunHalcon has a parameter Window which is of type HWindowX This is the link to the window in the panel to which all output operations are passed Depending on the program additional subroutines and variables are declared 9 6 2 1 Arrays If a single value is inserted into a Variant array a special subroutine is called to ensure that the index is valid If the array is too small it is resized 9 6 2 2 Expressions All parameter expressions inside HDevelop are translated into expressions based on the HALCON tuple operators Therefore an expression might look somewhat complex In many cases these expressions can be changed to simple Visual Basic expressions For example TupleSub becomes a simple subtraction To ensure that the exported program has the same effect in Visual Basic this exchange is not applied automatically because the semantics are not always identical 9 6 2 3 Stop The HDevelop operator stop is translated into a subroutine in Visual Basic that creates a message box This message box causes the program to halt until the button is pressed 9 6 2 4 Exit The HDevelop operator exit is translated into the Visual Basic routine End Because this routine has no parameter the parameters of exit are suppressed 9 6 2 5 Used Classes There are only six classes types that are used Variant for control parameters and HUntypedObjectX for iconic data In addition the
113. ble window and asso ciated inspection windows as well as parameters in the operator window Printing The font used when printing program listings 6 2 2 Menu Edit 65 Language In this tab card you can change the language of the user interface Please note that HDevelop needs to be restarted if a different language is selected Layout Show full path in main window title This checkbox determines whether the full path of the current program or only the file name is displayed in the title bar of the HDevelop window Default for Organize Windows These combo boxes define the tiled layout of the four main win dows of HDevelop when using the menu entry Menu Window gt Organize Windows page 97 GUI Reference 66 Graphical User Interface External Procedures Directories Use this tab card to manage the list of directories that contain external procedures The directories are scanned for external procedures in their listing order For each directory the total number of procedures is displayed The number of loaded procedures is usually equal to the total number However external procedures are not loaded if a directory contains procedures with the same name as a preceding directory The tab card is displayed in figure 6 13 AT User Interface A External Procedures eg General Options 9 Visualization Settings amp Runtime Settings Directory 15 Figure 6 13 External Procedures gt Directories
114. bo box are saved 6 2 1 10 Export Synopsis Export program code to a programming language or as a text file See also hdevelop convert command line switch Using this dialog you can select an export format and write parts of the current program to a file in that format The dialog is displayed in figure 6 4 The button next to the export file name opens a file selection dialog page 140 to select a file name and an export format The following formats are supported file extension in parentheses e Text file txt GUI Reference e C c bsee also section 9 7 on page 215 e C cpp gt see also section 9 1 on page 199 e CH HALCON COM cs gt see also section 9 3 on page 205 e CFR HALCON NET cs gt see also section 9 2 on page 203 52 Graphical User Interface e Visual Basic 6 0 HALCON COM bas gt see also section 9 6 on page 213 e Visual Basic NET HALCON COM vb gt see also section 9 5 on page 210 e Visual Basic NET HALCON NET vb gt see also section 9 4 on page 208 The file name extension corresponding to the selected export format is appended to the specified file name 6 2 1 Menu File 53 Export Range The export range specifies which parts of the current program are exported The fol lowing options are available e Program The entire program is exported main procedure and all local procedures All used external procedures are exported depending on the setting of the ext
115. cal Funchons i oe BLS SE Shee EES SEDER EA 188 So 13 Miscellaneous Functions ooo e 6 66 sr Re eRe E RE eS 190 8 3 14 Operation Precedence coca ee ee ee ER Ee ee 191 Bie Reserved Words ss a Se RG ae SA ew wag ee aS Bes 191 8 7 Control Flow Operators cocoa ee ee Bee ee ee Se 192 Boe LIWIDONS lt soeces rios Se Se BOK eet a a a ok a Bs 197 9 Code Export 199 9 1 Code Generation fort osos ee ee ee EERE OR RE eR ee Sa 199 ail e 22 2h ck Pe Se bee ie op Pees Be eS 200 LL SOpMHSANON sc ce c ted ea ke eee Eee ee OR E ee 201 Mikes UdC asa A oe AMM wae a CHEERS Gee SES 201 9 1 4 Limitations and Troubleshooting e e 201 9 2 Code Generation for C HALCON NET 02020252 eee 203 921 Basie SIPS oco epo ee Se eS EE Ae Ee we YG 203 9 22 POSTA Suge eeso casee ae OR 204 9 2 3 Limitations and Troubleshooting 2 5 205 9 3 Code Generation for CH HALCON COM 000002 ee eee 205 Gio BASICOS ec do a PHS EA 206 3 2 Program SOCIE esco RA E A OR Re Oe 206 9 3 3 Limitations and Troubleshooting lt s o occ coo ee eee cs 207 9 4 Code Generation for Visual Basic NET HALCON NET 208 SAI Basie Steps cocoa eau EEE a Ohad od 208 94 2 Program Stricture nck Sa eR eR EEE AS ee eS 208 9 4 3 Limitations and Troubleshooting e e 209 9 5 Code Generation for Visual Basic NET HALCON COM 210 9 5 1 Basie Spe ooo eae Sa ee Oe ea ER h
116. ce Operator Code generate main Code generated by Image Acquisition 01 open_framegrab main open_framegrabber uEye 1 1 0 0 0 O interlaced 8 default set_framegrabbe main set_framegrabber_param AcqHandle exposure 99 9248 grab_image_star main grab_image_start AcqHandle 1 while true main while true grab_image_asy main grab_image_async Image AcqHandle 1 da 144 6 ms Y Figure 4 9 Code generation Here is a code example 4 3 3 Modifying the Generated Code 29 Code generated by Image Acquisition 01 open_framegrabber uEye 1 1 0 0 O 0 interlaced 8 default 1 false UL154x M 1 O 1 AcqHandle set_framegrabber_param AcqHandle exposure 99 9248 grab_image_start AcqHandle 1 while true grab_image_async Image AcqHandle 1 Do something endwhile close_framegrabber AcqHandle 4 3 3 Modifying the Generated Code After the generated code has been inserted into the program window HDevelop internally keeps the code linked to the corresponding assistant This link is kept until the assistant is quit using the menu entry File gt Exit Assistant If you close the assistant using the menu entry File gt Close Dialog or using the close icon of the window the assistant can be restored from the top of the menu Assistants You can change the se
117. chine vision appli cations Based on the HALCON library it is a sophisticated machine vision package suitable for product development research and education There are four basic ways to develop image analysis applications using HDevelop e Rapid prototyping in the interactive environment HDevelop You can use HDevelop to find the optimal operators or parameters to solve your image analysis task and then build the application using various programming languages e g C C C Visual Basic NET or Delphi e Development of an application that runs within HDevelop Using HDevelop you can also develop a complete image analysis application and run it within the HDevelop environment e Execution of HDevelop programs or procedures using HDevEngine You can directly execute HDevelop programs or procedures from an application written in a pro gramming language using HDevEngine This is described in detail in the Programmer s Guide part VI on page 161 e Export of an application as C C Visual Basic Visual Basic NET or C source code Finally you can export an application developed in HDevelop as C C Visual Basic Visual Basic NET or C source code This program can then be compiled and linked with the HALCON library so that it runs as a stand alone console application Of course you can also extend the generated code or integrate it into existing software Let s start with some facts describing the main characteristics
118. cked for consistency and updated if necessary Note that if new parameters are added to an existing procedure inter face the corresponding procedure calls are modified by adding new variables as input parameters which most likely will not be initialized at the time of the procedure call If you change the interface of an external procedure be aware of the fact that other programs containing it do not update the procedure calls When loading these programs the procedure calls are disabled If the changes were applied to a procedure that is called from inside a protected external procedure that procedure call is not even updated in the current program Cancel This button dismisses the dialog Any changes to the interface of the edited procedure are lost with the exception of the editing status see section Edit Status of External Procedures on page 111 6 4 3 2 Creating Procedures Depending on the corresponding procedure options and a possible selection of lines in the program window there are different ways on how a procedure can be created When clicking Menu Procedures gt Create New Procedure the program lines marked in the program window are copied and inserted in the program body of the new procedure This is illustrated in figure 6 34 If the last selected program line is not a return operator a return call is added at the end of the procedure body If no lines are selected in the program window the newly created procedure body
119. code lines from the program window as long as you did not released them and e open the dialog for the code preview inside the tab Code Generation 7 3 5 1 Specifying the Options for the Code Generation Via the menu item Code Generation gt Show Code Generation Options you can open the dialog for determining the options for the code generation inside the tab Code Generation The dialog con sists of the following parts e radio buttons for selecting whether the shape model is created at run time from the model image page 143 or if an already existing shape model is to be loaded For the first case you can additionally select whether to use the model image and the ROI page 143 that were specified inside the Matching Assistant or whether a new ROT has to be drawn at run time e acheck box to select whether to display the detected model instances in a loop and e the button Insert Code to insert the code generated by the Matching Assistant into the program window of HDevelop 7 3 5 2 Specifying the Variables for the Code Generation Via the menu item Code Generation gt Show Variables for Code Generation you can open the dialog for determining the variables used for the code generation inside the tab Code Generation The dialog consists of several text fields for the individual variables needed for the code lines The Matching Assistant automatically generates reasonable variable names but you can change the individual names via the text
120. cognition speed over all test images You can interrupt this process by clicking the button labelled Stop please note however that this event is processed only after the current search has finished The two parameters are optimized as follows At the beginning the greediness is set to 0 and the mini mum score to 1 Then the minimum score is decreased until the matching succeeds in all test images i e until the recognition rate is 100 Now the greediness is increased as long as the matching suc ceeds This process is repeated until the optimum parameters are found You can lower the threshold of acceptance for the recognition rate manually using the corresponding slider or text box at the bottom of the dialog The Matching Assistant then displays the optimal minimum score and greediness and the reached recog nition time It automatically enters the parameter values in the dialogs Use Model gt Standard Model Use Parameters page 161 and Use Model gt Advanced Model Use Parameters page 162 re spectively If a test image can contain more than one object the term recognition rate is ambiguous Therefore you can choose between three recognition modes 7 3 4 The Menu and Tab Inspect 165 e In each test image at least one object is expected The recognition rate is calculated as the per centage of test images which fulfill this condition 1 e it is 100 if in all test images at least one object is found e In each te
121. cols lt count gt cmap sets the default foreground color sets the default button color sets the application name sets the application title forces the application to use a TrueColor visual on an 8 bit display limits the number of colors allocated in the color cube on an 8 bit display if the application is using the QApplication ManyColor color specification If count is 216 then a 6x6x6 color cube is used i e 6 levels of red 6 of green and 6 of blue for other values a cube approximately proportional to a 2x3x1 cube is used causes the application to install a private color map on an 8 bit display Index 229 Index asterisk assign 90 175 176 178 external procedure 49 assistant in window title 33 43 Close Dialog 96 NET 203 208 Delete Generated Code Lines 96 avi 26 Exit Assistant 96 seq 26 image acquisition 23 95 217 Insert Code 96 HS 217 Load Assistant Settings 96 217 matching 95 217 Release Generated Code Lines 96 217 Save Current Assistant Settings 181 96 IC 15 Show Code Preview 96 PC 15 assistant settings load 148 Source assistant settings save 148 image 23 assure success 160 _COPY_1 48 49 Auto 119 Live 26 AVI 26 Detect 27 Reset All 27 boolean 225 Snap 26 boolean File 26 operations 187 break 90 194 196 Abort Procedure Execution 78 break point 15 74 About 100 clear 77 Activate 58 clear all 77 Add to User Tab 11
122. ct the desired pyramid level of the model by using the slider or text box for Model inside the dialog Display Image Pyramid of the tab Model Creation The model is overlaid onto the pyramid image selected with the slider or text box Image within the same dialog By default the model and the image are displayed on the same pyramid level you can unlock and again lock the levels using the lock unlock button right to the sliders Note that the highest available pyramid level is determined automatically by the Matching Assistant based on the size of the model ROI page 143 depending on the selected Contrast and Minimum Component Size page 152 higher pyramid levels may not contain any model points Detailed information about the model image pyramid can be found here page 152 7 3 2 5 Displaying the Model Image on the Different Pyramid Levels You can select the desired pyramid level of the model image using the slider or text box for Image inside the dialog Display Image Pyramid of the tab Model Creation Onto this image the model on the pyramid level selected with the slider or text box for Model within the same dialog is overlaid By default the model and the image are displayed on the same pyramid level you can unlock and again lock the levels using the lock unlock button right to the sliders Note that the highest available pyramid level is determined automatically by the Matching Assistant based on the size of the model ROI page 143 depe
123. ct this menu item If the buffer contains procedures that do not exist they are added to the current program If the paste buffer contains local procedures that do not exist they are added to the current program If the paste buffer contains calls to external procedures the paths to those procedures are copied too However before an external procedure path is added during a paste action you are asked whether or not you want to add that particular path to the external procedure paths The mechanism of copying and pasting procedure call lines together with the corresponding procedures is an easy way to transfer procedures between different HDevelop programs It also works between multiple instances of HDevelop The contents of the internal buffer are kept allowing this command to be repeated 6 2 2 6 Delete Synopsis Delete the highlighted program lines from the program window Shortcut Del This menu item deletes all highlighted program lines without storing them in an internal buffer The only way to get the deleted lines back into your program body is to use the menu item Undo 6 2 2 7 Activate Synopsis Uncomment the highlighted program lines Shortcut F3 All of the highlighted program lines that were previously commented using the Deactivate command are converted back to executable code Comment lines created with the operator comment are unaffected by this command 6 2 2 Menu Edit 59 Ml Find Replace Find Replace Var
124. ctedRegions i Remove amp Cut E Image E Copy Move Up amp paze a Move Down E Delete 8 ImageFile E Activate E Pointer Er Deactivate Type Width Create Ney Height Set Program Counter pais Set Insert Cursor lv Update Program Counter kp v ir Cancel Set Bi en IV Replace selected program lines Cx S Clear Breakpoint R Clear All Breakpoints E Print 1 ImageFile clip p_init_image Image ImageFile Pointer Type Width Height WindowHandle 3 threshold Image Region O 50 4 connection Region ConnectedRegions 5 select_shape ConnectedRegions SelectedRegions area and 4200 6000 Program Listing ijread_image Image ImageFile Figure 6 34 Creating a procedure from selected lines Only In All Out Variables that are exclusively input variables become input parameters while all output variables become output parameters This is the default option in HDevelop All In Only Out This setting is symmetrical to the previous setting 6 4 3 Creating and Editing Procedures 111 All In A11 Out All input and output variables become input and output procedure parameters re spectively The classification of variables in the selected program lines is performed separately for iconic and control variables If a variable is an input as well as an output variable it is assigned to the first category i e the corresponding procedure parameter becomes an input
125. cute Visualization Procedures Operators Suggestions Assistants Window Help FAGa SSRSVP PR eeen PAHS Bb tw E jox Operator Window jox 3 1 Aa A7 Sr y o y Joi Enter Operator or Procedure I xl Control Variables Auto JVuser 4 gt Figure 6 27 Tiled window layout of HDevelop 6 2 9 6 Cascade Windows Synopsis Arrange windows in a cascade By selecting this item HDevelop arranges the currently open windows in a cascade The cascaded window layout is displayed in figure 6 28 6 2 9 7 SDI MDI Synopsis Switch between multiple document interface the default and single document interface The different modes are explained in section Main Window on page 43 6 2 10 Menu Help 99 GuDevelop unnamed 10 x File Edit Execute Visualization Procedures Operators Suggestions Assistants Window PAA SBREOC BE D bieg a gt p lolx sox Variable View main 1 1 5 xi Enter Operator or Procedure Y Parameters Figure 6 28 Cascaded window layout of HDevelop 6 2 10 Menu Help Here you may query information about HALCON itself and all HALCON and HDevelop operators 6 2 10 1 Help Synopsis Open the online help window Shortcut Fl The help window provides access to the documentation of HDevelop and HALCON In particular the complete HALCON Reference Ma
126. d file depends on the operating system Windows APPDATA MVTec HDevelop ini UNIX HOME hdevelop MVTec HDevelop ini The dialog provides its own menu with the following entries Import Using this menu entry you can import a selection of preferences which were previously saved using the menu entry Export see below The dialog is displayed in figure 6 11 In the import dialog you can select a file with saved HDevelop preferences default file extension hdp The check boxes allow to import groups of settings selectively They correspond to the tab cards of the dialog The runtime settings are not persistent and can neither be exported nor imported 6 2 2 Menu Edit 63 Export The export dialog is identical to the import dialog Using the check boxes you can specify which settings will be saved to the selected file Reset Selecting this menu entry resets all preferences except the window geometry and layout to the default settings If you want to reset the window geometry as well you can start HDevelop with the following command line switch hdevelop reset_preferences The functionality of the available tab cards is described in the following sections Import Preferences 21xj File Name Ji IV User Interface IV External Procedures IV General Options IV Visualization Settings J Layout Figure 6 11 Import GUI Reference 64 Graphical User Interface User Interface This box
127. d for exported code dev_update_window dev_update_var dev_update_time dev_update_pc Using these opera tors you may configure the output at runtime It corresponds to the settings in menu Menu Edit gt Preferences gt Runtime Settings page 72 These operators are not supported for exported code dev_set_check This operator is equivalent to set_check of the HALCON library It is used to handle runtime errors caused by HALCON operators that are executed inside HDevelop The parameter value give_error which is the default leads to a stop of the program together with an error dialog if a value not equal to H_MSG_TRUE is returned Using the value give_error errors or other messages are ignored and the program can continue This mode is useful in connection with operators like get_mposition file_exists read_image or test_region_point which can return H_MSG_FATL dev_error_var This operator specifies a variable that contains the return value error code of an operator after execution This value can be used to continue depending on the given value dev_error_var is normally used in connection with dev_set_check Note that as the proce dure concept in HDevelop only allows for local variables the variable set by dev_error_var will only be valid in calls to the relevant procedure Furthermore every corresponding procedure call will have an own instance of the variable i e the variable might have different values in differen
128. d from the result A radix character appears only if it is followed by a digit Language 184 HDevelop Language s The argument is taken to be a string and characters from the string are printed until the end of the string or the number of characters indicated by the precision specification of the argument is reached If the precision is omitted from the argument it is interpreted as infinite and all characters up to the end of the string are printed In no case does a nonexistent or insufficient field width cause truncation of a field if the result of a conversion is wider than the field width the field is simply expanded to contain the conversion result Examples for the string conversion can be found in the program string dev string concatenation The string concatenation can be applied in combination with strings or all numerical types if neces sary the operands are first transformed into strings according to their standard representation At least one of the operands has to be already a string so that the operator can act as a string concatenator In the following example a file name e g Name5 tiff is generated For this purpose two string constants Name and tiff and an integer value the loop index i are concatenated for i 1 to 5 by 1 read_image Image Name i tiff endfor str r chr See also tuple_strchr tuple_strrchr str r chr s1 s2 returns the index of
129. d in a different format to make it more readable Note that the closing endfor is entered automatically if the corresponding check box is ticked Also note that the IC is placed between the added lines so that the body of the loop can be entered 7 E e o ogram Listing olx 2 Enter Operator or Procedure for y IV Insert endfor ATEN gt main 3 1 y Edit InterFace E Parameters read_image Clip clip g threshold Clip Region 0 56 o connection Region ConnectedRegions 7 amp Start 1 v integer f e select_shape ConnectedRegions SelectedRegions ares lo CES Es End Phi 1 integer orientation_region SelectedRegions Phi a area_center SelectedRegions area Row Column Step 1 y integer Wi for Index O to Phil 1 by 1 Blendtor fe Index Index Y integer Ok Apply Cancel Help Figure 5 11 Entering a loop in HDevelop 42 Programming HDevelop Add the following lines to the program They are automatically indented in the program window to highlight the nesting inside the for loop set_tposition 3600 Row Index Column Index write_string 3600 deg Phi Index degrees The instruction set_tposition places the text cursor in the active graphics window at the center of the region corresponding to the loop index variable Index The value 3600 is the so called window handle of the target graphics window This number is displayed in the title of the graphic
130. d out i e you cannot execute them You have the following possibilities to stop your HDevelop program The program runs until the last operator or procedure call in the current program i e the main procedure body has been called The PC is positioned behind this operator This is the usual way a program terminates The menu Menu Execute gt Stop or the corresponding tool bar button has been pressed A break point has been set see section Program Window on page 102 In this case the last operator or procedure call that will be executed is the one before the break point Menu item Menu File gt Quit has been executed see Quit on page 56 A runtime error occurred An input variable without a value or values outside a valid range might be typical reasons In this case the PC remains in the line of the erroneous operator or procedure call A stop instruction is executed The PC remains on the line containing the stop instruction Note that stop instructions inside protected external procedures see Edit Status of External Proce dures on page 111 are obeyed However the code of the protected procedure will only be visible if the correct password is entered in the program window The procedure and procedure call in which program execution was stopped automatically become the current procedure and procedure call 6 2 3 2 Run to Insert Cursor Synopsis Run from PC to IC Shortcut Shift F5 The menu entry
131. d up the entering of values in the input fields of HDevelop e g operator parameters several keycodes are defined which have special functions These keyboard mappings are shown in table 10 1 10 2 Online Help Online documentation is available in PDF and partly in HTML format HDevelop provides an integrated online help window You can conveniently browse the HTML based documentation in this window view the HTML files in your web browser In HDevelop you may call the online help window via the menu Help gt Help or by pressing lt F1 gt The functionality is described in section 6 8 on page 127 Besides HTML the documentation is available in PDF format as well To display the manuals the Adobe file viewer Acrobat Reader is included in the distribution for Windows systems If you click on a PDF document in the online help window the registered application for viewing PDF files starts up automatically 10 3 Warning and Error Windows Warning and error windows are popups that make the user aware of user errors Usually they interrupt the faulty actions with a description of the error For this purpose information about the kind of the error 1s determined during the execution Figure 10 1 shows an example of an error window Tips amp Tricks Text editing lt Home gt Move cursor to the beginning of the line lt End gt Move cursor to the end of the line lt Left gt Move cursor left one character lt Right g
132. e Create New Procedure gt Set Program Counter Set Insert Cursor iv Update Program Counter Set Breakpoint S Clear Breakpoint fize Clear All Breakpoints E Print Figure 6 31 Context menu of the program window Program Listing io x E compare_control Tuple1 Tuple2 Epsilon 4reldentical Edit Interface This procedure is locked FE Passuora For displaying and editing this procedure you must enter the password Figure 6 32 Display of a locked procedure in the program window If the procedure is locked a password button is displayed instead of the procedure body See figure 6 32 for an illustration In order to access the code the correct password has to be entered see also section Edit Status of External Procedures on page 111 While the body of the current procedure is visualized in the program window the procedure interface can optionally be viewed or modified in the procedure interface dialog displayed in a separate window The button Edit Interface at the top of the program window performs the same action as the menu item Menu Procedures gt Edit Interface Activating this button invokes the procedure interface dialog 6 4 3 Creating and Editing Procedures 107 only for external procedures Y Create Procedure Properties Procedure Name T Local gE Password Short Description Chapter Directory v ES Parameters P Reset
133. e 1 Select Directory Select File s Image Acquisition Interface detect image acquisition devices uEyel y Detect and select from the list Figure 4 6 Source selection example Connect to the Device Once an image acquisition interface is selected its connection parameters are detected and updated in the tab card Connection see figure 4 7 Here you can specify the device that is connected to the selected image acquisition interface If for example the interface of a frame grabber board with multiple cameras has been selected as the source the actual device can be selected here The parameters of this tab card are described in general in the reference section of the operator open_framegrabber please refer to the HTML page of the selected interface for detailed information menu Help Image Acquisition Image Acquisition 01 File Acquisition Code Generation Help SHAFER Source Connection Parameters Code Generation Interface Library RAcaGigEVision dl Rev 4 0 gti 1 0 3 1 Device Picsights2 y Port fo Camera File default y J Trigger Select Resolution x Fui y Y Fui y Color Space default y Field J progressive y Bit Depth 1 Rd Connect Snap Live Detect Reset All Display Image Normal y Show frames per second during live acquisition Figure 4 7 Connection parameters example If the acquisition
134. e Hold lt Shift gt to place the IC e Hold lt Ctr1 gt to place or delete a BP e Hold lt Shift gt lt Ctrl1 gt to place the PC Context Menu By clicking into the program window with the right mouse button you can open a context menu which contains shortcuts to some of the actions of the menus Menu Edit e g copy and paste lines and Menu Execute e g activate and deactivate lines or set and clear break points Please note that these actions behave slightly differently than their counterparts in the main menus When called via the main menus the actions are performed only on the selected part of the program if nothing is selected no action is performed In contrast when an action is called via the context menu and no line is selected in the program the action is performed for the line onto which you clicked with the right mouse button Note that any actions that modify the position of the PC will cause the call stack to pop all procedure calls until the current procedure call remains on top This is relevant in case the current procedure call is not the top most procedure call and is necessary to secure the consistency of the call stack Modification of the PC can happen as well directly as described above or indirectly by e g inserting a program line above the PC in the current procedure body The following entries of the context menu are not available elsewhere Run Until Here Execute the lines from the PC to the line under th
135. e call the current procedure When you click on a procedure call that belongs to a protected external procedure for protected external procedures see Edit Status of External Procedures on page 111 you can only see the procedure body if you enter the correct password in the program window 6 2 3 9 Set Breakpoint Synopsis Add break point s at selected line s This menu item sets a break point on the lines that are currently selected in the program In most cases however it is more convenient to set individual break points by holding the lt Ctr1 gt key and clicking in the left column of the program window as described in PC IC and Break Points on page 104 6 2 3 Menu Execute 77 6 2 3 10 Synopsis p_show_status_window main Figure 6 20 Call Stack Clear Breakpoint Clear break point s at selected line s These menu item clears break points on the lines that are currently selected in the program In most cases however it is more convenient to clear individual break points by holding the lt Ctrl gt key and clicking in the left column of the program window as described in section PC IC and Break Points on page 104 6 2 3 11 Synopsis 6 2 3 12 Synopsis Shortcut Clear All Breakpoints Clear all break points in the current program Reset Program Execution Reset program to its initial state F2 The main procedure becomes the current procedure and the call stack is cle
136. e eee ea ee 210 932 Program SUE cocos opa BE Ke ee ee ee ee ee 211 9 5 3 Limitations and Troubleshooting ecs ee ee ee ee ee 212 9 6 Code Generation for Visual Basic 6 HALCON COM 04 213 96 1 Basic Steps s e e eh ee eS eR ES Be tle ee BS 213 96 2 Program Structure e scarico Rw Re ee 213 9 6 3 Limitations and Troubleshooting 2 2 000 4 215 OF Codeteneratton iho ong Ke ee ee Oe a ele we ee eS 215 IET OS MICOS 6 2 dS eA ee PRE AE EHS PR TEES 215 98 General Aspects of Code Generation se ces se yak ee Re eS 217 9ST User Defined Code Blocks o cia ed kw BAS a we ee Ee SS 217 18 2 A SSERMEME oe kee rd ger bbws ah eae ead 4 217 ON TOE LOOS eee ee hh ee hae etd Se eee eee be 218 9 8 4 Protected External Procedures e 218 985 System Parameters lt lt cos RA e we ee 219 98 0 Graphics WIndows se p iei e eoi a aok a a ea SA aS 219 10 Tips amp Tricks 221 DY E eycodes ok os CR a e EA ee E E ee ae ae ee 221 10 2 Online Help cos a RI ss AA A ee ES ia a eS 221 10 3 Warning and Error Windows 2 6 5 4 spede npes Re PMG OR Ew RS 221 A Glossary 225 B Command Line Switches 227 Index 229 Introducing HDevelop 9 lt O 2 O 53 3 O pue Chapter 1 Introducing HDevelop HDevelop is a tool box for building machine vision applications It facilitates rapid prototyping by offering a highly interactive programming environment for developing and testing ma
137. e mouse cursor Help If the line under the mouse cursor contains an operator call the corresponding page is opened in the online help window This is a shortcut to double clicking the program line and clicking Help in the operator window Show Procedure If the line under the mouse cursor contains a procedure call the corresponding pro cedure becomes the current procedure i e it is displayed for editing Show Caller This menu item lists all the places in the current program where the currently displayed procedure is called Clicking on an entry takes you to the corresponding program line 6 4 3 Creating and Editing Procedures HDevelop always displays one procedure the current procedure at a time The combo box on top of the program window displays the name of the current procedure You can select another procedure from this box The first element of the list is the main procedure followed by the local procedures of the current program followed by the external procedures The procedures are sorted alphabetically After being selected from the list a procedure becomes the current procedure and the corresponding procedure call becomes the current procedure call If the selected procedure has multiple calls on the stack the last of the procedure calls is displayed GUI Reference 106 Graphical User Interface D Run Until Here D Help E Show Procedure cut E Copy 5 Paste BW Delete El Activate Ek Deactivat
138. e specified with Color Draw and Line Width This display mode is similar to threshold Additionally it performs a connection operation The separate regions can only be distinguished if Color is set to colored 3 colored 6 or colored 12 scale Map the gray values between Min and Max to the full range usually 0 255 See also scale_image The gray values of the image are scaled such that the gray value 0 of the scaled image corresponds to the selected minimum gray value and the gray value 255 to the selected maximum gray value Again the combo box Output Destination determines the graphics window in which the result is displayed This mode is useful to interactively set a window of gray values that should be displayed with a large dynamic range 6 11 Feature Histogram Window 137 6 11 Feature Histogram Window Synopsis Interactive inspection of feature histograms See also Menu Visualization gt Feature Histogram This window provides a sophisticated tool for the inspection of feature histograms In contrast to the gray value histogram described above this tool does not inspect individual pixels but regions or XLDs for these iconic objects it displays the distribution of values of a selected feature e g the area of an XLD or the mean gray value of the pixels within a region The feature histogram can also be used to select suitable thresholds for the operators select_shape and select_shape_x1d interactively U
139. e that they could not open a file or there was no permission to read it In this case the programmer has to check the return value and apply some adequate action If the message H_MSG_FALSE is ignored errors like Halcon Error 4056 Image data management object ID is NULL will happen in successive operators because the predecessor operator did not calculate an appropriate value Errors In the case of hard errors i e no message as described above the program stops with an error message To prevent this behavior the HDevelop operators dev_error_var and dev_set_check can be used to control the exception handling in the application This works similarly in HDevelop and C One difference is caused by the dynamic evaluation of dev_error_var in HDevelop This means that each time the operator is executed e g in a loop the use of the error variable might change In contrast to this in C special code is added to store the return values of operators This code will therefore be static and cannot change during program execution To understand how the code generation works let us have a look at a short example Here at first the HDevelop program dev_set_check give_error dev_error_var error true threshold image region 100 255 dev_error_var error false if error H_MSG_TRUE write_string WindowId error number error exit endif dev_set_check give_error 9 2 Code Generation for C HALCON NET 203
140. e two vertical lines such that the desired regions are high lighted 6 12 Feature Inspection Window Synopsis Inspection of shape and gray value features of individual regions See also Menu Visualization p Feature Inspection This window provides a tool for the convenient inspection of shape and gray value features of individual regions and XLDs It can for instance be used to determine thresholds for operators that select regions based on these features e g select_shape or select_gray The strategy to determine the data from which to compute the features is very similar to that of the gray histogram inspection window see section Gray Histogram Window on page 133 You can display an image or region by double clicking on it in the variable window or you can select a region or an image which is already displayed by single clicking it If you display or click into an image the gray value features of the entire image will be calculated If you click into a region that is not underlaid with an image only the shape features of this region will be displayed If you click into a region that is underlaid with an image or into a region that has gray value information e g from reduce_domain or add_channels both the shape and gray value features of that region will be displayed Finally if you have overlaid an image with a region but click into a part of the image that is outside the region only the gray value features of the entire ima
141. ect invert a sequence of characters in the text field using the mouse or holding lt Shift gt and using the cursor keys If there is a succeeding input the marked region is going to be deleted first and afterwards the characters are going to be written in the text field See page 221 for a summary of the keyboard mappings Combo box selection Using this input method you can obtain rapid settings of variables and constants To do so you have to click the button on the text field s right side A combo box is opened in which you may select an item Thus you are able to choose a certain variable or value without risking erroneous typing This item is transferred to the operator name field Previous entries are deleted Afterwards the combo box is closed If there are no variables or appropriate values the combo box remains closed 6 5 3 Control Buttons 117 6 5 3 Control Buttons Below the parameter edit fields you find five buttons that comprise the following functions Ok By clicking Ok you execute the operator or procedure call with the specified parameters When doing so the execution mode depends on the position of the PC If the PC is placed above the insertion position the system executes the program from the PC until the insertion position first Then the operator or procedure call that has been edited in the operator window is executed The reason for this is that the parameter values that are used as input values for the curren
142. ect when you leave the graphics window This enables you to have a meaningful display in the zooming tool whenever you want to do actions outside of the graphics window For finer control of the zoomed area click inside the zoom window to give it the focus and use the cursor keys to move pixel wise Press and hold the Alt key and use the cursor keys to move ten pixels at a time GUI Reference 132 Graphical User Interface Click inside the zoom window to move relative to the center position For example clicking ten pixels above the center will move the view up ten pixels The lower part of the window contains a gauge to display the gray value of the center pixel graphically The range goes from 0 left to 255 right Normally the gray value of the first channel is displayed with a black bar For images with multiple channels the gauge is split accordingly to show individual bars for each channel Thus for color images in RGB space three channels with red green and blue values three colored bars are used If the gray value is below 1 the gauge is light gray background If the value is above 255 the gauge is dark gray or colored for RGB images Above the gauge the gray values are displayed as numbers Up to five channels are displayed If more than five channels are present the remaining channel values are truncated Next to the gauge the coordinates of the mouse position is displayed Below these the image size pixel
143. ed code is lost i e it is not possible to restore the assistant unless the setup has been saved to a file The menu entry in the menu Assistants is also removed Code Generation Insert Code Insert HDevelop code based on the current settings of the assistant The code is inserted at the IC As long as the associated assistant is not quit you can change the settings and update the code accordingly Code Generation gt Release Generated Code Lines The link to the generated code is cut off The code remains in the program but can no longer be updated or removed from the formerly associated assistant Nevertheless you can generate new code with the current settings of the assistant Code Generation Delete Generated Code Lines The generated code is deleted from the pro gram Please note that any manual changes to the generated lines are deleted as well Code Generation gt Show Code Preview Generate a preview of the code based on the current setup of the assistant If the program already contains generated code which is linked to the current assistant the changed code lines can be compared side by side in the preview m 6 2 9 Menu Window 97 6 2 9 Menu Window This menu offers support to manage the sub windows of the main window i e the program operator variable graphics window s and possibly other dialogs At the bottom of the menu all open windows are listed Clicking an entry here brings the corresponding window to the f
144. ed external procedures and used protected procedures This is displayed in figure 6 6 6 2 1 Menu File 55 The tab card Used Modules lists the HALCON modules used by the current program Modules marked with a lit bulb are used This window allows you to get an estimate of how many modules your appli cation will need in a runtime license Please refer to the Installation Guide for more information about modules and runtime licenses See figure 6 6 for the corresponding dialog of an OCR example Check only used procedures If checked only used procedures are considered for the evaluation of the used modules Otherwise all procedures are considered Copy to Clipboard Copy the names of the used modules to the system clipboard This way the list can be easily pasted into other applications 6 2 1 14 Print Synopsis Print the current program or selected procedures Shortcut Ctrl P The print dialog is displayed in figure 6 7 Print Range Program Complete program including all procedures Current Procedure Current procedure and its used procedures Selection Highlighted program lines and their used procedures External Procedures All external procedures Properties o x Properties General Used Modules General Used Modules File Name engraved dev IV Check only used procedures Path 33 examples hdevelop Applications OCR Foundation w p Calibration Q Created Fri Mar 9 17 23 57 2007 Last Modified Fri
145. ed runtime the name of the operator or procedure is displayed in the status bar at the bottom of the main window Please note that the displayed runtime can vary considerably This is caused by the inaccuracy of the operating system s time measurement procedure This option can also be toggled from the context menu of the status bar see page 44 Update Program Counter See also dev_update_pc This option concerns the display of the current position while running the program The PC always indicates the line of the currently executing operator or procedure call or the line before the next operator or procedure call to execute Using the PC in this way is time consuming Therefore you may suppress this option after your test phase or while running a program with a lot of small operators inside a loop Update Variables See also dev_update_var This check box concerns the execution of a program Every variable iconic and control is updated by default in the variable window This is very useful in the test phase primarily to examine the values of control data since iconic data is also displayed in the graphics window If you want 6 2 3 Menu Execute 73 to save time while executing a program with many operator calls you may suppress this output Independent of the selected mode the display of all variables will be updated after the program has stopped Update Graphics Window See also dev_update_window This item concerns the
146. eed for other classes as long as the program has the same functionality as in HDevelop When editing a generated program you are free to use any of the classes of HALCON NET to extend the functionality 9 4 3 Limitations and Troubleshooting Besides the restrictions mentioned in this section and in section 9 8 on page 217 please also check the description of the HDevelop operators in section 6 2 6 2 on page 91 9 4 3 1 Variable Names In contrast to C C or HDevelop Visual Basic NET has many reserved words Thus the export adds the prefix ho_ to all iconic and hv_ to all control variables respectively in order to avoid collisions with these reserved words 210 Code Export 9 4 3 2 Exception Handling In HDevelop every exception normally causes the program to stop and report an error message in a dialog window This might not be useful in Visual Basic NET The standard way to handle this in Visual Basic NET is by using the Try Catch mechanism This allows to access the reason for the exception and to continue accordingly Thus for HDevelop programs containing error handling dev_ set_check give_error the corresponding code is automatically included Every op erator call for which it is assumed that the HALCON error mechanism is turned off is enclosed in a Try block followed by a Catch block The latter handles the exception and assigns the corresponding HALCON error number to the error variable activated by dev_error
147. efined Visual Basic 6 project that can be found in the directory HALCONROOT examples vb HDevelopTemplate This project contains a form with a display window HWindowXCtr1 and a button labeled Run The file generated by HDevelop has to be added to this project This is done by using the menu Project gt Add Module gt Existing and selecting the file Now the project is ready for execution Run the project and then press the button Run on the form which will call the exported code 9 6 2 Program Structure The file created by HDevelop contains a subroutine with the corresponding name for every HDe velop procedure except the main procedure which is contained in the subroutine action Iconic 214 Code Export input and output parameters of a procedure are passed as ByVal HUntypedObjectX and ByRef HUntypedObjectX respectively while control input and output parameters are passed as ByVal Variant and ByRef Variant respectively The subroutine RunHalcon contains a call to the subrou tine action and has a parameter Window which is of type HWindowX This is the link to the window on the form to which all output operations are passed In addition another subroutine is created with the name InitHalcon This subroutine applies the same initializations that HDevelop performs Most of the variables iconic as well as control are declared locally inside the corresponding subroutines Iconic variables belong to the class HUntypedO
148. eger numbers can be input in the standard decimal notation in hexadecimal by prefixing the number with Ox and in octal by prefixing the number with 0 For example 4711 123 Oxfeb12 073421 73 815 0 32214 56 17 32e 122 32E19 Data items of type integer or real are converted to their machine internal representations real becomes the C type double 8 bytes and integer becomes the C type long 4 or 8 bytes string A string is a sequence of characters that is enclosed in single quotes The maximum string length is limited to 1024 characters Special characters like the line feed are represented in the C like notation as you can see in table 8 1 see the reference of the C language for comparison You can enter arbitrary characters using the format xnn where nn is a two digit hexadecimal number or using the format Onnn where nnn is a three digit octal number Less digits may be used if the string is unambiguous For example a line feed may be specified as xa unless the string continues with another hexadecimal digit 0 F For example The string Sobel s edge filter has to be specified as gt Sobel s edge filter A Windows directory path can be entered as C Programs MVTec Halcon images boolean The constants true and false belong to the type boolean The value true is internally represented by the number 1 and the value false by 0 This means that in the expression Val 8 2 Control Types and Constants
149. elected from the drop down list Furthermore a preview of the image and basic image properties are displayed in the dialog width height color type and number of channels If you picked the wrong image you can select another one from the same directory by pressing the button next to the file name This will open a file browser native to the operating system i e on Windows you may be able to switch to thumbnail view in this dialog When another image is selected the dialog is updated accordingly When you click the button OK the instruction read_image is added to the current program With the setting of Insert Position you determine where the instruction will be put At the IC or the PC If you changed your mind about reading the selected image at all click Cancel 22 Acquiring Images with HDevelop Look in images Y ene Er File Name C Program Files MYTec HALCON images earth pnal ni s Variable Name Earth X Image Info G die3 png die4 png My Recent Documents Desktop a double_circle pna earth png ed_g png E meaner gt m Insert Position ii u 1 a sl File name earth png X Files of type Images tif tiff gif bmp ipg ipeg ip2 py Cancel die png Width 150 Height 150 Color type byte Channel number 3 Insert Cursor C Program Counter Figure 4 1 After dragging an image file onto the HDevelop window Images from Selected
150. elop session is active and e exit the Matching Assistant dialog discarding the settings 7 3 1 1 Opening the Model Image The so called model image page 143 is used to create the model page 143 of the object you want to find later This image should be a characteristic image of the object i e the object should appear in its default position and orientation and not be occluded furthermore the image should not contain clutter When you select the menu item File gt Open Model Image or press the corresponding button either in the tool bar or in the dialog Model Image in the tab Model Creation a standard file selection box appears The Matching Assistant can read the image file types TIFF BMP GIF JPEG PPM PGM PNG and PBM The selected image is displayed automatically Typically the next step is to create a region of interest page 149 around the object As an alternative to loading a model image and creating the model page 144 interactively the menu item File gt Load Model can be used to load a model that you have saved with the Matching Assistant or HALCON 7 3 1 2 Loading a Shape Model As an alternative to opening a model image page 143 and creating page 144 the model page 143 interactively the menu item File gt Load Model or the corresponding button Load in the tab Model Use can be used to load a model that you have saved with the Matching Assistant or HALCON Note that when you load the model from a fi
151. en by the operator write imace format ima have the extension ma Filter 4 description file can be available For every image in HALCON format same file name with Graphics extension exp The type of the pixel data byte infty reah can also be taken from the Image description file IF this information is not available the type byte is used as presetting Lines Matching Matching 3D xl Besides the HALCON format TIFF GIF BMP JPEG JPEG 2000 PNG PCX SUN Raster Oc gt Figure 5 4 The online help window showing the documentation of the operator read_image 5 5 Add Additional Program Lines Select the clips by thresholding Now we want to separate the clips from the background i e select them They clearly stand out from the background thus a selection based on the gray value is appropriate This operation is known as thresholding Enter threshold into the operator window This is both the full name of an operator and part of other operator names Thus you get a list of matching operators with threshold pre selected when you press lt Return gt Press lt Return gt once more to confirm the selected operator and show its parameters In figure 5 5 you can see that the input parameter Image is set to Clip automatically For input variables with no default value reasonable suggestions are inferred automatically by collecting previous output var
152. ences External Procedures page 66 HDevelop will suggest adding the directory to the list An example dialog is displayed in figure 6 3 If you click No HDevelop will not be able to access the saved procedure unless the directory is later added to the external procedure settings manually This is one method to make an internal procedure external If you do not change the name of the procedure the internal procedure will conceal the external procedure while it is still loaded e HDevelop local procedure dev Tf this file type is selected an empty main procedure is added to the target file and the procedure 1s added to the program as an internal procedure This menu item is disabled if the current procedure is the main procedure 6 2 1 Menu File 51 CT ij x Export File and Format flaLCON examples hdevelop Applications FA cbm_dip_switch cs 22 C HALCON NET Export Range e Prograrn Current Procedure f External Procedures External Procedure Options IV Export Procedure Body Encoding Native UTF 8 J Keep dialog open Cancel Figure 6 4 Export 6 2 1 9 Save All Synopsis Save the current program and all modified external procedures Shortcut Ctrl Alt S If no name has been specified for the current program yet the behavior is similar to that of Save Program As In addition all modified external procedures marked with an asterisk in the pro gram window s com
153. ernal procedure options see below e Current Procedure The current procedure and all used local procedures are exported All used external procedures are exported depending on the setting of the external procedure options see below e External Procedures All external procedures are exported depending on the setting of the external procedure options see below The short description and chapter information of procedures are exported as comments Arbitrary code can be embedded with special comment lines see section 9 8 on page 217 External Procedure Options Defines the export behavior for external procedures e Export Procedure Body Determines whether only the procedure declaration or both the declaration and the procedure body is exported Encoding Specifies the encoding of exported programs The following options are available e Native Export in the encoding defined by the operating system e UTF 8 Force export in UTF 8 encoding Unicode Keep dialog open Checking this box keeps the dialog open for subsequent exports 6 2 1 11 Read Image Synopsis Read an image from a selected directory See also read_image This submenu contains several directories from which images can be loaded The directory denoted by a single dot is the current working directory of HDevelop i e the directory HDevelop was started from Below that entry the directories specified by the environment variables HALCONROOT and HALCONIMAGES are di
154. esulting value will be of type real if at least one of the elements is of type real If all elements are of type integer the resulting value will also be of type integer The same Operation Meaning HALCON Operator sin a sine of a tuple_sin cos a cosine of a tuple_cos tan a tangent of a tuple_tan asin a arc sine of a in the interval 7 2 7 2 a 1 1 tuple_asin acos a arc cosine a in the interval 7 2 7 2 a 1 1 tuple_acos atan a arc tangent a in the interval 7 2 7 2 a 00 00 tuple_atan atan2 a1 a2 arc tangent a1 a2 in the interval 7 7 tuple_atan2 sinh a hyperbolic sine of a tuple_sinh cosh a hyperbolic cosine of a tuple_cosh tanh a hyperbolic tangent of a tuple_tanh Table 8 14 Trigonometric functions 8 5 12 Numerical Functions 189 Operation Meaning HALCON operator exp a exponential function e tuple_exp log a natural logarithm In a a gt 0 tuple_log log10 a decadic logarithm log a a gt 0 tuple_logi0 pow a1 a2 nie tuple_pow ldexp a1 a2 al 2 tuple_ldexp Table 8 15 Exponential functions Operation Meaning HALCON operator min t minimum value of the tuple tuple_min min2 t1 t2 element wise minimum of two tuples tuple_min2 max t maximum value of the tuple tuple_max max2 t1 t2 element wise maximum of two tuples tuple_max2 sum t sum of all tuple elements or string concatenation tuple_sum mean a mean value tuple_mean deviation a stand
155. et to a smaller value 7 3 3 19 The Search Parameter Shape models may cross the image border With the parameter Shape models my cross the image border you can specify whether shape models that cross the image border i e that lie partially outside the test images should be searched If you switch off the check box Shape models may cross the image border the shape model will only be searched within those parts of the test images in which the shape model completely lies within the image If you switch on the check box Shape models may cross the image border the shape model will be searched for in all positions in which the model additionally lies partially outside the test images 1 e in which the shape model extends beyond the image border Here points lying outside the image are regarded as being occluded i e they lower the score This should be taken into account while selecting the Minimum Score page 162 Please note that the runtime of the search will increase in this mode 7 3 3 20 Optimizing the Recognition Speed When you select the menu item Use Model gt Optimize Recognition Speed or click either the corre sponding button in the tool bar or the button Run Optimization in the dialog Optimize Recognition Speed of the tab Model Use the Matching Assistant automatically determines values for the parameters Minimum Score page 162 and Greediness page 163 to optimize the recognition speed The speed is calculated as the average re
156. etected by the license manager see the Installation Guide for more information 6 3 Tool Bar 101 6 3 Tool Bar You use most icons in this tool bar to accelerate accessing important HDevelop features These are features which you are performing many times while working with HDevelop Hence there are buttons to handle your HDevelop programs and to edit them The most important buttons are used to start and to stop a program or parts of a program New program Ctrl N see page 46 Open program Ctrl O see page 46 Save program or selected external procedure Ctrl S see page 49 Save all modifications in the program and external procedures Ctrl Alt S see page 51 Cut highlighted program lines to internal buffer and system clipboard Ctrl X see page 57 Copy highlighted program lines to internal buffer and system clipboard Ctrl C see page 58 Paste program lines from internal buffer Ctrl V see page 58 Delete highlighted program lines Del see page 58 Undo last editing action Ctrl Z see page 57 Redo last editing action Ctrl Y see page 57 Activate highlighted program lines F3 see page 58 MMe Pw e E ya Deactivate highlighted program lines F4 see page 59 el Run program from PC F5 see page 73 Step over next program line F6 see page 74 Step into procedure call F7 see page 75 Step out of procedure F8 see page 76 GUI Reference Stop program execution F
157. etely cross linked The navigation at the left part of the window provides quick access to the documentation The tab card Contents presents the hierarchical structure of the reference manual plus access to other HALCON manuals The tab card Operators lists all operators for direct access Enter any desired substring into Filter to quickly find an operator In the remainder of this chapter try to use the online help as much as possible to get information about the used operators The online help window is described in section 6 8 on page 127 Programming 34 Programming HDevelop lolx Contents Operators l s1 a 2 fez Fc st r o Syntax HDevelop y Find Next Prev About HALCON Reference Manuals read image Image FileName HALCON Reference Ma Classification Control Read an image with different file formats Develop File The operator read image reads the indicated image files from the background storage and Images generates the image One or more file names can be passed in FileName If more than one file name is passed an image object tuple with the corresponding number of image objects is read_sequ returned write_image E Misc For the image Formats PNG and JPEG 2000 binary alpha channels are interpreted as regions Region Otherwise the region of the generated image object all pixels of the matrix is chosen Text maximal Tuple i f er E XLD All images files writt
158. etric functions For the trigonometric functions the angle is specified in radians Ist Operand 2nd Operand Operation Result 1 1 0 true true a false 1 gt 2 1 2 false 1 2 3 1 21 false 4711 Hugo 4711 Hugo true Hugo hugo false 2 1 gt true 2 1 0 gt true 5 4 1 5 4 gt true 2 1 2 0 gt true true false gt true Hugo hugo lt true Table 8 12 Examples for the comparison of tuples Language 188 HDevelop Language Operation Meaning HALCON operator 11 and 12 logical and tuple_and 11 xor 12 logical xor tuple_xor 11 or 12 logical or tuple_or not 1 negation tuple_not Table 8 13 Boolean operations 8 5 11 Exponential Functions All these functions work on tuples of numbers as arguments The input can either be of type integer or real However the resulting type will be of type real The functions are applied to all tuple values and the resulting tuple has the same length as the input tuple For pow and 1dexp the two input tuples have to be of equal length See table 8 15 for the provided exponential functions 8 5 12 Numerical Functions The numerical functions shown in table 8 16 work on different data types The functions min and max select the minimum and the maximum values of the tuple values All of these values either have to be of type string or integer real It is not allowed to mix strings with numerical values The r
159. ets all model and search parameters to their default settings and deletes the model image page 143 the model ROI page 143 and the test images page 143 GUI Reference 158 Matching Assistant 7 3 3 The Menu Use Model and the Tab Model Use Via the menu Use Model as well as the tab Model Use you can e load test images e delete a selected test image e delete all test images at once e display the selected test image page 160 e access the test image settings in the tab Model Use e open the dialog for the standard page 161 and advanced search parameters page 162 e open the dialog for the optimization of the recognition speed page 164 and e directly start to optimize the recognition speed page 164 In the tab Model Use you can additionally e select a test image page 160 e specify the number of visible objects page 160 in the image and e start the matching for a selected test image or e for the whole sequence of test images 7 3 3 1 Loading Test Images The so called test images page 143 should be representative images from your matching application i e the object should appear in all allowed variations of its position orientation occlusion and illumi nation When you select the menu item Use Model gt Test Images gt Load Test Images or click the cor responding button Load in the tab Model Use a standard file selection box appears in which you can select one or more images to load The
160. ew line Inspecting Image Acquisition Device Handles For an image acquisition device handle a dialog representing basic image acquisition device parameters is opened Here you find the size name device port and other features of the image acquisition device The toggle button Online allows to grab images continuously and to display them in the active graphics window Multiple online inspections from different image acquisition devices at the same time are also supported by opening additional graphics windows before clicking the corresponding button Online If an error occurs during grabbing it is displayed in the status bar of the dialog The dialog is displayed in figure 6 44 GUI Reference 124 Graphical User Interface i Acquisition Inspect AcqHandle PM ol Variable View main 101 xi Iconic Variables Name uEye Rev 3 2 Width 1280 Height 1024 ColorSpace gray BitsPerChannel 8 gt Port 0 Inspect 4 Le Device T Clear y Update Variables miggen TAISE CameraType UT154x M Online L _ grab images Figure 6 44 Inspecting an image acquisition device handle 6 7 Graphics Window This window displays iconic data It has the following properties e The user may open several graphics windows e The active graphics window is shown by the lit bulb in the window s tool bar e Pressing the clear button clears the graphics window content and the history
161. f this tool EN E Zoom in or out Click the small arrow next to the icon to switch between these tools Set image size Clicking this icon sets the image size to the shown value The value can be selected from the menu attached to the small arrow See section Image Size on page 79 for additional information EN Set window size Clicking this icon sets the window size to the shown value The value can be selected from the menu attached to the small arrow See section Window Size on page 79 for additional information 7 Ag e Show state of graphics window active non active Non active graphics window can be activated by clicking this button Only one graphics window may be active any given time If you want to specify display parameters for a window you may select the menu item Visualization in the menu bar Here you can set the appropriate parameters by clicking the desired item see section 6 8 Help Window 127 Figure 6 47 Magnifying glass Menu Visualization on page 78 The parameters you have set this way are used for the active window The effects of the new parameters will be applied directly to the last object of the window history and alter its parameters only 6 8 Help Window The help window provides access to the integrated online help of HDevelop The window is split in two areas On the left navigational aids are available as tab cards They are described below On the right the online help
162. f you have chosen a very large angle page 153 and scale range page 154 you may find it useful to switch off the complete pregeneration page 157 of the model You can also search for the object in a single test image 160 Matching Assistant 7 3 3 7 Automatically Searching for the Object in the Test Images If you check the box Always Find in the dialog Test Images of the tab Model Use also accessible via the menu item Use Model gt Test Images gt Show Test Image Settings the object is searched for automatically whenever you select a new test image Please note that if the matching process is started for the first time or after you changed a model param eter the internally stored model is created which takes some time If the model creation takes a long time i e if you have chosen a very large angle and scale range you may find it useful to switch off the complete pregeneration page 157 of the model 7 3 3 8 Selecting and Displaying a Test Image You can select a test image by clicking with the left mouse button onto its number index or path in the text box of the dialog Test Images of the tab Model Use The selected image is automatically displayed in the graphics window of HDevelop If the checkbox labelled Always Find is checked the matching process is started automatically on the selected test image its result is displayed in the graphics window If you want to redisplay the selected test image in a later s
163. for Optimization When you click the button Auto Select that is placed right beside the slider for the parameter Optimization the Matching Assistant optimizes i e reduces the number of model points based on the model image 7 3 2 The Menu Create Model and the Tab Model Creation 157 7 3 2 25 The Model Parameter Pregenerate Shape Model The parameter Pregenerate Shape Model specifies whether the internal representation of the shape model is pregenerated completely whenever the model is created If you select a complete pregeneration by checking the check box Pregenerate Shape Model the model generation may require a substantial amount of time and memory In contrast if you switch off the complete pregeneration the model creation will be very fast and the model will consume less memory The advantage of selecting a complete pregeneration is that the model can typically be found slightly faster than if the complete pregeneration is switched off Typically you may find it useful to switch off the complete pregeneration if your model uses a large angle and scale range 7 3 2 26 The Model Parameter Minimum Contrast In order to select significant object points for the model page 143 you specified which Contrast page 151 the points must show in the model image page 143 With the parameter Minimum Contrast you can specify a separate minimum contrast for the matching page 143 process itself i e when searching for the object in the
164. from a program developed in HDevelop HALCON can be used together with C based on the NET interface of HALCON A detailed description of this interface can be found in the Programmer s Guide part III on page 83 9 2 1 Basic Steps 9 2 1 1 Export The first step is to export the program using the menu File gt Export Here select the language C HALCON NET and save it to file The result is a new file with the given name and the extension cc cs 204 Code Export 9 2 1 2 The C Template The exported file is intended to be used together with the predefined C project that can be found in the directory ZHALCONROOT examples c HDevelopTemplate This project contains a form with a display window HWindowControl and a button labeled Run Add the file generated by HDevelop to the project in the Solution Explorer Add Existing Item Now the project is ready for execution Run the project and then press the button Run on the form which will call the exported code Additional information about using the template can be found in the Programmer s Guide section 11 3 1 on page 109 9 2 2 Program Structure The file created by HDevelop contains a subroutine with the corresponding name for every HDevelop procedure except the main procedure which is contained in the subroutine action Iconic input and output parameters of a procedure are passed as HObject and out HObject respectively while control input and
165. g the input of the operator parameters whenever a new identifier appears a new variable with the same identifier is cre ated Control and iconic variables must have different names The value of a variable iconic or control is undefined until the first assignment defines it the variable has not been instantiated yet A read access to an undefined variable leads to a runtime error Variable lt x gt not instantiated HDevelop provides a pre defined variable named _ single underscore You can use this variable for output control parameters whose value you are not interested in Please note that it is not allowed to use this variable for HDevelop specific operators chapters Control and Develop in the HALCON 8 4 Operations on Iconic Objects 173 reference manual It is not recommended to use the variable _ in programs that will later be exported to a foreign programming language Instantiated variables contain tuples of values Depending on the kind of the variable the data items are either iconic objects or control data The length of the tuple is determined dynamically by the performed operation A variable can get new values any number of times but once a value has been assigned the variable will always keep being instantiated unless you select the menu item Menu Execute gt Reset Program Execution The content of the variable is deleted before the variable is assigned new values The concept of different kinds of variables allow
166. ge Operation Meaning HALCON operator al a2 division tuple_div al a2 multiplication tuple_mult al a2 modulus tuple_mod al a2 addition tuple_add al a2 subtraction tuple_sub a negation tuple_neg Table 8 8 Basic arithmetic operations Here we get first a tuple of the same length with every element set to zero Then we add the constant to each element In the case of tuples with different values we have to use the loop version to assign the values to each position assign tuple for 1 100 1 i assign tuple i i tuple endfor which is displayed as tuple for i 1 to 100 by 1 tuple tuple ix i endfor In this example we construct a tuple with the square values from 1 to 100 8 5 5 Simple Arithmetic Operations See table 8 8 for an overview of the available simple arithmetic operations All operations are left associative except the right associative unary minus operator The evaluation usually is done from left to right However parentheses can change the order of evaluation and some operators have a higher precedence than others see section 8 5 14 The arithmetic operations in HDevelop match the usual definitions Expressions can have any number of parentheses The division operator a1 a2 can be applied to integer as well as to real The result is of type real if at least one of the operands is of type real If both operands are of type integer the division is an i
167. ge Region ConnectedRe RegionFillUp ObjectSelecte Crosses Cre Control Variables WindowHandle width 640 Height 480 i 8 3600 130 074 85 1812 1 91471 2 10746 2 07412 1 Figure 6 40 Variable window with instantiated iconic and control variables An undefined variable is created for example when loading a program or after inserting an operator with a new variable that is not executed immediately into a program You may access these undefined variables only by writing to them If you try to read such a variable a runtime error occurs If a vari able obtains a value the variable type is specified more precisely A control variable that contains for example an integer is of type integer This type might change to real or a tuple of integer after specifying new values for this variable But it always remains a control variable Similarly this is the case for iconic variables which may contain regions images or XLDs You may assign new values to an iconic variable as often as you want to but you cannot change its type so that it becomes a control variable In addition to classifying HDevelop variables by whether they are iconic or control variables they can also be distinguished by whether they are interface parameters of the current procedure or local variables Generally both kinds of variables are treated equally New variables are created in the operator dialog area during specification of
168. ge will be calculated Use the select tool of the graphics window to select a region or XLD The selected region or XLD is highlighted in the graphics window The corresponding variable name and index are displayed in the title of the feature inspection window The gray value features of a multi channel image are calculated from all channels independently The tree on the left side of the feature inspection window groups the features into several categories At the top most level the following groups of features are distinguished e Region features This group contains features that describe the selected region e g area center and orientation e Gray value features The feature values of this group are calculated from the gray values of the image under the selected region e g minimum and maximum gray value mean gray value anisotropy and entropy e XLD features This group contains features that describe the selected XLD e g its dimensions or shape properties You can select the features to be inspected by ticking the corresponding check boxes in the tree The selected features are displayed on the right side of the window For each feature the calculated value 6 12 Feature Inspection Window 139 select selected region ConnectedRegions 2 3600 feature value of selected region visualization specified range area 2 g3 a A area row column width height row
169. ge_files compare_objs set_testsystem gt p compare_regions compare_tuples compare_xlds Change Password Figure 6 15 External Procedures gt Manage Passwords 6 2 2 Menu Edit Procedure Use This tab card lists the usage of procedures grouped by their calling procedures You can select a proce dure and the type of used procedures either local or external For the main procedure you can also list the unused procedures The tab card is displayed in figure 6 17 gt lo xl AT User Interface ag External Show the names of procedures that are used or not used by the loaded program or a selected procedure 38 General Options main X used C unused IV local IV external 29 Visualization Settings do_check_for_model_files 28 Runtime Settings le oo la P_initialize la p_show_status_window s p_do_locate_cylinder_3d e _ p_do_locate_cookie_box p_do_3d_matching_clamps la p_do_locate_engine_parts ls p_do_detect_road_signs p_do_check_blister_mixed p_do_ecc200_finder_pattern tolerance p_do_inspect_bottle_mouth p_do_locate_car_door p_do_reconstruct_connection_rod_uncalib p_do_textline_orientation p_do_novelty_detection_gmm p_do_find_ncc_model_defocused Directories External Procedures Manage Passwords Procedure Use Unresolved Procedure Calls Figure 6 16 External Procedures gt Procedure Use Unresolved Procedure Calls This tab card helps
170. gram before its dismissal xi The current program has been modified 2 Do you want to save the changes seve Save As Discard Cancel Figure 6 54 Confirmation dialog Save Save the current program under its current name and proceed If no name has been specified yet a file dialog pops up to enter the name Save As Save the current program under a different name and proceed Discard Discard unsaved changes and proceed Cancel Abort the current action GUI Reference 142 Graphical User Interface Matching Assistant 143 GUI Reference Chapter 7 Matching Assistant 7 1 Introducing the Matching Assistant of HDevelop The Matching Assistant of HDevelop is a front end to HALCON s powerful shape based matching which lets you locate objects with sub pixel accuracy at a high speed even when they appear rotated partly occluded or under changing illumination Using the Matching Assistant you can e configure and test the matching process with a few mouse clicks and e optimize the parameters interactively to get the maximum matching speed and recognition rate All you need is a single model image and a set of test images The Matching Assistant further assists you by automatically calculating suitable parameter values based on your selections How to use the Matching Assistant is described here A reference to the elements of the Matching Assistant can be found here page 146 In this online he
171. gram tool which helps to select regions based on common properties or features Click Visualization gt Feature Histogram to open the tool The checkbox at the top allows to select the feature that the region selection will be based on The default feature is area which is adequate in this case The actual clips are all the same size thus the area of the regions is a common feature In the feature histogram the horizontal axis corresponds to the values of the selected feature The vertical axis corresponds to the frequency of certain feature values Similar to the gray histogram window you can visualize the selected regions i e the regions whose area falls between the values Min and Max which are represented by the green and red vertical lines respectively Specify the parameters in the Output section of the feature histogram window as shown in figure 5 9 Drag the green and red line to see how this affects the selected regions From the histogram we can see that in order to cover all the clips we can safely select regions whose area is between say 4100 and 6500 Add the following line to the program select_shape ConnectedRegions SelectedRegions area and 4100 6500 Run the program and inspect the output variable SelectedRegions The regions corresponding to the clips are now determined correctly To obtain the orientation and the center of gravity of the clips add the following operator calls to the program
172. graphics window attributes The dialog is displayed in figure 6 21 The position size and background color of the new graphics window can be specified For example it is more convenient to have a white background while building graphics for slides or reports see the HALCON operator dump_window If the window height and width are set to 1 the window size is set by HDevelop It is taken from the persistent preferences of HDevelop usually the size of the last graphics window in the previous HDevelop session A position value of 1 specifies that the window position is determined by the window manager in SDI mode Width 1 Height Eackgrourd TS Figure 6 21 Specifying the parameters of the new graphics window The window handle of the new graphics window is displayed in its title bar This number may be used in operators that require a window handle e g dev_set_window or dump_window The handling of graphics windows is described in more detail in section Graphics Window on page 124 6 2 4 Menu Visualization 79 6 2 4 2 Clear Graphics Window Synopsis Clear active graphics window See also dev_clear_window The history previously displayed objects of the window is also removed 6 2 4 3 Close Graphics Window Synopsis Close active graphics window See also dev_close_window 6 2 4 4 Display Synopsis Select iconic variable to be displayed in active graphics window See also dev_display This submenu l
173. h the Matching Assis tant or HALCON Now you can test the model on test images page 143 7 2 2 Testing the Model After you created the model page 143 you test it in the following steps 7 2 3 Optimizing the Parameters 145 e Load one or more test images page 143 via the menu item Use Model gt Test Images gt Load Test Images page 158 or via the button Load inside the dialog Test Images in the tab Model Use e Specify standard search parameters via the menu item Use Model gt Standard Model Use Parameters page 161 which opens the corresponding dialog in the tab Model Use Espe cially the number of object instances page 162 to search for in an image should be specified If the number of object instances varies from test image to test image you can specify the number of visible objects page 160 for each image separately in this case the search parameter mentioned above should be set to 0 or to the maximum number of visible objects e Assure that all objects are found page 160 in all test images Now you can optimize the speed of the matching process by tuning the parameters 7 2 3 Optimizing the Parameters After you configured the matching page 143 process such that the search is successful in all test images you can start to optimize the parameters to speed up the matching as far as possible To support this process the Matching Assistant allows to optimize the search parameters Minimum Score page 1
174. halcon com About This Manual This manual is a guide to HDevelop the interactive development environment for the HALCON machine vision library It provides all necessary information to understand HDevelop s basic philosophy and to use HDevelop This manual is intended for users who want to use HDevelop as a convenient gateway to the HALCON library or who want to deploy and test machine vision applications with it However it is not an intro duction to the HALCON machine vision library A working knowledge of the concepts of HALCON is assumed Please refer to the Quick Guide to become acquainted with HALCON This manual does not assume that you are an expert in image processing Regardless of your skills it is quite easy to work with HDevelop Nevertheless it is helpful to have an idea about the functionality of graphical user interfaces GUI and about some basic image processing aspects The manual is divided into the following chapters e Introducing HDevelop This chapter explains the basic concepts of HDevelop e Getting Started This chapter explains how to start HDevelop and provides a quick overview of the graphical user interface e Running Example Programs This chapter explains how to find and run example programs e Acquiring Images with HDevelop This chapter explains the fundamental part of machine vision applications how to acquire images e Programming HDevelop This chapter explains the procedure of developmen
175. hanges of the current HDevelop program or the currently selected external procedure Shortcut Ctrl S The actual functionality of this menu entry depends on the selected procedure in the program window e Main or local procedure selected in program window Save changes of the current HDevelop program If no file name has been specified yet a file selection dialog page 140 will be opened Local procedures are saved within the HDevelop program The file name of the program you save is added to the menu Recent Programs Please note that modified external procedures are not saved automatically To save them as well select the menu entry Menu File gt Save A11 or select the corresponding external procedure in the program window and click Menu File gt Save again see below e External procedure selected in program window Save changes to the currently selected external procedure back to the originating file The operation 1s done quietly A modified external procedure is marked with an asterisk in the program window If you try to save a file that has been modified outside of your running instance of HDevelop possibly by another user a warning message is displayed asking whether you want to overwrite the file If you are uncertain about the external changes to the file it is recommended to click No and save your program under a different name using Save Program As GUI Reference 50 Graphical User Interface
176. he active graphics window The display format is index variable name number of objects height x width x channels x type Gray value of the image in the active graphics window at the mouse cursor position For multi channel images the gray values of all channels are displayed separated by commas Image coordinates in the graphics window row column The status bar has its own context menu You can toggle whether execution messages are displayed in the status bar by clicking the entry Show Processing Time in the context menu of the status bar To open the context menu right click in the message area of the status bar A history of the latest execution messages is displayed as a tool tip when placing the mouse pointer over the message area of the status bar The history can be copied to the clipboard by selecting the entry Copy History to Clipboard in the context menu of the status bar The status bar is displayed in figure 6 1 6 1 Main Window 45 Window Modes There are two different window modes in HDevelop which can be toggled in the menu Window MDI multiple document interface In this mode the main window contains all other windows and dialogs with the exception of the online help window and modal dialogs which block other win dows temporarily You are free to move the windows according to your needs and preferences inside the main window You may iconify and or deiconify them HDevelop provides basic win do
177. he image in the active graphics window and open the histogram tool For optimum visualization of the segmentation results it is best to set the visualization color to a color different from black or white Now set Display to threshold and interactively drag the two vertical bars until you achieve the desired segmentation result The parameters of the threshold operation can now be read off the two vertical lines If you want to select threshold parameters for an image that is derived from another image but want to display the segmentation on the original image e g if you want to select thresholds for a gradient image two different possibilities exist First you can display the derived image open the histogram tool deselect Update display the original image and then select the appropriate thresh olds This way only one window is needed for the visualization For the second possibility you can display the derived image in one window activate another window or open a new window dis play the original image there activate the first window again open the histogram tool activate the second window again set Output Destination to active window and select your thresholds Although in this case it is not necessary to deselect Update it is advantageous to do so because this prevents the histogram from being updated if you click into a graphics window accidentally connection Display the connected regions of the selected gray values in the styl
178. hics window The main part of the tool is the area in which the histogram of the image is displayed in blue This area contains static parts and parts that can be interactively manipulated The first static part is the horizontal coordinate axis which displays the gray values in the image For byte images this range is always 0 255 For all other image types e g real images the horizontal axis runs from the minimum to the maximum gray value of the image and the labeling of the axis is changed accordingly To the left of the display the vertical axis representing the frequency of the gray values is drawn The final static parts of the display are three gray arrows The two upward pointing arrows denote the maximum and minimum gray value of the image The downward pointing arrow denotes the peak of the histogram i e the gray value that occurs most frequently This data is displayed in textual form within the Statistics area of the display For int4 int8 or real images the peak value is displayed as a value range in the Statistics That is the range of input values is divided in quantization steps to obtain a meaningful histogram and a ee as a consequence the histogram s peak value may actually represent a whole range of input values The dynamic parts of the histogram area are the two colored lines which can be manipulated The vertical green and red lines denote the minimum and maximum selected gray value of the histogram
179. iables Operators Texts Search for y Find Find All Replace y Replace Replace ai Find Parameter Scope C All Program Current Procedure Options Case Sensitive Whole Words Figure 6 8 Find Replace 6 2 2 8 Deactivate Synopsis Comment out the highlighted program lines Shortcut F4 The highlighted program lines are converted into comments This is a quick way to suppress the execu tion of portions of the program for testing purposes Comment lines created with the operator comment are unaffected by this command During testing it is often useful to prevent some lines of the program from being executed This can be achieved by selecting the appropriate lines in the program window and then selecting Deactivate An asterisk is placed at the beginning of the selected lines i e the lines appear as comments in the program window and have no influence on the program during runtime The deactivated lines are still part of the program i e they are stored like all other lines and their variables are still needed like all other variables To reverse this action select Activate Note that you can insert a real comment into your program by using the operator comment 6 2 2 9 Find Replace Synopsis Find and replace text in the current program Shortcut Ctrl F This dialog provides comprehensive facilities for searching the program code You can perform a full text search or search for variable names
180. iables of the same type Therefore the name of the most recent matching output parameter will be suggested most recent being the closest predecessor of the current program line In this example only Clip is available Set MinGray and MaxGray to 0 and 30 respectively This will select the dark pixels in the image Click Apply This button executes the operator without adding it to the program Additionally it keeps the current parameters open for editing This way you can easily try different settings and immediately see the result The selected pixels the so called region are stored in the output variable Region which is displayed in the variable window The region is an image mask White pixels are selected while black pixels are not 5 5 Add Additional Program Lines 35 Operator Enter Operator or Procedure threshold y Parameters y Image Lir y image E Region Region y region ls MinGray 128 y number real MaxGray 2 55 y number real Enter Apply Cancel Help Figure 5 5 Parameter guessing The region is also displayed as an overlay in the graphics window The selected pixels are displayed in red unless you changed the default settings The selected threshold values are not perfect but we will correct this later For now click Enter to add the operator to the program window Contrary to clicking OK this does not execute the operator Note that the variable Region keeps its v
181. ic NET based on the NET interface of HALCON A detailed description of this interface can be found in the Programmer s Guide part III on page 83 9 4 1 Basic Steps 9 4 1 1 Export The first step is to export the program using the menu File gt Export Here select the language Visual Basic NET HALCON NET and save it to file The result is a new file with the given name and the extension vb 9 4 1 2 The Visual Basic NET Template The exported file is intended to be used together with the predefined Visual Basic NET project that can be found in the directory ZHALCONROOT examples vb net HDevelopTemplate This project contains a form with a display window HWindowControl and a button labeled Run Add the file generated by HDevelop to the project in the Solution Explorer Add Existing Item Now the project is ready for execution Run the project and then press the button Run on the form which will call the exported code Additional information about using the template can be found in the Programmer s Guide section 11 3 1 on page 109 9 4 2 Program Structure The file created by HDevelop contains a subroutine with the corresponding name for every HDevelop procedure except the main procedure which is contained in the subroutine action Iconic input and output parameters of a procedure are passed as ByVal HObject and ByRef HObject respectively 9 4 3 Limitations and Troubleshooting 209 while control in
182. ical User Interface characters Operator select_characters Parameters select_contours_xld Pu select_gray select_grayvalues_from_channels les Region select_lines select_lines_longest E rra re select_matching_lines select_obj E select_region_point select_region_spatial les DotPrint ATSE StrokeWidth medium string Charwidth 25 integer CharHeight 25 y integer A el Enter Apply Cancel Help Figure 6 38 Selecting an operator after typing select_ 6 5 1 Operator Name Field The operator name field allows to select operators or procedures by specifying a substring of their name After pressing lt Return gt or pressing the button of the combo box the system is looking for all operators or procedures that contain the user specified substring The order of the listed result is as follows Operators and procedures whose names begin with the given substring are listed first followed by all operators and procedures that contain the substring elsewhere Both parts of the list are arranged in alphabetical order If there is an unambiguous search result the operator or procedure is displayed immediately in the operator window If there are several matching results a combo box opens and displays all operators or procedures containing the specified substring By clicking the left mouse button you select one operator and the combo box disappears Now the operator s paramete
183. if you use a variable for the increment This is also not possible with HDevelop because the increment is stored inside the for operator when the loop is entered 3 The last difference concerns the value of the loop variable after exiting the loop In the program ming languages it has the value with which the condition becomes false for the first time In HDevelop it contains the end value which was calculated when the loop was entered Looking at the mentioned points we recommend to program according to the following rules 1 Don t modify the loop variable or the step value inside the loop If you need this behavior use the while loop 2 Don t use the loop variable after the loop 9 8 4 Protected External Procedures As described for the different programming languages HDevelop procedures are exported automatically to procedures or subroutines of the selected programming language This does not hold for the protected 9 8 5 System Parameters 219 external procedures described in section 6 4 3 3 on page 111 These procedures are protected by a password so that they cannot be viewed and modified by unauthorized users Thus as long as they are locked by the password they can not be exported to any programming language 9 8 5 System Parameters You should know that HDevelop performs some changes of system parameters of HALCON by calling the operator set_system see the reference manual This might cause the exported pr
184. ighted program lines in the program window to an internal buffer Shortcut Ctrl X The highlighted program lines are removed from the selected procedure and placed in an internal buffer for later use Additionally for every procedure call line the corresponding procedure and all procedures that can be reached from it are copied to the buffer This is necessary in order to obtain a consistent program when pasting procedure call lines to a program in which the corresponding procedures might not exist The highlighted program lines are also copied to the system clipboard GUI Reference 58 Graphical User Interface 6 2 2 4 Copy Synopsis Copy the highlighted program lines from the program window to an internal buffer Shortcut Ctrl C The highlighted program lines are copied without affecting the program Additionally for every proce dure call line the corresponding procedure and all procedures that can be reached from it are copied to the buffer This is necessary in order to obtain a consistent program when pasting procedure call lines to a program in which the corresponding procedures might not exist The highlighted program lines are also copied to the system clipboard 6 2 2 5 Paste Synopsis Insert the contents of the internal buffer to the currently selected procedure at the IC Shortcut Ctrl V To insert the internal buffer in the current HDevelop procedure body you place the IC at the desired position and then sele
185. ilar looking code T i New 9 1 3 Used Classes There are only two classes that are used HTuple for control parameters and Hobject for iconic data There is no need for other classes as long as the program has the same functionality as in HDevelop When editing a generated program you are free to use any of the classes of HALCON C to extend the functionality 9 1 4 Limitations and Troubleshooting Besides the restrictions mentioned in this section and in section 9 8 on page 217 please also check the description of the HDevelop operators in section 6 2 6 2 on page 91 202 Code Export 9 1 4 1 Exception Handling In HDevelop every exception normally causes the program to stop and report an error message in a dialog window This might not be useful in C In addition there are different default behaviors concerning the result state of operators Messages In HALCON C only severe errors cause an exception handling which terminates the program and prints an error message This might cause problems with minor errors so called messages in HALCON These messages are handled as return values of the operators and can have the following values which are also available in HDevelop as constants H_MSG_TRUE H_MSG_FALSE H_MSG_FAIL H_MSG_VOID One of these messages is always returned indicating the status of the operator Normally the result is H_MSG_TRUE Some operators return H_MSG_FAIL like read_image or read_region to indicat
186. in the current program If it does click Discard to throw away the changes and start anew In case you rearranged the windows click Window gt Organize Windows to restore the default layout displayed in figure 2 1 on page 14 32 Programming HDevelop The first thing to do is read the image and store it in an iconic variable From the last chapter we know that we can simply drag an image to the HDevelop window We also know that this inserts the operator read_image into the program Therefore we can just as well insert the operator directly 5 2 Enter an Operator Click into the text box of the operator window type read_image and press lt Return gt You can also type any partial operator name and press lt Return gt HDevelop will then open a list of operators matching that partial name This way you can easily select operators without having to type or even know the exact name Selection is done with the mouse or using the arrow keys to highlight the desired operator and pressing lt Return gt If you selected the wrong operator by accident you can reopen the list by clicking on the drop down arrow next to the operator name When entering a partial name operators commencing with that name appear at the top of the list Yindow Insert read_cam_par E Jo xi Enter Operator or Procedure read_cam_par bd ia read_data_code_2d_model read_fft_optimization_data E read_funct_1d read_gray_se E CamParrile EEE
187. in the operator window the edited line will be inserted as a new program line at the IC If you are in doubt about the current status check the window title of the operator window Figure 6 29 illustrates the editing process GUI Reference Copy Paste Delete Besides editing the parameters of a single operator or procedure call single and multiple lines can be deleted cut or pasted in one step using simple mouse functions To use this feature you select one or more lines using the mouse e You select one line by clicking on it Previously activated lines will then become deactivated 104 Graphical User Interface current procedure da gt main 4 Edit Interface clip dev Orientation of clips dev_update window off fread_image Clip clip get_image pointerl Clip _ _ Width Height dev_close_window dev_open_window 0 O Width 2 Height 2 black Wind dev_display Clip stop bin threshold Clip Dark connection Dark Single select_shape Single Selected area and 5000 dev_set_draw fill t dev_set_colored 12 dev_display Selected stop oe gt Figure 6 30 Program example with the PC IC and a break point BP e To activate more than one line you have to press the lt Ctr1 gt key while clicking on the line e The lt Shift gt key is used to activate a sequence of lines using one mouse click All lines between the most recent activation and the ne
188. ing Assistant determines so called pose bounds i e the range of positions orientations and scales in which the object appears in the test images You can interrupt this process by clicking the button labelled Stop please note however that this event is processed only after the current search has finished If the test images cover the whole ranges of allowed orientations and scales of the object you can use the calculated ranges to optimize the parameters Angle Extent page 153 Start Angle page 153 and the parameters for the scale range page 154 in the dialog accessed via the menu item Create Model gt Standard Model Parameters page 150 we recommend to use slightly larger values to get accurate results at the boundaries of the ranges In a corresponding HALCON program you can use the calculated range of positions as a region of interest and thus further speed up the matching process 7 3 5 The Menu and Tab Code Generation Via the menu Code Generation you can e open the dialog Options inside the tab Code Generation where options for the code generation can be set e open the dialog Variable Names inside the tab Code Generation where the names for the used variables can be specified e insert code to the program window of HDevelop according to the current settings of the Matching Assistant 7 3 5 The Menu and Tab Code Generation 167 e release the generated code lines in the program window e delete the generated
189. ing Assistant dialog with the menu item File gt Close Dialog the current settings are stored for the duration of the current HDevelop session That is aslong as you do not exit HDevelop you can again open the Matching Assistant with the same settings In contrast to this when you exit the Matching Assistant the settings are lost also for the current HDevelop session 7 3 1 7 Exit the Matching Assistant When you exit the Matching Assistant with the menu item File gt Exit Assistant the assistant s dialog is closed and the current settings are lost unless you have not stored them via the menu item File gt Save Current Assistant Settings If you want to close the dialog so that the settings are retained for the current HDevelop session you should use the menu item Close Dialog instead 7 3 2 The Menu Create Model and the Tab Model Creation Via the menu Create Model as well as the tab Model Creation you can e create a model ROI e display the image pyramid and e specify standard page 150 and advanced model parameters page 154 In the tab Model Creation you can additionally reset page 157 the model 7 3 2 The Menu Create Model and the Tab Model Creation 149 7 3 2 1 Creating a Region of Interest Around the Object Via the menu items in Create Model gt Create ROI or the corresponding buttons in the tab Model Creation you can mark the region that serves as the model by drawing it on the displayed model image The Matching
190. ing command line switches e short introduction to the windows of HDevelop In the following it is assumed that HALCON has already been installed as described in the Installation Guide Windows Under Windows HDevelop is usually started from the Windows Start menu Start gt Programs gt MVTec HALCON gt HDevelop You can also start HDevelop from the Windows Command Prompt or from the Start gt Run menu making it easy to pass optional command line switches hdevelop UNIX Under UNIX HDevelop is started from the shell hdevelop amp 14 Getting Started window title r menu bar tool bar I lox File Edit Execute Visualization Procedures Operators Suggestions Assistants Window Help lt FARA BBB BEI Deets AAA Bhat SN 01 x Operator Window o x g A 4 q a v E Ft v E 100 Y v 3g Enter Operator or Procedure fi z O graphics window 2 operator window Ok Enter Appl Cancel Help R 10 x main y Edit Interface gt K Jo xi Iconic Variables Control Variables 4 variable window 3 program window status bar Figure 2 1 User interface Command Line Switches Under both Windows and UNIX HDevelop supports several command line switches to modify its startup behavior You can add the name of an HDevelop program on the command line to load it directly This is identical to an invocation of HDevelop
191. input with Step Over or Run The IC is positioned after the construct head to ensure the input of the construct s body occurs in the correct place This body is indented to make the nesting level of the control constructs visible and thus to help you in understanding the program structure The semantics for loops and conditions are shown in section Control Flow Operators on page 192 Assignment The operator assign serves as an assignment operator for control variables numbers and strings Anal ogously to normal operators the input is made in the operator window by specifying both parameters Input and Result 1 e right and left side of the assignment An instruction in C e g x y Z is declared inside the operator window as assign y z x and displayed in the program window by xX i y z The operator insert implements the assignment of a single value tuple of length 1 at a specified index position of a tuple Thus an array assignment here in C syntax ali v is entered as 6 2 6 Menu Operators 91 insert a v i a in the operator window and is displayed as ali v in the HDevelop program window Program termination The operators stop and exit are used to terminate the program More precisely stop interrupts an execution and exit terminates HDevelop Having interrupted the execution you may continue the pro gram by pressing Step Over or Run This is useful e g in demo programs
192. instances the Matching Assistant should search for 7 3 4 1 Determining the Recognition Rate With the menu item Inspect gt Determine Recognition Rate or when you click either the corre sponding button in the tool bar or the button Run in the tab Inspect the Matching Assistant determines the recognition rate by searching the object in all loaded test images You can interrupt this process by clicking the button labelled Stop please note however that this event is processed only after the current search has finished The Matching Assistant then displays at Recognition Rate the recognition rate calculated for different criteria and at Statistics the mean minimum and maximum score page 144 as well as the mean minimum and maximum matching time You can choose between three recognition modes e In each test image at least one object is expected The recognition rate is calculated as the per centage of test images which fulfill this condition e In each test image as many objects are expected as specified in the parameter Maximum Number of Matches page 162 in the dialog accessed via Use Model gt Standard Model Use Parameters page 161 The recognition rate is calculated as the relation of found objects to the sum of expected objects over all images in percent GUI Reference 166 Matching Assistant Please keep in mind that if an image contains more objects than specified in the parameter Maximum Number of Matches
193. int Range Program Current Procedure Selection External Procedures Procedure Options JV Print Procedures Used Local Procedures All Local Procedures IV Used External Procedures J Only Procedure Interface Figure 6 7 Print 6 2 2 Menu Edit 6 2 2 1 Undo Synopsis Undo your previous editing activities Shortcut Ctrl Z You may undo your previous editing activities via this menu item For example by selecting it three times you cancel the last three editing actions The menu entry always states the last editing action that will be undone e g Undo Insert Program line at 23 read_image The undo functionality purely applies to editing activities No file operations will be undone Thus if you create an external procedure from some selected lines and undo the operation the external procedure will not be removed from the file system The undo item does not work for the password assignment for external procedures see section Edit Status of External Procedures on page 111 To undo the password assignment you either have to remove the password as long as you can edit the procedure or you quit HDevelop without saving the corresponding procedure 6 2 2 2 Redo Synopsis Revoke undo activities Shortcut Ctrl Y This is a quick way to restore the state before the last undo operation The menu action explicitly states the last Undo action that will be revoked 6 2 2 3 Cut Synopsis Cut the highl
194. ion and to continue accordingly Thus for HDevelop programs containing error handling dev_error_var the corresponding code is automatically included Please note that a call of dev_ set_check give_error has no influence on the operator call The exception will always be raised This is also true for messages like H_MSG_FAIL which are not handled as exceptions in C for example When handling exceptions you also have to be aware that the COM interface always resets the output parameters at the beginning of the operator execution Thus when the exception occurs output variables are set to Nothing Therefore you cannot use the values of variables used as output parameters of the operator causing the exception 9 7 Code Generation for C This section describes how to create a HALCON application in C starting from a program developed in HDevelop 9 7 1 Basic Steps 9 7 1 1 Program Export The first step is to export the program using the menu File gt Export Here select the language C HALCON C and save it to file A file will be created that contains the HDevelop program as C 216 Code Export source code For every HDevelop procedure except the main procedure the exported file contains a C procedure with the corresponding name Iconic input and output parameters of a procedure are de clared as Hobject and Hobject respectively while control input and output parameters are declared as Htuple and Htuplex respec
195. ions are still displayed with one color you have to use the operator connection beforehand You can check this also with the operator count_obj The default setting is to use 12 colors 6 2 4 8 Color Synopsis Display regions XLDs and text in a specific color See also dev_set_color This item allows you to choose a color for displaying segmentation results regions and XLDs text created with write_string and general line drawings e g 3D plots contour lines and bar charts The number of colors that are available in the submenu depends on the graphics display 1 e the number of bits used for displaying After selecting a color the previously displayed region or XLD object will be redisplayed with this color if the menu entry Apply Immediately is checked The default color is red 6 2 4 9 Draw Synopsis Draw type of regions See also dev_set_draw Here you can select a visualization mode to display regions It can either be filled menu entry i11 or outlined menu entry margin If set to margin the line thickness of the displayed regions is specified using the menu item Line Width 6 2 4 10 Line Width Synopsis Line width used for the display of lines in active graphics window See also dev_set_line_width Here you determine the line width for painting XLDs borders of regions or other types of lines You can select between a wide range of widths using the submenu 6 2 4 Menu Visualization 81 6 2 4 1
196. iption The text field Short Description below the combo box can be used to enter an optional short description for the procedure The short description of a procedure is treated like the short description of a HALCON operator i e it is displayed in HDevelop s status bar when selecting a procedure from the menu Chapter The text field Chapter can be used to specify chapter and subchapter separated by a slash CP so that your procedures can be displayed thematically ordered in the list at the bottom of the menus Menu Procedures and Menu Operators Directory Next the path is displayed where the procedure is stored if it is an external procedure When storing the external procedure for the first time this path corresponds always to the first path in the list of external procedure paths in the dialog Menu Procedures gt External Procedure Settings see page 89 You can select any of the configured external procedure paths from the combo box If you are editing an existing external procedure the corresponding path is displayed but cannot be altered Thus once created external procedures can only be relocated in the file system You can also specify a new target directory by clicking the browse button next to the combo box When you commit the new procedure later HDevelop will suggest to add this directory to the list of external procedures automatically If the addition is canceled the new procedure will not be available unless you add the c
197. istant Referenc o occ 244 conosca srt eremitt 146 Zal TheMent Fils e popade mop a e a Re eR ee Bas 146 7 3 2 The Menu Create Model and the Tab Model Creation 148 7 3 3 The Menu Use Model and the Tab Model Use naana 158 7 34 The Menu and Tab Inspect 6 ce cross 165 7 3 5 The Menu and Tab Code Generation 00 166 P26 Whe Memi Help 24 084 sk Ao eae ea MA eS Oe Se RE eS 168 8 HDevelop Language 169 8 1 Basic Types of Parameters 2 coesa cust mesma Bee eee ae we Rees 169 8 2 Control Types and Constants lt se oc kk eG eo Be Re 170 So WORDIES a cocinada Pa dene PSR REAR EE RPO ido 172 4 Operations on Iconic Objects cocos eee ee Eee Pe eae Es 173 5 Expressions for Input Control Parameters coo 173 3831 General Features of Tuple Operations lt o oo e s eae s 4465 sra Ses 173 632 ASIME ca ss des Ge ee ek bE eek ew RE eS Pe es 175 5 3 Base Tuple Operations o 26 56 2454 5458 45 ee eee Se eee es 177 3 33 T ple Creaton oes so koa eosa ee SD ee Ae Re ee ey 178 8 3 3 Simple Anthmetic Operations 24 5 246 2 b 4 res ees 180 3 20 BipOperauons o ee e soe mass A Re RAR Boo a e 181 8 3 7 Siting Operauons s c lt o s ae cepice a o eh bee ee eae eS 181 8 5 8 Comparison Operations ss soo ee ee ee ee 186 5 39 Boolean OPAOS o on ho ee A REG BOR E 187 S10 Tngonometne PUNCUONS e soi so Ps eed es e ee bog HHS ee e ees 187 39 11 Exponenttal Fimiecnons sose eeo RE eee baw Ee DE EGS 188 Ss 12 Mumeri
198. ists all instantiated iconic variables for quick selection The submenu is split in three parts from top to bottom images regions and XLDs 6 2 4 5 Window Size Synopsis Set window size of active graphics window See also dev_set_window_extents This submenu offers a list of fixed percentages to resize the graphics window with respect to the size of the most recently displayed image The entries Double and Half change the size of the graphics window to half and double its current window size respectively independent of the size of the displayed image The entry Aspect scales down the current window size so that the aspect ratio of the displayed image is maintained 6 2 4 6 Image Size Synopsis Zoom image size of active graphics window GUI Reference The entry Fit scales the image to completely fill the graphics window A list of fixed percentages scales the image with respect to its natural size Double and Half double and half the current image size respectively Aspect scales down the image size so that its aspect ratio is maintained 80 Graphical User Interface 6 2 4 7 Colored Synopsis Disambiguate the display of regions and XLDs by using multiple colors See also dev_set_colored This is an easy way to display multiple regions or XLDs Each region is displayed in a different color where the number of different colors is specified in the submenu You can choose between 3 6 and 12 colors If all reg
199. it For e E f g and G conversions the result always contains a radix character even if no digits follow the radix character For g and G conversions trailing zeros are not removed from the result contrary to usual behavior width An optional string of decimal digits to specify a minimum field width For an output field if the converted value has fewer characters than the field width it is padded on the left or right if the left adjustment flag has been given to the field width precision The precision specifies the minimum number of digits to appear for integer conversions the field is padded with leading zeros the number of digits to appear after the radix character for the e and f conversions the maximum number of significant digits for the g conversion or the maximum number of characters to be printed from a string conversion The precision takes the form of a period followed by a decimal digit string A null digit string is treated as a zero conversion A conversion character indicates the type of conversion to be applied d o x X The integer argument is printed in signed decimal d unsigned octal o or unsigned hexadecimal notation x and X The x conversion uses the numbers and lower case let ters 0123456789abcdef and the X conversion uses the numbers and upper case letters 0123456789ABCDEF The precision component of the argument specifies the minimum num ber of digits to appear If the value being converted can
200. itself is displayed Anyone familiar with a web browser will be able to navigate through the hypertext The size of the two parts of the help window can be altered by dragging the dividing line With the help window you can easily browse the HALCON Reference Manual and the HDevelop Refer ence Manual Furthermore the complete offline documentation of HALCON which is available in PDF format can be accessed from this window The help window also includes a full text search engine to rummage both online and offline documentation Contents This tab card presents the chapters and sections of the online documentation as a hierarchical tree Click on a node of the tree to display the associated document Operators This tab card lists all operators in alphabetical order Click on an operator name to display the corre sponding page from the Reference Manual Enter any substring into the text field Filter to show only operator names matching that substring GUI Reference 128 Graphical User Interface Contents Operators Search Key gt 4 D e amp sy r fe Syntax HDevelop About HALCON Reference Manuals HALCON Reference Manual User Manuals f Version 8 0 2 MvTec Software GmbH www mvtec com Table of Contents e Classification Gaussian Mixture Models oHyperboxes o Neural MNets o Support Yector Machines e Control e Develop e File o Images oMisc o Region o Text o
201. kmark every object image region or XLD is displayed in the active graphics window during program execution Otherwise the active graphics window is not updated 82 Graphical User Interface ization Parameters o x Select Graphics Window 2 Pen Lut Paint zoom m Draw Fill C margin Shape original y Color Line Width E Ss 8 Bs BD A Preview red green blue dim gray gray light gray cyan magenta yellow medium slate blue coral slate blue enrina nraan IV Update Use settings for new windows Figure 6 22 Visualization Parameters with multiple graphics windows 6 2 4 16 Reset Parameters Synopsis Reset the visualization parameters of the active graphics window to the default settings Here the display parameters of the active graphics window are set to their initial state as defined in the preferences see page 62 The only exception is the size of the window To clear the history of previously displayed objects use Clear Graphics Window To set the size use Window Size 6 2 4 17 Set Parameters hep Synopsis Set visualization parameters of the active graphics window with interactive preview This menu entry opens the window Visualization Parameters which allows convenient access to the visualization settings of the active graphics window Most of the settings are also available as indi vidual menu entries in the menu Visualization but some more adv
202. l column compactness 200000006 M phi roundness O num_sides O connect_num O holes_num _ max_diameter O orientation M shape O moments gray value O basic O texture O moments xid O basic O shape See aa ae Figure 6 52 Inspection of selected features of the selected region or XLD is displayed or the value for the entire image The current value is also visualized as a gauge in a value range that can be set to the desired values Simply select Show Minimum Maximun which is available in the context menu of the right side of the window See figure 6 52 for an illustration of a clip inspection The range for the area feature has been set to 4000 6200 Individual clips can be inspected by selecting them in the graphics window Moving the mouse pointer over a feature value displays a tool tip It shows the name and short description of the HALCON operator used for the calculation of that value Using the context menu you can insert the corresponding operator into the operator window GUI Reference 140 Graphical User Interface 6 13 Dialogs 6 13 1 File Selection Dialog The file selection dialogs opened by actions such as Open Program Save or Read Image are native windows of the operating system and thus their appearance and internal functionality is beyond HDevelop s control Their basic f
203. l User Interface Iconic output parameters These parameters contain default variables which have the same names as the parameters themselves If a variable with the same name as the output parameter is already being used a number is added to the name to make it unique Because the parameter names characterize the computed result very well you may adopt these default names in many cases Besides this you are free to choose arbitrary names either by yourself or by opening the list see above If you use a variable that already has a value this value is deleted during execution before overwriting it with new results It is possible to specify a variable both in an input and output position Control input parameters These parameters normally possess a default value As an alternative you may use the text field s button to open a combo box and to select a value suggestion In addition this combo box contains a list of variables that contain values of the required type A restriction of proposed variables is especially used for parameters that contain data like file image acquisition or OCR handles Input control parameters may contain constants variables and expressions Common types are integer numbers integer floating point numbers real boolean values true and false and character strings string You can also specify multiple values of these types at once by using tuples This is an array of values separated by commas and encl
204. l allowed variations of its position orientation occlusion and illumination Score When comparing a region in a test image with the model the Matching Assistant calculates a measure of similarity the so called score which ranges between 0 no similarity and 1 perfect similarity 7 2 Howto Use the Matching Assistant of HDevelop By using the Matching Assistant you can set up and optimize your matching application quickly and easily in three steps e Create the model e Test the model and e Optimize the matching speed We recommend to reset all parameters via the button Reset page 157 inside the tab Model Creation page 148 before starting with a new matching application 7 2 1 Creating the Model A model page 143 is created in three steps e Open the so called model image page 143 via the menu item File gt Open Model Image page 147 the corresponding button in the tool bar or the text field and button of Model Image inside the tab Model Creation e Create an ROI page 143 around the object either via the menu items at Create Model gt Create ROI page 149 or via the corresponding buttons inside the tab Model Creation e Specify the parameter Contrast page 151 inside the tab Model Creation accessible also via Create Model gt Standard Model Parameters page 150 so that the model consists of enough points to be recognizable Alternatively you can load a model page 147 that you have saved page 148 wit
205. lable for the language interfaces HDevelop C C NET and COM The displayed variant can be selected through this list box Find Enter a word or substring to find it in the currently displayed document The first match is high lighted as you type If no match is found the text field blinks shortly You can use the cursor keys down and up to highlight the next match or the previous match respectively Alternatively you can use the following two buttons Next Highlight the next match Prev Highlight the previous match Special Keyboard Shortcuts in the Help Window lt A1t gt lt Left gt go back in the browse history lt Alt gt lt Right gt go forward in the browse history lt A1t gt lt Home gt go to starting the page of the HALCON Refer ence Manual lt A1t gt lt Return gt enter operator into operator window lt Ctrl gt lt f gt search text on the current page lt Ctrl gt lt p gt print current page lt Ctrl gt lt gt increase font size lt Ctrl gt lt gt decrease font size lt Ctrl gt lt d gt add current page to the bookmarks lt Tab gt highlight next link lt Shift gt lt Tab gt highlight previous link lt Enter gt jump to highlighted link Text in the help window can be selected e g for copying with the mouse or the keyboard Click into the help window to place a text cursor This text cursor can be moved around the page using the arrow keys Holding down shift and pressing the arrow key
206. le all the menu items buttons and dialogs that enable you to change the model parameters or display the model image will not be selectable because a loaded model cannot be changed and contains no information about the image from which it was created Thus e g the menu items Create Model gt Create ROI page 149 Create Model gt Standard Model Parameters page 150 and Create Model gt Advanced Model Parameters page 154 and the Display button of the dialog accessed by Create Model gt Display Image Pyramid page 149 which is used to inspect the model are enabled GUI Reference 148 Matching Assistant 7 3 1 3 Saving a Shape Model The menu item File gt Save Model enables you to save the created model page 144 in a file for later use For example the model page 143 can be loaded into the Matching Assistant again in a later session with File gt Load Model 7 3 1 4 Loading Assistant Settings If you have saved the settings of a former Matching Assistant session you can load them again by the menu item File gt Load Assistant Settings or via the corresponding button of the tool bar 7 3 1 5 Save Current Assistant Settings You can save the current settings of a Matching Assistant session using the menu item File gt Save Current Assistant Settings or the corresponding button in the tool bar Then you can load them again in a later session 7 3 1 6 Close the Matching Assistant Dialog When closing the Match
207. le the line Call MsgBox Press button to continue vbYes Program stop 1000 in HDevelop will result in Call MsgBox Press button to continue vbYes Program stop 1000 in Visual Basic 6 This feature can be used to integrate Visual Basic Visual Basic NET CH C or C code into a HDevelop program Furthermore some additional special comments are recognized to specify the destination of the plain text statements For example the line define NO_EXPORT_APP_MAIN puts the given text at the very beginning of the exported program Comments in this format are collected from the main procedure first followed by comments in other procedures The recognized special comments are summarized in table 9 1 9 8 2 Assignment In HDevelop each time a new value is assigned to a variable its old contents are removed automatically independent of the type of the variable In the exported code this is also the case for iconic objects 218 Code Export HALCON C Hobject HALCON NET HObject HALCON COM HUntypedObjectX and for the class HTuple HALCON C HALCON NET the type Variant Visual Basic 6 and the class object HALCON COM for NET languages as they all have a destructor that removes the stored data Because C does not provide destructors the generated C code calls the operators clear_obj and destroy_tuple to remove the content of iconic output parameters Hobject and control output pa rameters Htu
208. le Range The allowed range of scale is defined separately in row and column direction Thus it is described by the parameters e Minimum Row Scale e Maximum Row Scale e Minimum Column Scale e Maximum Column Scale In the model image the scales all have the value 1 0 Note that if you have chosen a very large angle extent page 153 and scale range you may find it useful to switch off the complete pregeneration page 157 of the model Depending on the specified parameters the most efficient matching method is used This method deter mines how the shape model is created in the generated code e Unscaled matching This method is used if all four scale factors are equal to 1 0 e Scale invariant matching This method is used if all four scale factors are equal but not 1 0 or locked e Anisotropic scale invariant matching This method is used if none of the above applies 7 3 2 17 Specifying Advanced Model Parameters In most applications specifying the Standard Model Parameters page 150 will already suffice The menu item Create Model gt Advanced Model Parameters provides additional parameters that let you handle special cases like changing the contrast polarity or enable you to further optimize the model The following parameters can be specified in this dialog e the Angle Step at which the model is created e the scale steps at which the model is created e whether to use the polarity of the contrast Metric page 156
209. le values in ascending order that means that the first value of the resulting tuple is the smallest one But again strings must not be mixed up with numbers sort_index sorts the tuple values in ascending order but in contrast to sort it returns the index positions 0 of the sorted values The function inverse reverses the order of the tuple values Both sort and inverse are identical if the input is empty if the tuple is of length 1 or if the tuple contains only one value in all positions e g 1 1 1 8 5 14 Operation Precedence 191 Operation Meaning HALCON operator sort t sort_index t inverse t is_number v number v environment s sorting in increasing order return index instead of values reverse the order of the values test if value is a number convert string to a number value of an environment variable tuple_sort tuple_sort_index tuple_inverse tuple_is_number tuple_number tuple_environment ord a ASCII number of a character tuple_ord chr a convert an ASCII number to a character tuple_chr ords s ASCII number of a tuple of strings tuple_ords chrt i convert a tuple of integers into a string tuple_chrt rand a create random numbers tuple_rand Table 8 17 Miscellaneous functions is_number returns true for variables of the type integer or real and for variables of the type string that represent a number The function number converts a string representing a number to an
210. lected from a tuple using and their number cannot be directly determined using For this purpose l Please note that the index of objects e g select_obj ranges from 1 to the number of elements Language 178 HDevelop Language Operation HALCON operator t1 t2 It t i t 11 i2 subset t i remove t i find t1 t2 uniq t tuple_concat tuple_length tuple_select tuple_select_range tuple_select tuple_remove tuple_find tuple_uniq Table 8 6 Tuple operations and the corresponding HALCON operators control iconic gen_empty_obj t1 t2 concat_obj p1 p2 q Itl count_obj p num t i select_obj p q it1 t i1 i2 copy_obj p q i1 1 i2 i1 1 Table 8 7 Equivalent tuple operations for control and iconic data however HALCON operators are offered that carry out the equivalent tasks In table 8 7 you can see tuple operations that work on control data and which are applied via assign or insert and their counterparts that work on iconic data and which are independent operators In the table the symbol t represents a control tuple and the symbols p and q represent iconic tuples 8 5 4 Tuple Creation The simplest way to create a tuple as mentioned in section 8 2 on page 170 is the use of constants together with the operator assign or in case of iconic data one of its equivalents shown in table 8 7 assign empty_tuple assign 4711 one_integer assign 4711 0
211. lecting values from lists can be easily done using just the keyboard The most common keyboard functions are listed in the appendix Windows In the default window mode of HDevelop windows can be freely moved inside the main window by dragging the title bar They can be resized by dragging the window border Windows can be focused by clicking inside the window area This also raises the corresponding window to the front Windows that are completely covered by other windows can be brought to the front by selecting them from the Window menu The window title provides some buttons with additional functionality Clicking the icon in the left edge of the window title opens a menu from which all window management functions move resize minimize can be selected The buttons on the right edge of the window allow to 1 minimize restore 2 maximize restore and 3 close the corresponding window from left to right There is an alternative window mode called SDI see also section 6 1 on page 45 which delegates the functionality of the window title to the window manager Abbreviations BP break point IC insert cursor MDI multi document interface PC program counter SDI single document interface XLD extended line description see also chapter A on page 225 Getting Started 13 Chapter 2 Getting Started ao o gt he S gt D o 10 In this chapter the following topics are covered e running HDevelop e specify
212. licking onto the objects in the graphics window or inspect the histogram of an image interactively and apply real time segmentation to select parameters Variables with an automatic garbage collection are used to manage iconic objects or control values 1 2 HDevelop Procedures HDevelop offers a mechanism for the creation and execution of procedures Procedures are meant to increase the readability and modularity of HDevelop programs by encapsulating functionality of multiple operator calls in one or more procedure calls It also makes it easier to reuse program code in other HDevelop programs by storing repeatedly used functionality in separate procedures A HDevelop procedure consists of an interface and a program body Procedure interfaces resemble the interfaces of HALCON operators i e they contain parameter lists for iconic and control input and output parameters A procedure body contains a list of operator and procedure calls Every HDevelop program is made up of one or more procedures It always contains the main procedure which has a special status inside the program because it is always the top most procedure in the calling hierarchy and cannot be deleted from the program HDevelop offers all necessary mechanisms for creating loading deleting copying modifying saving and exporting procedures Once a procedure is created it can basically be used like an operator Calls to the procedure can be added to any progra
213. like if or while evaluates to FALSE the PC is set behind the end marker Suggestions in the menu Menu Suggestions are determined for the recently executed operator Finally HDevelop is available for further transactions Any user input which has been made during execution is handled now 6 2 3 4 Step Forward Synopsis Execute the next line in the current program Shortcut Shift F6 This entry always steps forward in the current program The difference to Step Over is apparent in loops Only the first run of the loop is single stepped When the closing statement of the loop is reached the remaining runs of the loop are executed without interruption and the line following the loop is executed stepwise again 6 2 3 5 Step Into Synopsis Step into HDevelop procedure Shortcut F7 This entry allows you to step into procedure calls Executing Step Into with the PC on a procedure call line causes the corresponding procedure and procedure call to become the current procedure and proce dure call respectively The PC is set on the first executable program line in the new current procedure Step Into has the same effect as Step Over if the program line to be executed is not a procedure call GUI Reference 76 Graphical User Interface 6 2 3 6 Step Out Synopsis Step out of HDevelop procedure Shortcut F8 This entry steps out of the current procedure call Program execution is continued until the first exe cutable progra
214. locked They can only be accessed if the correct password is supplied This can either be done from this dialog by simply moving the corresponding procedures back to the middle column and entering the password Or you can unlock procedures individually from the program window as described in section Creating and Editing Procedures on page 105 If you select multiple procedures in the third column and move them to the left a password dialog appears to unlock the procedures Only those procedures are moved and thus unlocked that match the supplied password This way you can conveniently edit a group of external procedures that share the same password The button Change Password is available if one or more procedures are selected in the middle column It assigns a new password to the selected procedures regardless if the previous passwords were different Please note that password changes or moving procedures from or to the first column require the corre sponding procedures to be saved See Save page 49 and Save A11 page 51 lolx AT User Interface AB External Procedures amp General Options 89 Visualization Settings S Runtime Settings Procedures Manage Passwords Procedure Use Unresolved Procedure Calls 4 gt Unprotected Procedures Unlocked Protected Procedures Locked Protected Procedures compose_test_index compare_control decompose_test_index compare_iconic determine_xld_type compare_images get_ima
215. lp the following special terms are used Matching Matching is the process of locating an object described by a model in an image The results of the matching process are the position and orientation of the object and the matching score Model In order to locate an object you must provide the Matching Assistant with an example image of the object From this the Matching Assistant creates the so called model an internal representa tion of the object containing only the information characterizing the object This representation is then used when searching for the object in the test images Model Image This is the image containing your example of the object to be searched for This image should be a characteristic image of the object i e the object should appear in its default position and orientation and not be occluded furthermore the image should not contain clutter You can open this image via the menu item File gt Open Model Image page 147 Model Region of Interest ROI This is the region in the model image which contains the object to be found You can mark this region via the menu item Create Model gt Create ROI page 149 144 Matching Assistant Test Image You can test the performance of the matching process by providing test images via the menu item Use Model gt Test Images gt Load Test Images page 158 These images should be representative images from your matching application i e the object should appear in al
216. lutter we recommend to create a new model ROI via the menu item Create Model gt Create ROI page 149 7 3 2 9 Letting the Matching Assistant Select a Suitable Value for Contrast When you click the button Auto Select that is placed right beside the sliders for the parameters Contrast Low High page 151 the Matching Assistant selects suitable values for the contrast by trying to obtain many long and straight contour segments Note that you may need to set the value manually if certain model components should be included or suppressed because of application specific reasons or if the object contains several different contrasts 7 3 2 10 The Model Parameter Minimum Component Size The parameter Min Component Size specifies the minimum size i e number of pixels which contour parts must have to be included in the model page 143 This parameter is useful to exclude clutter You can also let the Matching Assistant select a suitable value automatically based on the model image page 143 Note that the selected value is divided by two for each successive pyramid level 7 3 2 11 Letting the Matching Assistant Select a Suitable Value for Minimum Component Size When you click the button Auto Select that is placed right beside the slider for the parameter Minimum Component Size the Matching Assistant selects a suitable value for the minimum component size based on the model image 7 3 2 12 The Model Parameter Pyramid Levels To speed up
217. ly 5 8 Improving the Threshold Using the Gray Histogram Click Visualization gt Gray Histogram to open a tool for the inspection of gray value histograms One of its uses is to determine threshold bounds visually Because the graphics window currently dis plays only regions the gray histogram is initially empty Double click the Clip icon in the variable window to re display the original image and watch its gray histogram appear Programming Programming HDevelop Graphics Window ray Histo E O x Channel fji y IV Update x Histogram Options af Output Display threshold y Min o Color colored 3 y Max s6 rial Draw fill Y Output Destination Line Width fi originating window y y Statistics Figure 5 8 Determining threshold bounds interactively using the gray histogram In the Output section of the gray histogram window set Display to threshold Now you can try different threshold bounds by altering the values in Min and Max or by dragging the lines in the histogram area see figure 5 8 Any changes to these values are immediately visualized in the active graphics window The values O and 56 seem suitable for the lower and upper bounds respectively 5 9 Edit Lines As previously noted editing in HDevelop is line based All parameter modifications in the program are done through the operator window To edit a line double click it in the program window Afterwards the para
218. m body and be executed with the appropriate calling parameters Generally the concept of using procedures inside HDevelop is an extension to the concept of calling 1 3 Parallel HDevelop 11 HALCON operators since procedure and operator interfaces have the same parameter categories and the same rules apply for passing calling parameters Local and external procedures are differentiated in HDevelop Local procedures are stored inside the HDevelop program while external procedures are stored separately and therefore can be shared between different HDevelop programs and what is most advantageous the modification of an external procedure immediatly affects all HDevelop programs using it In order to manage a large collection of procedures the procedures can be ordered in a hierarchical way i e similar to the storing of operators thematically ordered chapters and sections can be composed Furthermore external procedures can be protected by passwords so that they can be applied but not viewed or modified by unauthorized users 1 3 Parallel HDevelop In addition to the standard HDevelop there is also a variant called Parallel HDevelop which is based on Parallel HALCON The user interface is identical but underneath Parallel HALCON automatically parallelizes operators if used on multi processor or multi core hardware See the Programmer s Guide for more information In the remainder of this document when we refer to HDevelop you can substitu
219. m line after the previous procedure call in the calling procedure is reached The previous calling procedure becomes the current procedure If the current procedure is the main procedure the behavior is the same as Run 6 2 3 7 Stop Synopsis Stop program execution Shortcut F9 HDevelop continues processing until the current operator has completed its computations This may take a long time if the operator is taking a lot of time to execute There is no way of interrupting a HALCON operator The procedure and procedure call in which the program execution was stopped becomes the current procedure and procedure call respectively After interrupting a program you may continue it by selecting Run or Step Over or Step Into if the next program line is a procedure call You may also edit the program before continuing it e g by parameter modification by exchanging operators with alternatives or by inserting additional operators 6 2 3 8 Call Stack Synopsis Visualize the calling hierarchy Selecting this item depicts a dialog that contains a list of the names of all procedures that are currently called on HDevelop s internal call stack The top most procedure call belongs to the most recently called procedure the bottom most procedure call always belongs to the main procedure Clicking on a procedure call in the dialog makes the selected procedure call the current procedure call and thus the procedure belonging to the selected procedur
220. m score that a match must reach Graphically speaking the parameter specifies how much of the object i e of the model points must be visible A part of the object may be invisible not only because it is occluded but also if its contrast is lower than the selected minimum contrast value page 157 or has the wrong polarity page 156 A further cause of invisibility could be a too large angle step size page 155 The larger the value is chosen the faster the search is because candidate matches can be discarded earlier Therefore this parameter can be optimized easily Starting from the maximum value reduce the value until the object is found in all test images page 143 in fact this method is used by the Matching Assistant itself when you start the optimization via the menu item Inspect gt Optimize Recognition Speed page 164 Choosing small values may cause the program to search for quite a while In such a case we recommend to enter a larger value in the text box instead of using the slider Please note that by default the objects must lie completely within the test images in order to be found This behavior can be changed via the parameter Shape models may cross the image border page 164 in the dialog accessed via the menu item Use Model gt Advanced Model Use Parameters 7 3 3 13 The Search Parameter Maximum Number of Matches The parameter Maximum Number of Matches specifies how many instances of the object are searched f
221. mber of loop steps These values may also be expressions which are evaluated immediately before the loop is entered The expressions may be of type integer or of type real If all input values are of type integer the loop variable will also be of type integer In all other cases the loop variable will be of type real Please note that the for loop is displayed differently in the program window than entered in the operator window What you enter in the operator window as for start end step index is displayed in the program window as 8 7 Control Flow Operators 195 for lt index gt lt start gt to lt end gt by lt step gt endfor To enter both for and endfor at once select the operator for in the operator window and make sure the check box next to the operator is ticked The start value is assigned to the index variable The loop is executed as long as the following conditions are true 1 The step value is positive and the loop index is smaller than or equal to the end value 2 The step value is negative and the loop index is greater than or equal to the end value After a loop cycle the loop index is incremented by the step value and the conditions are evaluated again Thus after executing the following lines for i 1 to 5 by 1 Tosa endfor i is set to 6 and j is set to 5 while in for i 5 to 1 by 1 J e i endfor i is set to O and j is set to 1 The loop can be restarted and terminated immediately
222. mber of regions or XLDs with a certain feature value When comparing feature histograms to gray value histograms you will note a typical difference Because in most cases the overall number of regions or XLDs is much smaller than the overall number of pixels feature histograms often consist of individual lines most of them having the height 1 Of course this effect depends on the selected feature For features with floating point values e g the orientation the probability that two regions or XLDs have the same feature value is very small in contrast to features with integer values e g the number of holes You can influence the calculation of the histogram with the slider Quantization The selected value is used to discretize the horizontal axis Instead of determining the frequency of an exact feature value regions with feature values falling within discrete intervals are summed Graphically speaking the horizontal axis is subdivided into bins with a width equal to the value selected with the slider Quantization GUI Reference 138 Graphical User Interface Automatic Selection As already noted the region feature histogram facilitates the task of finding suitable threshold parameters for the operators select_shape select_gray and select_shape_xld Select the entry selected in the combo box Display choose suitable visualization parameters in the three combo boxes Color Draw and Line Width and then position th
223. ment is necessary only if the value has to be used several times or if the variable has to be initialized e g for a loop A second assignment operator is available insert Input Value Index Result It is used to assign tuple elements If the first input parameter and the first output parameter are identical the call insert Areas Area Radius 1 Areas is not presented in the program text as an operator call but in the more intuitive form as Areas Radius 1 Area As an example assign 1 2 3 Area assign 9 Areas insert Areas Area 1 Areas sets Areas to 1 9 3 To construct a tuple with insert normally an empty tuple is used as initial value and the elements are inserted in a loop Language 176 HDevelop Language Tuple for i 0 to 5 by 1 Tuple i sqrt real i endfor As you can see from the examples the indices of a tuple start at 0 An insertion into a tuple can generally be performed in one of the following ways 1 Incase of appending the value at the back or at the front the tuple concatenation operation comma can be used Here the operator assign is used with the following parameters assign Tuple NewVal Tuple which is displayed as Tuple Tuple NewVal 2 If the index position is somewhere in between the operator insert has to be used It takes the following arguments as input first the tuple in which the new value should be inserted then the new
224. meters are displayed in the operator window for editing If you click OK or Enter the original line in the program is updated Double click the second line of the program to adjust the threshold operation Replace the value 30 with 56 and click Enter The program line is updated in the program window 5 10 Re Execute the Program 39 5 10 Re Execute the Program The last editing step was just a tiny modification of the program Often after editing many lines in your program with perhaps many changes to the variables you want to reset your program to its initial state and run it again to see the changes Click Execute gt Reset Program Execution to reset the program Now you can select Execute gt Run to run the complete program or click Execute gt Step Over repeatedly to execute the program line by line 5 11 Save the Program Perhaps now is a good time to save your program Select File gt Save and specify a target directory and a file name for your program 5 12 Selecting Regions Based on Features Inspecting the variable ConnectedRegions after the changed threshold operation yields a much better result Still a contiguous area at the left edge of the image is returned To obtain only the regions that coincide with the clips we need to further reduce the found regions based on a common criterion Analogous to the gray histogram tools which help to select regions based on common gray values HDevelop provides a feature histo
225. mplemented in terms of specific HDevelop operators These operators can be selected from the 5 13 Looping Over the Results 41 Variable Inspect Phi Area Row Column Iconic Variables f 0 691604 198 A A 7 2 4989 5091 167 206 438 396 Eo Ni ES EE EA 0 671646 5172 197 761 621 874 apes 0 36226 5212 271 818 239 164 1 98853 4804 370 505 533 539 1 86347 4767 399 981 339 445 1 47322 4916 450 672 667 683 0 117317 5309 428 429 131 406 0 148027 5964 503 389 461 329 0 295232 5416 544 808 262 795 1 71117 5011 664 751 427 176 a Update Variables 2 55278 5265 660 569 590 18 Cleanup 2 38878 4666 668 813 179 104 real integer real real Add to User Tab Sort by Name v Sort by Occurrence Figure 5 10 Inspecting control variables menu Operators gt Control Expressions are implemented in terms of a specific HDevelop language which can be used in input control parameters of operator calls To iterate over the elements in Phi we use a for loop which counts from zero the index of the first element of a tuple to the number of elements minus one The for loop is entered just like a common HALCON operator Enter for into the operator window and specify the parameters as in figure 5 11 The notation Phi 1 is part of the HDevelop language This operation calculates the number of elements in Phi minus one When inserted in the program window the operator for is displaye
226. nding on the selected Contrast and Minimum Component Size page 152 higher pyramid levels may not contain any model points Detailed information about the model image pyramid can be found here page 152 7 3 2 6 Locking the Display of Model and Image Pyramid By default the pyramid levels of the displayed model and model image are locked When pressing the unlock button right to the sliders which are used for specifying the pyramid levels you can select different pyramid levels for the model image and the model When pressing the button again both levels are locked again Detailed information about the model image pyramid can be found here page 152 7 3 2 7 Specifying Standard Model Parameters Via the menu item Create Model gt Standard Model Parameters the tab Model Creation is opened and you can specify basic parameters for the model which describe the appearance of the object to recognize e g the contrast of significant points or the allowed range of rotation By default these parameters are set to values which work well for most tasks by modifying them you can optimize the model for your application and speed up the search process The following parameters can be specified in this dialog e the Contrast which points must have in order to be included in the model 7 3 2 The Menu Create Model and the Tab Model Creation 151 e the Minimum Component Size page 152 of model components e the number of Pyramid Level
227. ng Value H_MSG_TRUE M_MSG_FALSE H_MSG_VOID H_MSG_FAIL No error for tests true For tests false No result could be computed Operator did not succeed 2 nn HE WwW Table 8 2 Return values for operators Language 172 HDevelop Language Tuple constant Value m l Value A string fp gt O gt Value G gt real gt Co gt boolean r Figure 8 1 The syntax of tuple constants integer gt types The standard representation of a tuple is a listing of its elements included into brackets This is illustrated in figure 8 1 specifies the empty tuple A tuple with just one element is to be considered as a special case because it can either be specified in the tuple notation or as an atomic value 55 defines the same constant as 55 Examples for tuples are 4711 0 815 Text 16 100 0 100 0 200 0 200 0 FileName Extension 4711 0 815 Hugo 8 3 Variables Names of variables are built up as usual by composing letters digits and the underscore _ The max imum length of a variable name is limited to 256 characters The kind of a variable iconic or control variable depends on its position in the parameter list in which the variable identifier is used for the first time see also section 8 1 on page 169 The kind of the variable is determined durin
228. ng run lt program gt dev load the program and start execution lt image_file gt load an image file with read_image help show this help info in a message box version show version information in a message box help show this help information on the console version show version information on the console convert lt program gt dev lt program gt cpp c cs vb bas cs vb txt dev COM external_proc_path lt external procedure path gt external_procs_only_interfaces convert an HDevelop program into a source file of the specified type reset_preferences reset all persistent settings from previous sessions preferences lt file gt start HDevelop with the preferences from a file Qt options style lt style gt sets the application GUI style Possible values are Windows Motif CDE Plastique Cleanlooks Glossary X11 options display lt display gt sets the X display default is DISPLAY geometry lt geometry gt sets the client geometry of the first window that is shown fn font lt font gt defines the application font The font should be specified using an X logical font description 228 Command Line Switches bg background lt color gt sets the default background color and an application palette light and dark shades are calculated fg foreground lt color gt btn button lt color gt name lt name gt title lt title gt visual TrueColor n
229. ng If there is more than one image in the variable only the first image is used for the icon Similarly for multi channel images only the first channel is displayed An exception is made for images with 3 channels These are displayed as color icons RGB The domain of the image is not reflected in the displayed icon Information about the domain can be obtained from the tool tip which appears when the mouse cursor points to the icon See figure 6 41 for an illustration e Regions are displayed by first calculating the smallest surrounding rectangle and then zooming it so that it fills the icon using a border of one pixel In contrast to images the aspect ratio is always correct This can lead to black bars at the borders The color used to draw the region is always white without further modifications except zooming e XLD data is displayed using the coordinate system of the largest image used so far The color used for XLD objects is white on black background Because of the different ways of displaying objects you have to be aware that the coordinates cannot be compared The variable name is positioned below each icon They are displayed in the variable window in the order of occurrence or name from left to right If there is not enough space a scrollbar is created which you can use to scroll the icons Displaying iconic variables Double clicking an icon with the left mouse button displays the data in the active graphics window If y
230. ning are listed in table 8 3 Operations on these symbols can only be applied to parameters of the indicated type or to expressions that return a result of the indicated type The symbol names i a 1 and s can denote atomic tuples tuples of length 1 as well as tuples with arbitrary length Operations are normally described assuming atomic tuples If the tuple contains more than one element most operators work as follows e If one of the tuples is of length one all elements of the other tuples are combined with that single value for the chosen operation Language 174 HDevelop Language Symbol Types i integer arithmetic that is integer or real boolean s string v all types atomic ct all types tuple Table 8 3 Symbols for the operation description Input Result 5 5 25 5 5 25 1 2 3 2 2 4 6 1 2 3 2 1 10 12 1 14 2 16 3 1 2 3 1 2 3 1 4 9 1 2 3 1 2 runtime error Text1 Text2 TextiText2 17 3 2173 Text 3 1 2 Text 6 2 3 1 2 Text 3 1 2 Text runtime error 25 1 Text 3 1 2 Text 3 12 Text Table 8 4 Examples for arithmetic operations with tuples and strings e If both tuples have a length greater than one both tuples must have the same length otherwise a runtime error occurs In this case the selected operation is applied to all elements with the same index The length of
231. ns a list all known keywords and the selected operators below The list of keywords can be filtered by entering any substring into the text field Filter After the suggestions for an operator have been generated all keywords belonging to this operator are marked reversed Because there are many entries in the keyword list you may see all marked keywords only by scrolling it On the list below the keywords you will find all operators associated with at least one of these keywords Clicking a keyword causes the addition of operators belonging to this keyword Bookmarks This tab card lists all user defined bookmarks You can add the currently displayed document to the list by clicking the button Add To remove a bookmark from the list select 1t and click the button Delete Help Window Tool Bar Icons da Go back in the browse history Go forward in the browse history GUI Reference 130 Graphical User Interface Go to the starting page of the HALCON Reference Manual Increase the font size of the help window LD Decrease the font size of the help window WW Add the currently displayed document to the tab card Bookmarks page 129 E Open the operating system dependent printer selection dialog to print the currently displayed page EE Tf the currently displayed document is the reference page of a HALCON operator select this oper ator in the operator window Syntax The online pages of the HALCON Reference Manual are avai
232. nt to use Parallel HALCON you have to include the libraries parhalcon 1lib d11 and parhalconc 1lib d11 instead of halcon 1ib d11 and halconc 1ib d11 in your project see the Programmer s Guide chapter 18 on page 151 for more details 9 7 1 3 Compiling and Linking in UNIX Environments To compile and link the new program called e g test c under UNIX you can use the example makefile which can be found in the directory HALCONROOT examples c by calling make TEST_PROG test Alternatively you can set the variable TEST_PROG in makefile to test and then just type make You can link the program to the Parallel HALCON libraries by calling make TEST_PROG test PAR 1 or just type make PAR 1 if you set the variable TEST_PROG as described above For more details see the Programmer s Guide chapter 18 on page 151 9 8 General Aspects of Code Generation 217 Prefix Where the text following the prefix goes in the exported program The place of insertion HO Beginning of the program End of the program Before the current procedure After the current procedure Table 9 1 Special comments in HDevelop 9 8 General Aspects of Code Generation In the following general differences in the behavior of a HDevelop program and its exported versions are described 9 8 1 User Defined Code Blocks HDevelop comments containing the symbol as the first character are exported as plain text statements For examp
233. nteger division The remaining arithmetic operators multiplication addition subtraction and 8 5 6 Bit Operations 181 Operation Meaning HALCON operator 1sh i1 i2 left shift tuple_1sh rsh i1 i2 right shift tuple_rsh il band i2 bitwise and tuple_band il bxor i2 bitwise xor tuple_bxor il bor i2 bitwise or tuple_bor bnot i bitwise complement tuple_bnot Table 8 9 Bit operations Language negation can be applied to either integer or real numbers If at least one operand is of type real the result will be a real number as well Examples Expression Result 4 3 1 4 3 0 1 3333333 4 3 2 0 2 0 Simple examples can be found in the program arithmetic dev 8 5 6 Bit Operations This section describes the operators for bit processing of numbers The operands have to be integers The result of lsh i1 i2 is a bitwise left shift of i1 that is applied i2 times If there is no overflow this is equivalent to a multiplication by 2 The result of rsh i1 i2 is a bitwise right shift of 11 that is applied 12 times For non negative i1 this is equivalent to a division by 2 For negative i1 the result depends on the used hardware For 1sh and rsh the result is undefined if the second operand has a negative value or the value is larger than 32 More examples can be found in the program bit dev 8 5 7 String Operations There are several string operations available to modify select and combine strings Furthermo
234. ntry Lut on page 81 GUI Reference 84 Graphical User Interface PS visualization Param cubic_root imw_cubic_root three six twelve twenty_Four color1 color2 color3 color4 rainbow cvclic naraw IV Update Reset Use settings for new windows Figure 6 23 Visualization Parameters LUT settings Paint settings Here you can select between several graphical presentations for images Examples are contourline and 3D plot In the default mode the image will be displayed as is i e as a picture If you have chosen a presentation mode the window displays all possible parameters you may modify For example after selecting the item 3D plot you can specify the following parameters e Row and e Column position of the center e Step the distance of plot lines in pixels e Scale height of 3D plot e Eye height e Eye distance view point e Colored use the gray value of a pixel to draw a line segment instead of one graphic color Zoom settings See also dev_set_part As opposed to the mouse based zoom functionality that is available in the tool bar of the graphics win dow the tab card Zoom is parameterized You can specify the bounding box of the visible area of an image or set the center position 6 2 4 Menu Visualization 85 ualization Parameters Pen LUT Paint Zoom default row Row 0 column contourline Column 0 3D
235. nual is available with extensive documentation of each operator An other possibility of requesting information about the current operator is pressing the button Help inside the operator window see section Operator Window on page 113 The help window is described in section Help Window on page 127 6 2 10 2 HALCON Reference GUI Reference Synopsis Display the HALCON Reference Manual in the online help window 6 2 10 3 HDevelop Reference Synopsis Display the HDevelop Reference chapter in the online help window 100 Graphical User Interface 6 2 10 4 HDevelop Language Synopsis Display the HDevelop Language chapter in the online help window 6 2 10 5 Search Documentation Synopsis Open the online help window and show the search tab to enter search queries The online help provides an integrated search engine You can enter search queries there and search the HALCON documentation suite The search syntax is described in section Help Window on page 127 6 2 10 6 HALCON News WWW Synopsis Visit the HALCON home page This menu item lets you check for the latest news about HALCON on MVTec s WWW server e g whether new extension packages image acquisition interfaces or HALCON versions are available 6 2 10 7 About Synopsis Display HDevelop version and licensing host IDs This menu item delivers information about the current HALCON and HDevelop version Furthermore 1t lists host IDs d
236. ocedures gt Unresolved Procedure Calls changes in the current program the program will be saved before being executed Use this option with care You usually do not want to select this option if you are experimenting with a program e g when trying out different parameter settings Number of recent program files The number of recent program files that are displayed in the menu Menu File gt Recent Programs can be adjusted by altering the value Show recent program files If you select the option Only available the list of recent programs contains only programs that are currently available This option is useful if the list is likely to contain files from network drives that might be disconnected at times Encoding for saving HDevelop programs and procedures HDevelop can save programs and procedures in two different encodings Upon loading HDevelop detects the used encoding automatically It is recommended to use UTF 8 encoding Unicode if the program contains international characters that exceed the ASCII standard However in order to load programs in older versions of HDevelop you have to set the encoding to Native Precision for displaying real values This option sets the number of significant digits that are displayed in the variable window page 117 and variable inspection windows see Inspecting and Editing Variables on page 122 6 2 2 Menu Edit 71 Experienced User e Show HALCON Low Level Error Messages Low le
237. of HDevelop Introducing HDevelop 1 1 Facts about HDevelop While developing programs HDevelop actively supports the user in different ways With the graphical user interface of HDevelop operators and iconic objects can be directly se lected analyzed and changed within one environment HDevelop suggests operators for specific tasks In addition a thematically structured operator list helps you to find an appropriate operator quickly An integrated online help contains information about each HALCON operator such as a detailed description of the functionality typical successor and predecessor operators complexity of the operator error handling and examples of application In addition the online help provides a search facility that allows to search the complete documentation of HALCON HDevelop comprises a program interpreter with edit and debug functions It supports standard programming features such as procedures loops or conditions Parameters can be changed even while the program is running HDevelop immediately displays the results of operations You can try different operators and or parameters and immediately see the effect on the screen Moreover you can preview the results of an operator without changing the program Several graphical tools allow to examine iconic and control data online For example you can extract shape and gray value features by simply c
238. ogram not to produce identical output If such a problem arises you may query the system parameters by means of get_system in HDevelop after or while running the original HDevelop version of the program Depending to the problem you can now modify relevant parameters by explicitly calling the operator set_system in the exported program 9 8 6 Graphics Windows The graphics windows of HDevelop and the basic windows of the HALCON libraries e HALCON C class HWindow e HALCON NET class HWindowControl e HALCON COM class HWindowXCtr1 and e HALCON C addressed via handles have different functionality e Multiple windows If you use the operator dev_open_window to open multiple graphics windows in HDevelop these calls will be converted into corresponding calls of open_window only for C and C programs In the export of Visual Basic Visual Basic NET and C programs all window operations are sup pressed because the exported code is intended to work together with the corresponding template If you want to use more than one window in Visual Basic Visual Basic NET or C you have to modify the code and project manually Note that the export of programs containing multiple windows to C or C might be incorrect if the button Activate was used during program execution Note also that HDevelop window operations that do not have a window handle parameter like dev_open_window dev_close_window or dev_set_line_style are suppressed in all H
239. onal elseif instructions The last elseif may be followed by a single else instruction 194 HDevelop Language if lt condition1 gt elseif lt condition2 gt endif This is syntactically equivalent and thus a shortcut for the following code block if lt condition1 gt else if lt condition2 gt endif endif while endwhile This is a looping control flow structure As long as the condition is true the body of the loop is executed In order to enter the loop the condition has to be true in the first place The loop can be restarted and terminated immediately with the operator continue and break respectively see below To enter both while and endwhile at once select the operator while in the operator window and make sure the check box next to the operator is ticked while lt condition gt endwhile repeat until This loop is similar to the while loop with the exception that the condition is tested POP sss at the end of the loop Thus the body of a repeat until loop is executed at least once Also in contrast to the while loop the loop is repeated if the condition is false i e until it is finally true To enter both repeat and until at once select the operator until in the operator window and make sure the check box next to the operator is ticked repeat until lt condition gt endfor The for loop is controlled by a start and an end value and an increment value step that determines the nu
240. onditionally or repeatedly Usually these operators come in pairs One operator marks the start of the block while the other marks the end The code lines inbetween are referred to as the body of a control flow structure When you enter a control flow operator to start a block HDevelop also adds the corresponding closing operator by default to keep the program code balanced In addition the IC is placed between the control flow operators This is fine for entering new code blocks If you want to add control flow operators to existing code you can also add the operators individually Keep in mind however that a single control flow operator is treated as invalid code until its counterpart is entered as well In the following lt condition gt is an expression that evaluates to an integer or boolean value A condition is false if the expression evaluates to O zero Otherwise it is true HDevelop provides the following operators to control the program flow if endif This control flow structure executes a block of code conditionally The operator if takes a condition as its input parameter If the condition is true the body is executed Otherwise the execution is continued at the operator call that follows the operator endif To enter both if and endif at once select the operator if in the operator window and make sure the check box next to the operator is ticked if lt condition gt endif ifelse if else endif Another simple
241. only the best Maximum Number of Matches instances are found There fore if there are e g two test images containing and 3 objects respectively and you select Maximum Number of Matches 2 the recognition rate will be 75 i e 3 out of 4 expected objects e In each test image as many objects are expected as specified manually page 160 in the dialog accessed via Use Model gt Standard Model Use Parameters page 161 The recognition rate is calculated as the relation of found objects to the sum of expected objects over all images in percent Before using this mode please check the value specified for the parameter Maximum Number of Matches page 162 If it is not set to 0 it should not be smaller than the maximum number of objects visible in a test image otherwise the recognition rate will be below 100 Note that if you select Maximum Number of Matches 0 and by mistake specify a lower num ber of visible objects than actually present in a test image a recognition rate gt 100 results To further extend this line of thought If for some reason in another test image an object is not found the two errors cancel each other out i e the recognition rate is 100 Therefore we recommend to check whether the correct objects are found via the dialog Test Images page 159 in the tab Model Use 7 3 4 2 Determining the Pose Bounds When you click the button Run in the tab Inspect besides the recognition rate page 165 the Match
242. ontain enough model points a corresponding error dialog appears 7 3 2 13 Letting the Matching Assistant Select a Suitable Value for Pyramid Levels When you click the button Auto Select that is placed right beside the slider for the parameter Pyramid Levels page 152 the Matching Assistant selects a suitable number of pyramid levels automatically thus relieving you of the task of examining the model image pyramid Please note that in rare cases the automatic selection will yield a too low value and thereby slow down the search process or a too high value resulting in failures to recognize the object In such a case we recommend to inspect the model image pyramid page 149 and select a suitable value manually 7 3 2 14 The Model Parameter Start Angle With the parameter Start Angle you can specify the starting angle of the allowed range of rotation unit With another parameter you can specify the extent of the allowed range Note that the range of rotation is defined relative to the model image i e a starting angle of 0 corresponds to the orientation the object has in the model image Therefore to allow rotations up to 5 e g you should set the starting angle to 5 and the angle extent to 10 7 3 2 15 The Model Parameter Angle Extent With the parameter Angle Extent you can specify how much the object is allowed to rotate unit With another parameter you can specify the starting angle of this allowed range Note that
243. op body 225 Lut 81 main window 43 window title 43 Make All External 89 Manage Passwords 68 Matching Assistant 95 Max Column Scale 154 Max Row Scale 154 Maximum Number of Matches 162 Maximum Overlap 163 MDI 98 234 Index MDI 45 mean_image 95 median_image 95 menu Assistants 95 Edit 56 Execute 73 File 46 Help 99 Operators 89 Procedures 87 Suggestions 94 Visualization 78 Window 97 menu bar 46 messages status bar 44 Metric 156 Min Column Scale 154 Min Row Scale 154 Minimum Component Size 152 Minimum Contrast 157 Minimum Score 162 Miscellaneous 221 model creation 144 148 model image display 149 model image open 147 model parameters advanced 154 model parameters standard 150 model use parameters advanced 162 model use parameters standard 161 modified external procedure 49 program 43 mouse click 11 multiple document interface 45 native encoding 53 70 New Program 46 New Zoom Window 86 number of visible objects 160 Open 48 Open Example 18 Open Example 47 Open Graphics Window 97 Open Graphics Window 78 Open Model Image 147 Open Operator Window 97 Open Program Listing 97 Open Program 46 open test images 158 Open Variable Window 97 open_framegrabber 26 open_window 93 94 219 operating systems UNIX 200 216 Windows 200 216 operation precedence 191 operator data base 225 window 113 operator wind
244. or in the image Note that the parameter sets a maximum value i e if more object instances are present in the image only the best instances of the specified number are displayed If you specify the value 0 all found instances are displayed 7 3 3 14 Specifying Advanced Model Use Parameters Via the menu item Use Model gt Advanced Model Use Parameters you can specify e the Greediness of the search algorithm e how much the objects may overlap Maximum Overlap e the accuracy Subpixel of the calculated position orientation and scale e the lowest pyramid level Last Pyramid Level to which the found matches are tracked and e whether objects that lie partially outside the image Shape model may cross the image border page 164 should be searched 7 3 3 The Menu Use Model and the Tab Model Use 163 7 3 3 15 The Search Parameter Greediness The parameter Greediness influences the search algorithm used by the Matching Assistant It ranges between O and 1 If you select a low value the search is thorough but relatively slow The higher the value the faster the search algorithm becomes but at the cost of thoroughness i e an object might not be found even though it is visible in the image This parameter can be optimized easily Starting from the value 0 increase the value until the matching fails in a test image and then use the last value for which the object is found in fact this method is used by the Matching Assistant it
245. orresponding directory manually If the specified directory is a subdirectory of one of the pre configured paths it will not be added to the list This is because subdirectories are automatically searched in HDevelop Note that the structure created by chapters and subchapters in the text field before does not cor respond to the automatically created directory structure At least for the external procedures you can create the corresponding directory structure afterwards outside of HDevelop The recognition of the procedures in HDevelop is still ensured as all subdirectories of the external procedure paths are scanned as well When editing already existing external procedures the changed procedures are stored in the paths they were originally found in Parameters The next part of the dialog is used for the procedure interface parameters As mentioned earlier HDe velop procedure interfaces have the same structure as HALCON operator interfaces that is they may contain parameters of the four categories iconic input iconic output control input and control output in this order The procedure interface dialog contains four separate areas that offer the necessary functional ity for manipulating parameters These areas correspond to above parameter classes and are independent of each other Every area is marked with an icon that describes the parameter class It contains a button for inserting new parameters which are always appended
246. ory to load images from Make sure the radio button Image File s is selected in the tab card Source You can directly enter image names or the name of a directory into the text field Multiple image names are separated by a semicolon Usually it is more convenient to use one of the following buttons 24 Acquiring Images with HDevelop Select File s HDevelop opens a file selection dialog in the current working directory displaying the image files sup ported by HALCON Multiple image files can be selected by holding down the lt Ctr1 gt key while click ing additional image files Click Open to confirm the selection The first selected image is displayed in the active graphics window Select Directory HDevelop opens a directory browser It is not possible to select multiple directories Confirm your selection by clicking Open or OK The first image from the selected directory is displayed in the active graphics window If the check box Recursive is ticked all subdirectories of the specified directory are scanned for images as well View Images You can single step through the selected images by clicking the Snap button see figure 4 4 Each time you click the button the next image is displayed in the active graphics window You can also loop through the images by clicking the button Live This is especially useful for animations Both functions are also available from the menu Acquisition Snap ae images ar Connec
247. osed in brackets Furthermore you may build up expressions with these values The possibilities of using tuples are very extensive You may use expressions in HDevelop similar to the use of expressions in C or in Pascal You will find a more detailed description in section Expressions for Input Control Parameters on page 173 Control output parameters These parameters are handled in the same way as iconic output parame ters Their defaults are named as their parameter names Other possibilities to obtain a control output variable name are either using the combo box or specifying variable names manually You cannot use any expressions for these parameters either After discussing what can be input for different parameters it is explained how this is done Nevertheless you have to keep in mind that you need to modify a parameter only if it contains no values or if you are not satisfied with the HALCON default values Text input To specify a parameter using your keyboard is the simplest but not the most often used method Here you have to click into a text field with the left mouse button This activates the field and prepares it for user input Simultaneously the writing position is marked by a vertical bar Now you may input numbers strings expressions or variables There are some editing functions to help you doing input lt Backspace gt deletes the character to the left and lt Delete gt deletes the one to the right You may also sel
248. ote that a break point stop instruction or runtime error may interrupt the execution of your program If the HDevelop program waits for the user to draw something in the graphics window a notification message is printed in the status bar The program halts until the user finishes the draw operation and confirms this by clicking the right mouse button During the execution of operator or procedure calls the following special behavior occurs e You may initiate limited activities For example if you double click variables in the Variable Window they will be visualized you may modify parameters for the graphics windows as described in Menu Visualization you may even modify the current procedure body Note that all user interaction except Stop is disabled during program execution in case the latter was not started in the main procedure HDevelop may be slow to react to your actions while the program is running This is caused by the fact that HALCON reacts to user input only between calls to operators GUI Reference 74 Graphical User Interface I gt A variable window update during runtime will only be performed if it has not been suppressed see section Runtime Settings on page 72 In any case the values of all variables are shown in the variable window after the execution s termination While the program is running the menu items Run Step Over Step Into and Step Out and the corresponding tool bar buttons are graye
249. ou do so the histogram of this image is computed and drawn and the tool records the graphics window from which the image was sent the originating window e Whenever image data is displayed overlaid with region data in a graphics window the graphics window does not need to be active for this you can click into any of the segmented regions and the histogram of the image within that region will be computed and shown If you click into a part of the image that is not contained in any of the overlaid regions the histogram of the entire image will be displayed e The same mechanism is used for regions that have gray value information e g image objects created by reduce_domain or add_channels Here the histogram of the image object you click into will be displayed Channel When a multi channel image e g a RGB color image is sent to the tool by default the histogram of the first channel is displayed The combo box Channel lets you select the channel from which to compute the histogram Update Sometimes it is desirable to suppress the updating of the histogram when new image data is available e g if you want to select thresholds for a gradient image but want to visualize the original image along with the segmentation see below In that case you can freeze the histogram by unchecking Update The currently displayed histogram is preserved until Update is checked again in which case the histogram will be re calculated from the active grap
250. ou use images of different sizes in a program the system uses the following output strategy for an automatic adaption of the zooming Every window keeps track of the size of the most recently displayed 6 6 1 Iconic Variables 121 image If you display an image with a different size the system modifies the graphics window coordinate system in a way that the image is visible completely in the graphics window If a partial zooming has been activated before see section Graphics Window on page 124 it is going to be suppressed Displaying information about iconic variables You can get information about an instantiated variable by placing the mouse pointer over the correspond ing icon in the variable window See also figure 6 41 on page 120 for an illustration The information depends on the contents of the corresponding variable e Images The image type and size and the number of channels is displayed If the iconic variable contains multiple images the properties of the first image are reported e Regions The area and the center of the region is displayed If the iconic variable contains multiple regions the properties of the first region are reported e XLDs The number of contour points and the length is displayed If the iconic variable contains multiple XLDs the properties of the first XLD are reported Context Menu Clicking on an icon with the right mouse button opens a context menu with several options You can displa
251. output parameters are passed as HTuple and out HTuple respectively The subroutine RunHalcon contains a call to the subroutine action and has a parameter Window which is of type HTuple This is the link to the window on the form to which all output operations are passed In addition another subroutine is created with the name InitHalcon This subroutine applies the same initializations that HDevelop performs Most of the variables iconic as well as control are declared locally inside the corresponding subroutines Iconic variables belong to the class HObject and control variables belong to HTuple Depending on the program additional subroutines and variables are declared 9 2 2 1 Stop The HDevelop operator stop is translated into a subroutine in C that creates a message box This message box causes the program to halt until the button is pressed 9 2 2 2 Used Classes There are only four classes types that are used HTuple for control parameters and HObject for iconic data In addition there is the class HWindowControl It is used inside the project for the output window and a variable of class HTuple directs the output to this window Finally the class HOperatorSet is used as a container for all HALCON operators There is no need for other classes as long as the program has the same functionality as in HDevelop When editing a generated program you are free to use any of the classes of HALCON NET to extend the functionality 9 2
252. ow 15 operator window 226 Operators Control 90 Develop 91 submenus 94 Optimization 201 Optimization 156 optimize parameters 145 Optimize Recognition Speed 164 Organize Windows 97 orientation_region 40 Paint 81 Parallel HALCON 200 216 parameter expressions 173 parameter Angle Extent 153 parameter Angle Step 155 parameter Column Scale Step 155 parameter Contrast 151 parameter Greediness 163 parameter Last Pyramid Level 163 parameter Max Column Scale 154 parameter Max Row Scale 154 parameter Maximum Number of Matches 162 parameter Maximum Overlap 163 parameter Metric 156 parameter Min Column Scale 154 parameter Min Row Scale 154 Index 235 parameter Minimum Component Size 152 parameter Minimum Contrast 157 parameter Minimum Score 162 parameter Optimization 156 parameter optimization 145 parameter Pyramid Levels 152 parameter Row Scale Step 155 parameter Start Angle 153 parameter Subpixel 163 parameters reset 157 Paste 58 PC 102 pixel type 132 pixel info 86 131 pose bounds determine 166 Predecessors 94 preferences export 63 import 62 Preferences 62 Pregenerate Shape Model 157 print HDevelop procedure 55 HDevelop program 55 procedure 55 program 55 Print 55 procedures HDevelop 10 export 219 C 216 C 200 C 204 206 Visual Basic 213 Visual Basic NET 208 211 external 11 hierarchy 11 local 11 main 10 200 204 206 208
253. ox offers you all known iconic variable names Simply click the arrow on the right side of the combo box to select a variable name Note that the reuse of a variable deletes the old content and replaces it with the new image Click OK to load the image into HDevelop The operator read_image is inserted at the specified insert position IC or PC The specified iconic variable is updated in the variable window and the image is displayed in the active graphics window Clicking Cancel aborts the operation 6 2 1 12 Cleanup Synopsis Clean up allocated resources that are no longer being used See also variable window gt context menu page 119 This menu item deletes all unused variables iconic and control data from the current procedure These are variables in the variable window that are no longer used in any operator or procedure call in the current procedure body This can happen after the deletion of program lines or after editing variable names because the corresponding variables are not deleted automatically You may use this menu item during a longer editing session to reorganize your variable window page 117 6 2 1 13 Properties Synopsis Display various properties of the current program The tab card General displays file properties of the current program such as file name path creation and modification date and write permission It also shows the file size the number of lines of code used and unused local procedures us
254. page 148 Save Current Assistant Settings page 148 Insert Code page 167 Open Model Image Display Model page 149 Optimize Recognition Speed page 164 and Determine Recognition Rate page 165 tabs with the dialogs for most of the tasks that can be done with the Matching Assistant Model Creation page 148 Model Use page 158 Inspect page 165 Code Generation page 166 and a status bar at the bottom in which messages are displayed Futhermore the status bar displays the matching results 1 e the number of found instances the needed time and for each found instance the position orientation scale and score Please note that the status bar does not provide a scrolling mechanism if the displayed message is to long move the mouse over it so that a tool tip displaying the full message pops up Alternatively if the message is only slighly larger than the status bar you can also drag the left or right border of the Matching Assistant window to enlarge 1t Images and models are displayed in the graphics window of HDevelop 7 3 1 The Menu File Via the menu File you can 7 3 1 The Menu File 147 e open the model image e load an already existing shape model e save a shape model e load formerly used and saved settings of the Matching Assistant e save the current settings of the Matching Assistant for later use e close the Matching Assistant dialog while retaining the current settings as long as the HDev
255. parameter If the option Replace selected program lines is checked the selected program lines are replaced by an appropriate call of the new procedure Otherwise the lines are kept and no procedure call is added In any case the selected program lines are copied to the body of the new procedure as stated above The newly defined procedure is now available for selection in the operator window The variables that were used to determine the procedure interface parameters are now being offered as input parameters for the procedure call 6 4 3 3 Edit Status of External Procedures External procedures can be protected with a password The bodies of protected external procedures can only be accessed if the correct password is supplied They can be applied by all users but viewed and modified only by authorized people who know the password The edit status of a procedure can be changed via the procedure interface dialog page 107 To manage the edit status of multiple external procedures at once click Menu Procedures gt External Procedure Settings and select the tab card Manage Passwords page 68 By default new procedures are local procedures which cannot be protected To make them external the check box Local has to be disabled Now the button Password becomes available Protecting a Procedure If you want to protect a procedure with a password do the following e Select the corresponding procedure in the program window e Click Edit
256. ple before each operator call Memory issues regarding iconic objects in HALCON NET are described in section 9 4 3 3 Visual Basic NET and section 9 2 3 3 C Memory issues regarding iconic objects in HALCON COM are described in section 9 5 3 3 Visual Basic NET and section 9 3 3 3 C However problems arise if a tuple variant contains a handle for example for a file a window or for OCR In this case the memory of the handle is automatically removed but not the data to which it points In the exported programs this data therefore has to be removed explicitly by calling the corresponding operators close_ like close_ocr or close_ocv Please insert the close_ operators for all handles in use e before a new value is assigned to a handle and e at the end of the program 9 8 3 for Loops HDevelop and the programming languages have different semantics for loops which may cause confu sion Because the problems are so rare and the generated code would become very difficult to understand otherwise the code generation ignores the different semantics These differences are 1 In the programming languages you can modify the loop variable e g by setting it to the end value of the condition to terminate the loop This can t be done in HDevelop because here the current value is stored inside the for operator and is automatically updated when it is executed again 2 In the programming languages you can modify the step range
257. plot Step 7 3D plot_point Scale 150 Eye Height mo Eye Distance 160 IV Update Reset Use settings For new windows Figure 6 24 Visualization Parameters Paint settings ization Parameters Pen LUT Paint zoom Row Column Set part Upper Left Corner 0 j0 Lower Right Corner s11 511 Set center Center Point 255 1 1255 Reset Zoom Out Zoom In Aspect IV Update Reset Use settings For new windows GUI Reference Figure 6 25 Visualization Parameters Zoom settings This tab card specifies which part of an image region XLD or other graphic item is going to be dis played The four text fields of Set part specify the coordinate system Upper Left Corner defines 86 Graphical User Interface the pixel which will be displayed at the upper left corner of the window Lower Right Corner defines the pixel which will be displayed at the lower right side of the window Below the coordinates of the rectangle you can specify its center The buttons Zoom Out and Zoom In activate a zooming with factor 0 5 or 2 respectively To get the image s full view back on your graphics window you simply click the button Reset The button Aspect adjusts the parameters so that the aspect ratio of the image is maintained 6 2 4 18 Zoom Window Synopsis Open zoom window for image details and pixel inspection The zoom window is described in section
258. pon opening the tool displays the histogram of the area default feature selection of the regions or XLDs that were displayed most recently in the currently active graphics window You can select various features in the combo box Feature Further information about region features can be found in section Feature Inspection Window on page 138 Most parts of the tool are built up similarly to the gray value histogram which is described in detail in sec tion Gray Histogram Window on page 133 menu entry Menu Visualization gt Gray Histogram in the following we concentrate on points specific to the feature histogram An important point regards the source of the regions or XLDs The feature histogram is calculated for the regions or XLDs that were displayed most recently in the graphics window Thus if you display an image and there are no regions or XLDs the histogram remains empty As soon as you display regions or XLDs on top of an image the histogram is calculated If you display regions or XLDs without an image you can still calculate feature histograms but only for shape features Please keep in mind that only the most recently displayed regions or XLDs are the source of the histogram not all objects currently displayed in the graphics window The histogram itself is displayed with the horizontal axis corresponding to the feature values and the vertical axis corresponding to the frequency of the values i e to the nu
259. procedures are declared at the beginning of the file The program body of the HDevelop main procedure is contained in a procedure action which is called in the function main action and main can be excluded from compilation by inserting the instruction define NO_EXPORT_MAIN at the appropriate position in the application Using the instruction define NO_EXPORT_APP_MAIN only the main procedure is excluded from compilation This can be useful if you want to integrate exported HDevelop code into your application through specific procedure interfaces In that case there is typically no need to export the main procedure which was probably used only for testing the functionality implemented in the corresponding real procedures Besides the program code the file contains all necessary include instructions All local variables iconic as well as control are declared in the corresponding procedures Iconic variables belong to the class Hobject and all other variables belong to HTuple 9 1 1 2 Compiling and Linking in Windows Environments The next step is to compile and link this new program In the Windows environment Visual C is used for the compiling and linking Example projects can be found in the directory HALCONROOT Nexamples cpp If you want to use Parallel HALCON you have to include the libraries parhalcon 1ib d11 and parhalconcpp 1lib d11 instead of halcon 1ib d11 and halconcpp 1ib d11 in your project see the Programmer
260. put and output parameters are passed as ByVal HTuple and ByRef HTuple respec tively The subroutine RunHalcon contains a call to the subroutine action and has a parameter Window which is of type HTuple This is the link to the window on the form to which all output operations are passed In addition another subroutine is created with the name InitHalcon This subroutine applies the same initializations that HDevelop performs Most of the variables iconic as well as control are declared locally inside the corresponding subroutines Iconic variables belong to the class HObject and control variables belong to HTuple Depending on the program additional subroutines and variables are declared 9 4 2 1 Stop The HDevelop operator stop is translated into a subroutine in Visual Basic NET that creates a message box This message box causes the program to halt until the button is pressed 9 4 2 2 Exit The HDevelop operator exit is translated into the Visual Basic NET routine End Because this routine has no parameter the parameters of exit are suppressed 9 4 2 3 Used Classes There are only four classes types that are used HTuple for control parameters and HObject for iconic data In addition there is the class HWindowControl It is used inside the project for the output window and a variable of class HTuple directs the output to this window Finally the class HOperatorSet is used as a container for all HALCON operators There is no n
261. r and real the integer values are first transformed into real numbers Values of type string cannot be mixed up with numbers i e string values are considered to be not equal to values of other types 8 5 9 Boolean Operations 187 The four comparison operations compute the lexicographic order of tuples On equal index positions the types must be identical however values of type integer real and boolean are adapted auto matically The lexicographic order applies to strings and the boolean false is considered to be smaller than the boolean true false lt true In the program compare dev you can find examples for the comparison operations 8 5 9 Boolean Operations The boolean operations and xor or and not are defined only for tuples of length 1 11 and 12 is set to true 1 if both operands are true 1 whereas 11 xor 12 returns true 1 if exactly one of both operands is true 11 or 12 returns true 1 if at least one of the operands is true 1 not 1 returns true 1 if the input is false 0 and false 0 if the input is true 1 8 5 10 Trigonometric Functions All these functions work on tuples of numbers as arguments The input can either be of type integer or real However the resulting type will be of type real The functions are applied to all tuple values and the resulting tuple has the same length as the input tuple For atan2 the two input tuples have to be of equal length table 8 14 shows the provided trigonom
262. r display or deletion e specify the number of visible objects for each image and e search for the model in the complete sequence of test images in the currently selected test image or automatically after each selection 7 3 3 5 Searching for the Object in a Test Image When you click the button Find Model in the dialog Test Images of the tab Model Use the object is searched for in the currently selected test image the result is displayed in the graphics window Please note that if the button is clicked for the first time or after you changed a model parameter the internally stored model is actually created which takes some time If the model creation takes a long time i e if you have chosen a very large angle page 153 and scale range page 154 you may find it useful to switch off the complete pregeneration page 157 of the model You can also search for the object in the whole sequence of test images at once 7 3 3 6 Searching for the Object in All Test Images When you click the button Detect A11 inside the dialog Test Images of the tab Model Use the object is searched for in the complete sequence of test images that were loaded page 158 before The results are displayed successively in the graphics window Please note that if the button is clicked for the first time or after you changed a model parameter the internally stored model is actually created which takes some time If the model creation takes a long time i e i
263. ram or unnamed if no file name has been specified yet Unsaved changes in the current program are indicated with a trailing asterisk in the window title Menu Bar The menu bar at the top provides access to the functionality of HDevelop The menus and their entries are described in the section Menu Bar on page 46 Tool Bar The tool bar icons provide convenient shortcuts for frequently used functions It is described in the section Tool Bar on page 101 GUI Reference 44 Graphical User Interface Window Area The main part of the window is reserved for the windows and dialogs of HDevelop The most important windows are the following Program window see page 102 Operator window see page 113 Variable window see page 117 Graphics window see page 124 Online help window see page 127 Status Bar The status bar at the bottom of the main window displays status information e g context sensitive information about a specific user action or the runtime of operator or procedure calls unless time mea surement has been deactivated in the preferences see section Runtime Settings on page 72 The status bar is divided into the following five areas from left to right Status icon Shows the current run status of the program Messages and runtime information For example if you select an operator from the menu the corresponding short description is displayed here Information about the image in t
264. rameters for the next display action 6 2 6 3 Classification File Filter Synopsis Select HALCON operators In the these menu entries you can find all HALCON operators arranged in chapters and subchapters This set of image analysis operators forms the most important part of HALCON the HALCON library HALCON operators implement the different image analysis tasks such as preprocessing filtering or measurement You may look for a detailed description of each operator in the HALCON reference manual Operators in the menus Control and Develop are special operators of HDevelop Thus you will not find them in the reference manuals for HALCON C HALCON C or HALCON COM The menu has a cascade structure according to the chapter structure of the HALCON reference manual As this menu is built up dynamically when HDevelop starts it might take some time until it is available During the build up time the menu is grayed out Selecting a chapter of the menu opens a pulldown menu with the corresponding subchapters or operators respectively This operator hierarchy is especially useful for novices because it offers all operators sorted by thematic aspects This might be interesting for an experienced user too if he wants to compare e g different smoothing filters because they reside in the same subchapter To get additional information a short description of an operator while activating its name in the menu is displayed in the sta
265. re some operations allow to convert numbers real and integer to strings string conversion See also tuple_string converts numbers to strings or modifies strings The operation has two operands The first one left of the is the number that has to be converted The second one right of the specifies the conversion It is comparable to the format string of the printf function in the C programming language This format string consists of the following four parts 182 HDevelop Language lt flags gt lt width gt lt precision gt lt conversion gt or as a regular expression 0 9 0 9 doxXfeEgGsb which roughly translates to zero or more of the characters in the first bracket pair followed by zero or more digits optionally followed by a dot which may be followed by digits followed by a conversion character from the last bracket pair Some conversion examples might show it best Input Output 23 10 2f 23 00 23 10 2f 223 00 a 4 gt 7f 4 0000000 1234 56789 10 3 gt 1234 568 255 x gt FE 255 X FF Oxff 5d 200255 total 108 7 total total 108 total total 10 3 7 tot flags Zero or more flags in any order which modify the meaning of the conversion specification Flags may consist of the following characters v s vi v2 strchr s1 s2 strstr s1 s2 strrchr s1 s2 strrstr s1 s2
266. re is the container class HTupleX which comprises all operators of HAL CON processing tuples in this case the data type Variant Then there are the classes HWindowXCtr1 and its low level content HWindowX HWindowXCtrl is used inside the project for the output window and a variable of class HWindowxX directs the output to this window Finally the class HOperatorSetX is 9 6 3 Limitations and Troubleshooting 215 used as a container for all HALCON operators There is no need for other classes as long as the program has the same functionality as in HDevelop When editing a generated program you are free to use any of the classes of HALCON COM to extend the functionality 9 6 3 Limitations and Troubleshooting Besides the restrictions mentioned in this section and in section 9 8 on page 217 please also check the description of the HDevelop operators in section 6 2 6 2 on page 91 9 6 3 1 Variable Names In contrast to C C or HDevelop Visual Basic has many reserved words Thus the export adds the prefix ho_ to all iconic and hv_ to all control variables respectively in order to avoid collisions with these reserved words 9 6 3 2 Exception Handling In HDevelop every exception normally causes the program to stop and report an error message in a dialog window This might not be useful in Visual Basic The standard way to handle this in Visual Basic is by using the On Error Goto command This allows to access the reason for the except
267. re_color_polarity to apply shape based match ing to multi channel images If you already loaded test images page 158 you can quickly test the effect of the selected parameter value via the menu item Inspect gt Determine Recognition Rate page 165 7 3 2 23 The Model Parameter Optimization After you created a model ROI page 143 by default all points showing the required Contrast page 151 and belonging to components larger than the Minimum Size page 152 are selected for the model page 143 and marked in the image For particularly large models i e a large number of model points 1t might be useful to reduce the number of points using the parameter Optimization in order to speed up the matching page 143 process and to reduce memory requirements You can select a low medium or high point reduction please note that regardless of your selection all points passing the contrast criterion are displayed i e you cannot check which points are part of the model You can also let the Matching Assistant select a suitable value automatically based on the model image Another possibility to reduce the memory requirements of the model is to switch off the complete pre generation of the model If you already loaded test images page 158 you can quickly test the effect of the selected parameter value via the menu item Inspect gt Determine Recognition Rate page 165 7 3 2 24 Letting the Matching Assistant Select a Suitable Value
268. read image read_kalman fal CamParam CamPar read_ncc_model read_object_model_3d_dxf read_ocr read_ocr_class_mlp Enter Apply Cancel Help Figure 5 2 Matching operators after typing read_ and pressing lt Return gt 5 3 Specify Parameters After selecting an operator its parameters are displayed in the operator window They are grouped by iconic and control parameters The icons next to the parameter names denote the parameter type Input vs output see figure 5 3 The semantic type is displayed to the right of the parameters Parameters are specified in the text fields The first parameter gets the input focus Enter Clip into the text field Image The image will be stored in this variable Next enter clip into the text field FileName You can press lt Tab gt to go to the next input field Pressing lt Shift gt lt Tab gt takes you back to the previous field This way you can enter all parameters without using the mouse Click OK or press lt Return gt to submit the operator to the current program This will do the following 5 4 Getting Help 33 Operator Window Insert read_image Enter Operator or Procedure read image Y Parameters E iconic output gt imag Image y image semantic type E data type control input E Filename fabrik y El filename read string file selection dialog Enter Apply Cancel Help Figure 5 3 Specifying parameters e An operator call is added as
269. ready exists the suffix _COPY_1 or _COPY_2 _COPY_3 for subsequent imports is added to the imported local procedure All invocations of the renamed procedure are updated automatically If the current program already contains an external procedure with the same name the imported local procedure overrides the external procedure 6 2 1 Menu File 49 Insert Procedures Synopsis Insert local procedures of the selected program into the current program Via this menu item you can add local procedures from an HDevelop program file to the current program All local procedures except the main procedure are loaded from the selected file If the current program already contains a local procedure with the same name the newly added procedure will be renamed by appending the suffix _COPY_1 to its name If the current program already contains an external procedure with the same name the newly added local procedure overrides the external procedure Insert Mainbody Synopsis Insert only the main procedure of the selected program into the current program Insert the main body of the selected program at the IC No local procedures are imported If the current program does not provide the procedures used in the imported program the corresponding program lines are marked as invalid code and will not be executed Invalid code is turned into valid code by providing the missing procedures 6 2 1 6 Save Synopsis Save c
270. restore the default visualization settings Visualization Parameters lO x Pen LUT Paint Zoom poes C fil margin Shape ellipse y Line Width 1 Preview Color O ss C6 CN magenta yellow medium slate blue coral slate blue spring green orange red orange dark olive green F pink cadet blue gold forest green weve flere Lhe IV Update Reset Use settings for new windows Figure 5 6 Changing the display parameters You cannot change the display properties of regions or XLDs other than the topmost What you can do is rebuild the image stack in the graphics window manually by double clicking iconic variables in the variable window and changing the properties each time another layer is added The stack is cleared 5 7 Inspecting Variables 37 Ye ConnectedRegions l o x Region 1 area 100 center 14 7 1 08 4 Region 2 area 801 center 215 739 C Region 3 area 2554 center 122 93 Region 4 area 3028 center 169 357 Region 5 area 2 center 107 5 357 5 Region 6 area 2980 center 193 913 Region 7 area 2 center 137 406 5 Region 8 area 1 center 138 404 Region 9 area 8 center 159 375 107 Region 10 area 1 center 184 111 Region 11 area 23 center 192 478 1 Region 12 area 1 center 208 672 Region 13 area 2806 center 270 67 Region 14 area 1 center 234 277 Region 15 area 3364 center 372 11 Region 16
271. rogram execution click Execute gt Run again until the end of the program is reached e Click Reset Program Execution to reset the program to its initial state see figure 3 3 e Using the button Step Over you can execute the program line by line and inspect the immediate effect of each instruction Run Step Over Stop Reset Program Execution Lo l gt b ieke HBS Figure 3 3 The basic execution buttons 20 Running Example Programs Acquiring Images with HDevelop 21 Chapter 4 Acquiring Images with HDevelop Image acquisition is crucial for machine vision applications It will usually be an early if not the first step in your programming projects This chapter explores the different ways of image acquisition in HDevelop 4 1 Reading Images From Files Especially in the prototyping phase you often have a set of sample image files to work from HDevelop or rather the underlying HALCON library supports a wealth of image formats that can be loaded directly see read_image in the Reference Manual Drag and Drop The easiest way to read an image is to simply drag it from a file browser to the HDevelop window and drop it there When the file is dropped HDevelop opens the dialog Read Image see figure 4 1 This dialog displays the full path of the image and automatically proposes a variable name derived from the file name This name can be edited or another iconic variable name from the current program may be s
272. rograms 208 210 Visualization menu Apply Immediately 81 Clear Graphics Window 79 Close Graphics Window 79 Color 80 Colored 80 Display 79 Draw 80 Feature Histogram 86 137 Feature Inspection 86 138 Gray Histogram 86 133 Image Size 79 Line Width 80 Lut 81 New Zoom Window 86 Open Graphics Window 78 Paint 81 Reset Parameters 82 Save Window 87 Set Parameters 82 Shape 81 Update Window 81 Window Size 79 Zoom Window 86 131 Visualization Settings 71 warning 141 watersheds 95 while 75 90 102 194 196 while loop 194 while 218 225 Index 239 Window Cascade Windows 98 Open Graphics Window 97 Open Operator Window 97 Open Program Listing 97 Open Variable Window 97 Organize Windows 97 Window Size 79 window title 43 Windows 200 216 write_string 42 80 XLD 226 colors 80 line width 80 Zoon 131 Zoom Window 86
273. ronment CLR Common Language Runtime has a mechanism called garbage collector which is used by the CLR to remove no longer needed NET objects from memory As mentioned earlier in the exported Visual Basic NET code every iconic object is represented by a NET HUntyped0bjectX object which contains a reference to a COM HUntypedObjectX object From the garbage collector s point of view a NET HUntypedObjectX object is rather small Thus it might not be collected from memory although the underlying iconic object e g an image might in fact occupy a large portion of memory In order to avoid memory leaks caused by this effect in the exported code every iconic object is deleted explicitly before it is assigned a new value 9 6 Code Generation for Visual Basic 6 HALCON COM This section describes how to create a HALCON application in Visual Basic 6 starting from a program developed in HDevelop HALCON can be used together with Visual Basic 6 based on the COM interface of HALCON A detailed description of this interface can be found in the Programmer s Guide part IV on page 113 9 6 1 Basic Steps 9 6 1 1 Export The first step is to export the program using the menu File gt Export Here select the language Visual Basic 6 0 HALCON COM and save it to file The result is a new file with the given name and the extension bas 9 6 1 2 The Visual Basic 6 Template The exported file is intended to be used together with the pred
274. ront 6 2 9 1 Open Graphics Window Synopsis Open an additional graphics window See also dev_open_window and section Open Graphics Window on page 78 6 2 9 2 Open Program Listing Synopsis Open the program window See also dev_map_prog This menu item is grayed out if the program window is already open 6 2 9 3 Open Variable Window Synopsis Open the variable window See also dev_map_var This menu item is grayed out if the variable window is already open 6 2 9 4 Open Operator Window Synopsis Open the operator window This menu item is grayed out if the operator window is already open 6 2 9 5 Organize Windows Synopsis Clean up window area of main window When selecting this item the main window is split into four areas by default all graphics windows are cascaded to fit the upper left quarter the operator window fits the upper right quarter the variable window fits the lower left quarter and the program window fits the lower right quarter The positioning can be adjusted in the preferences see page 65 All other windows that are currently open are cascaded at the center of the main window In this arrangement the four most important windows are placed in a non overlapping fashion to provide maximum accessibility It is therefore the default layout of HDevelop The tiled layout is displayed in figure 6 27 GUI Reference 98 Graphical User Interface i HDevelop unnamed 101 x File Edit Exe
275. rs are shown in the operator window The short description of the selected operator is displayed in the status bar The operator name is dis played in the window title of the operator window If you are already more familiar with HDevelop it is useful to select an operator or procedure in the operator name field However in order to do so you obviously have to be familiar with the operator names 6 5 2 Parameter Display The parameter display is the main part of the operator window It is empty in its initial state If you have selected an operator or procedure call HDevelop displays its parameter data i e name number type and default values in the display 6 5 2 Parameter Display 115 Operator Window Insert select_shape Enter Operator or Procedure select_shape y Parameters amp Regions Mii El selectedRegions SelectedRegions _Regions to be examined to be examined y region amp Features area string Operation and string Min 150 real Max 99939 real Enter Apply Cancel Help Figure 6 39 Specifying parameters for the operator select_shape e In the first column of the parameter display the parameter types are indicated by icons Note that icons are not repeated if a parameter is of the same type as its predecessor Hover the mouse cursor over the icons to get a tool tip e Inthe second column of the operator window you find the parameter names
276. s page 152 on which the model is created e the Start Angle page 153 of the allowed range of rotation e the allowed range of rotation Angle Extent page 153 and e the scale range page 154 In most applications specifying the standard parameters will already suffice Therefore you can directly test the model page 144 now Additionally advanced model parameters can be specified via the menu item Create Model gt Advanced Model Parameters page 154 7 3 2 8 The Model Parameter Contrast Low High The two parameters Contrast Low and Contrast High determine which pixels in the selected ROI page 143 are included in the model page 143 typically the points corresponding to the contours of the object should be selected When you select a value either by using the sliders or by entering a value in the text fields next to them the included pixels are marked in the displayed image In order to obtain a suitable model we recommend to choose the contrast in such a way that the significant pixels of the object are included i e those pixels that characterize it and allow to discriminate it clearly from other objects or from the background Please assure that no clutter is included i e pixels that do not belong to the object You can use the parameters in two ways 1 Simple threshold Set both parameters to the same value Then all pixels with a contrast higher than this value are included in the model You can modify
277. s a first coarse typification of variables control or iconic data whereas the actual type of the data e g real integer string etc is undefined until the variable gets assigned with a concrete value Therefore it is possible that the type of a new data item differs from that of the old 8 4 Operations on Iconic Objects Iconic objects are exclusively processed by HALCON operators HALCON operators work on tuples of iconic objects which are represented by their surrogates in the HALCON data management The results of those operators are again tuples of iconic objects or control data elements For a detailed description of the HALCON operators refer to the HALCON reference manual and the remarks in section 8 5 3 on page 177 8 5 Expressions for Input Control Parameters In HDevelop the use of expressions like arithmetic operations or string operations is limited to control input parameters all other kinds of parameters must be assigned by variables 8 5 1 General Features of Tuple Operations This section intends to give you a short overview over the features of tuples and their operations A more detailed description of each operator mentioned here is given in the following sections Please note that in all following tables variables and constants have been substituted by letters which indicate allowed data types These letters provide information about possible limitations of the areas of definition The letters and their mea
278. s starts a text selection 6 9 Zoom Window 131 byte 1 channel s Column 321 Figure 6 50 Zoom 6 9 Zoom Window Synopsis Zoom window for image details and pixel inspection See also Menu Visualization gt Zoom Window The zoom window enables the interactive inspection of image details You can open up any number of zoom windows with different zoom levels see Menu Visualization gt New Zoom Window The window also displays the gray values of each image channel at the mouse cursor position Apart from this the pixel type the number of channels and the current position of the mouse cursor are displayed The percental scale can be selected from the combo box It is related to the original size of the image There are multiple methods to navigate the zoom window Check Follow Mouse and move the mouse pointer over the image to select the zoomed area Click once to keep the currently displayed area in the zoom window when the mouse cursor moves out of the image window Or uncheck Follow Mouse and click or drag inside the image to select the zoomed area The red square in the center of the zoom window indicates the position of the mouse cursor The corresponding coordinates are also displayed at the bottom of the window You can select a particular pixel by single clicking on it with the left mouse button The zooming tool stores this position internally and will redisplay the thus selected part of the image obj
279. s window and can be different in your environment The notation Row Index is another operation of the HDevelop language It provides access to a single value of a tuple The instruction write_string outputs a given string at the current text cursor position in the graph ics window The function deg is part of the HDevelop language It converts its argument from radi ans to degrees In this example the operation performs a string concatenation because the argument degrees is a string value Before the two operands of are concatenated an automatic type con version double to string of the numeric argument takes place The details of the HDevelop language are explained in chapter 8 on page 169 5 14 Summary This is basically the way to create programs in HDevelop Select an operator specify its parameters try different settings using the button Apply add a new program line using Enter or OK and edit it later by double clicking it in the program window Use the interactive tools provided by HDevelop to assist you e g to find appropriate values for the operators Graphical User Interface 43 Chapter 6 Graphical User Interface This chapter is the reference to the graphical user interface of HDevelop 6 1 Main Window The main window handles HDevelop programs It comprises the following components Window Title The main window of HDevelop is identified by the title HDevelop followed by the name of the current prog
280. s with a large number of values that you want to inspect Below the list some statistical data may be displayed minimum value maximum value sum of values mean value deviation types number of values and the semantics if appropriate You can select which statistical data is displayed by right clicking on the statistics table and selecting the corresponding entries You can also select multiple control variables at once in the variable window by holding down the lt Ctr1 gt key To inspect these variables in a single inspection window right click on the selected variables and select Inspect 6 6 2 Control Variables 123 variable Inspect ColumnEdgeFirst JO x ColumnEdgeFirst 94 1577 i 105 357 116 023 126 739 137 489 148 515 159 023 169 873 mo ZI 94 1577 876 281 35979 5 486 21 230 384 double 74 D HE ey s s A mo m Men ber point x Figure 6 43 Variable inspection An example inspection window is displayed in figure 6 43 Copying Values to the Clipboard Within the variable window the context menu offers an entry for copying the values of the selected variable to the system clipboard If the variable window has the keyboard focus lt Ctr1 C gt can be used as an alternative Tuples with zero or more than one values are returned in tuple notation If several variables are selected the tuples of the different variables are separated by a n
281. sed to the operator To inspect multiple variables at once you can pass a tuple of variable names In most cases a list dialog is opened which shows all values of the variable see also section Inspecting and Editing Variables on page 122 In the case of an image acquisition device handle a description of this image acquisition device is opened In addition this dialog allows online grabbing of images see page 122 This operator is not supported for exported code dev_close_inspect_ctrl This is the opposite operator to dev_inspect_ctrl and closes the in spect window This operator is not supported for exported code 6 2 6 Menu Operators 93 dev_map_par dev_unmap_par These operators open and close the parameter dialog which can also be opened using the menu Menu Visualization gt Set Parameters This operator is not supported for exported code dev_map_var dev_unmap_var These operators iconify the variable window dev_unmap_var and retransform the iconified window to the normal visualization size respectively dev_map_var This means that the variable window always remains visible on the display in one of the two ways of visualization These operators can be executed with the help of the window manager These operators are not supported for exported code dev_map_prog dev_unmap_prog Analogously to dev_map_var and dev_unmap_var these opera tors iconify or deiconify the program window These operators are not supporte
282. selected from a submenu at the bottom of this menu GUI Reference 90 Graphical User Interface 6 2 6 1 Control Synopsis Select control flow operators Here you may select control structures for the program This involves the execution of a program seg ment henceforth named body depending on a test if ifelse and elseif and the repetition of a program segment for while and repeat with controlled loop execution break continue Fur thermore you may stop the program s execution at any position stop or terminate HDevelop exit The operators assign and insert do not influence the execution but serve to specify values for con trol data assignment The operator comment is used to add a comment that means any sequence of characters to the program The operator return terminates the current procedure call and returns to the calling procedure see section Creating and Editing Procedures on page 105 for more information about HDevelop procedures Selecting a menu item displays the corresponding control construct in the operator window where you can set the necessary parameters After specifying all parameters you may transfer the construct into your program A direct execution for loops and conditions is not possible in contrast to other HDevelop and HALCON operators because you have to specify the loop s and condition s body first to obtain useful semantics If necessary you may execute the program after the
283. self when you start the optimization via the menu item Use Model gt Optimize Recognition Speed 7 3 3 16 The Search Parameter Maximum Overlap The parameter Maximum Overlap specifies how much two matches may overlap in the image its value ranges between 0 and 1 Especially in the case of an almost symmetric object the allowed overlap should be reduced to prevent multiple matches on the same object 7 3 3 17 The Search Parameter Subpixel The parameter Subpixel allows to select the accuracy with which the position orientation and scale are calculated If you select the value none the position is determined only with pixel accuracy and the accuracy of the orientation and scale is equal to the angle step size page 155 and scale step size page 155 respectively If you select the value interpolation the Matching Assistant examines the matching scores at the neigh boring positions angles and scales around the best match and determines the maximum by interpolation Using this method the position is therefore estimated with sub pixel accuracy The accuracy of the es timated orientation and scale depends on the size of the object The larger the size the more accurately the orientation and scale can be determined For example if the maximum distance between the center and the boundary is 100 pixel the orientation is determined with an accuracy of about 0 1 Because the interpolation is very fast you can select interpola
284. sion tasks Each assistant provides a user interface tailored to the requirements of its task Using this interface the user can interactively set up and configure the assistant to solve a specific machine vision problem Once the configuration is working satisfactorily the assistant can be instructed to generate HDevelop code into the current program You can also save an assistant s configuration for later use Currently the following assistants are available e Image Acquisition Using this assistant you can generate code to acquire images from different sources files directories image acquisition interfaces It is described in section 4 3 on page 23 GUI Reference 96 Graphical User Interface e Matching Using this assistant you can generate code to perform shape based matching in your HDevelop program You can load a reference image to train a model Using a selection of test images containing the model you can tweak a set of parameters to find the model in all varia tions permitted by the application Furthermore the parameters can be optimized to increase the processing speed The assistant is described in the online help of HDevelop Common Features of all HDevelop Assistants Some features are common to all HDevelop assistants First of all you can open multiple assistants As sistants of the same type are numbered consecutively e g if you open two image acquisition assistants they are labeled Image Acquisition
285. splayed Directories below the separator line are user defined directories Each time an image is loaded from a directory which is not already listed that directory name is appended to the menu This is convenient when several images from a non standard directory must be read When clicking on an entry in this menu a file selection dialog page 140 of the given directory is opened Depending on the operating system you may be able to switch to a thumbnail view in this dialog See figure 6 5 for an example After selecting a file name the dialog Read Image is opened It displays a thumbnail of the selected image and some image properties This is also displayed in figure 6 5 HDevelop suggests a variable name derived from the selected file name You may adopt or edit this name If you want to use a name GUI Reference 54 Graphical User Interface Look in images Y ene Er File Name C Program Files MYTec HALCON images earth pna ni s Variable Name Earth X Fe die3 png die4 png r Image Info My Recent Documents E die7 png Width 150 Height 150 Color type byte Desktop Channel number 3 double_circle pn earth png ed_g pni eg ere p Insert Position a Insert Cursor C Program Counter sl File name earth png ba Files of type Images tif tiff gif bmp jpg jpeg ip2 py Cancel Figure 6 5 Read Image of an already created iconic variable a combo b
286. st image as many objects are expected as specified in the parameter Maximum Number of Matches page 162 in the dialog accessed via Use Model gt Standard Model Use Parameters page 161 The recognition rate is calculated as the relation of found objects to the sum of expected objects over all images i e it is 100 if in all test images at least Maximum Number of Matches objects are found e In each test image as many objects are expected as specified manually page 160 in the dialog Test Images page 159 of the tab Model Use The recognition rate is calculated as the relation of found objects to the sum of expected objects over all images i e it is 100 if in each image exactly as many objects are found as specified Note that if you select Maximum Number of Matches 0 and by mistake specify a lower num ber of visible objects than actually present in a test image a recognition rate gt 100 results which completely confuses the optimization algorithm You may handle this case by selecting the condi tion gt 100 for the recognition rate 7 3 4 The Menu and Tab Inspect Via the menu Inspect you can determine the recognition rate and the pose bounds of the object for the used set of test images Besides the automatical determination of the recognition rate the tab Inspect is opened Alternatively you can directly open the tab and select the button Run Inside the tab you can also specify the maximum number page 162 of object
287. t Move cursor right one character lt Ctrl gt lt Left gt Move cursor left one word lt Ctrl gt lt Right gt Move cursor right one word lt Delete gt Delete single character to the right of the cursor position lt Backspace gt Delete single character to the left of the cursor position lt Ctrl gt lt Backspace gt Delete word to the left of the cursor lt Ctrl gt lt Delete gt Delete word to the right of the cursor lt Shift gt lt Left gt Select character to the left of the cursor or extend the selection by one character lt Shift gt lt Right gt Select character to the right of the cursor or extend the selection by one character lt Ctrl gt lt Shift gt lt Left gt Select word to the left of the cursor or extend the selection by one word lt Ctrl gt lt Shift gt lt Right gt Select word to the right of the cursor or extend the selection by one word lt Ctrl gt a Select all lt Ctrl gt d UNIX Analogous to Delete lt Ctrl gt e UNIX Move cursor to last character in line lt Ctrl gt k UNIX Delete all characters from current position to end of line lt Ctrl gt u UNIX Delete entire input line GUI Navigation lt Ctrl gt lt Tab gt Focus next window and bring it to the front lt Shift gt lt Tab gt Focus the previous window and bring it to the front lt Tab gt Select
288. t Paint page 81 If you want to specify all possible parameters of a given paint mode you have to specify them as a tuple analogously to the HALCON operator set _paint dev_set_shape For an explanation see the menu item Menu Visualization gt Shape page 81 dev_set_part This operator adjusts the coordinate system for image region XLD and other graphic output This is done by specifying the upper left and the lower right corner coordinates This specified part is shown in the entire graphics window If the width or height of the specified rectangle has a negative value e g Row1 gt Row2 the result is equivalent to the menu Menu Visualization gt Reset Parameters the zoom mode is switched off i e the most recently displayed image fills the whole graphics window This feature of dev_set_part is not supported for exported C C Visual Basic Visual Basic NET and C code dev_display Iconic variables are displayed in the active graphics window by this operator It is rea sonable to do this when the automatic output is suppressed see dev_update_window below and Menu Edit gt Preferences gt Runtime Settings page 72 dev_clear_obj This operator deletes the iconic object stored in the HDevelop variable that is passed as the input parameter In the variable window the object is displayed as undefined with a as its icon dev_inspect_ctrl1 This operator opens an inspection window displaying the values of the variable pas
289. t procedure calls For an example how to use dev_error_var in connection with dev_set_check see HALCONROOT examples hdevelop Graphics Mouse get_mposition dev Please note that operations concerning graphics windows and their corresponding operators have addi tional functionality in comparison to HALCON operators with corresponding names without dev_ graphics windows in HDevelop are based on HALCON windows see open_window in the HALCON reference manual but in fact they have an enhanced functionality e g history of displayed objects interactive modification of size and control buttons This is also true for operators that modify visualiza tion parameters dev_set_color dev_set_draw etc For example the new visualization parameter is registered in the parameter window when the operator has been executed You can easily check this by opening the dialog Menu Visualization gt Set Parameters gt Pen and apply the operator dev_set_color Here you will see the change of the visualization parameters in the dialog box You have to be aware of this difference if you export dev_ to C C Visual Basic Visual Basic NET and C code GUI Reference 94 Graphical User Interface In contrast to the parameter dialog for changing display parameters like color the corresponding opera tors like dev_set_color do not change the contents of the graphics window i e they don t cause a redisplay They are used to prepare the pa
290. t Live continuous display Figure 4 4 Browsing the selected images Generate Code Switch to the tab card Code Generation and specify a variable name in the text field Image Object You can later access the image in the program by this name If multiple images or a directory were selected in the tab card Source the image acquisition assistant will read the images in a loop In this case the following additional variable names need to be specified Loop Counter The name of the loop index variable While looping over the images in the program this variable will contain the object number of the current image Image Files The name of the variable that will contain the names of the selected images Click Code Preview to inspect the code that would be generated from the currently specified parame ters Click Insert Code to generate the code and insert it at the position of the IC in the current program The following piece of code is an example generated from three selected images It is a self contained HDevelop program that runs without alteration 4 3 2 Acquiring Images Through Image Acquisition Interfaces 25 Source Connection Parameters Code Generation Acquisition Control Flow acquire Images in Loop Y Insert Code Acquisition Mode Asynchronous Acquisition IV Auto Disconnect Variable Names Connection Handle JacqHandle Loop Counter Index Image Object Image Image Files Imageriles A Code Previe
291. t in HDevelop e Graphical User Interface This chapter explains the graphical user interface of HDevelop and how to interact with it e Matching Assistant This chapter describes how to use the Matching Assistant for shape based matching e HDevelop Language This chapter explains syntax and semantics of the language used in HDevelop programs consult your operating system s documentation for general information e Code Export This chapter explains the export of a HDevelop program to C C Visual Basic Visual Basic NET or C e Tips amp Tricks This chapter describes keycodes warning and error windows and restrictions Contents 1 Introducing HDevelop LI Facts about Developed eee ewe eee h 1 2 Develop Procedures o o o a aac a RR SEER Bath eae Bas 1 3 Parallel Develop oo aca Oe ee Ba ak a 14 Termmnolory amp Usece score ROE ERS ER we aS Getting Started Running Example Programs Acquiring Images with HDevelop 41 Besame Images From Piles os p ee oe a ukta E A e aran a EE VMIEWIDE images eea aea le ee A a do e eR eM 43 Image Acquisition Assistant cocido 4 3 1 Acquiring Images From Files or Directories 4 3 2 Acquiring Images Through Image Acquisition Interfaces 433 Modifying the Generated Code o esoe ke ee eR Programming HDevelop 51 Sita New Prostat cee ee dett a eee eRe Sa Emeran OPT e i sce x See Sheer ee Bik aed hae Sich Se od ee eS S3 PEC Parameter ck ee GORA ER
292. t of the current values and statistical data There are many other windows which will be covered later in this manual Unless the context menu has been disabled in the preferences to prevent any interference with interactive drawing functions See section 6 2 2 11 on page 62 ao o gt ly gt 2 D a 10 16 Getting Started Running Example Programs Chapter 3 Running Example Programs HALCON comes with a large number of HDevelop example programs from a variety of application areas These range from simple programs that demonstrate a single aspect of HALCON or HDevelop to complete machine vision solutions As an introduction to HDevelop we recommend to try some of these programs to quickly get accustomed to the way HDevelop works One of the examples demonstrates many different capabilities of HALCON in one program It is the only HDevelop example program that can be started from the Start menu under Windows The UNIX path to this program is HALCONROOT examples hdevelop explore_halcon dev Running this program is very recommended to get a good overview of the many application areas of HALCON The example programs have been categorized by application area industry method and operator usage A special category New in version groups examples by their appearance in specific HALCON releases Browsing these categories you can quickly find example programs that cover image processing problems
293. te Parallel HDevelop if that is the variant you will be using 1 4 Terminology amp Usage HDevelop adheres to well established conventions and usage patterns regarding its graphical user inter face Most of the terminology explained here will have become second nature to most users and may most likely be skimmed over Mouse Usage click A single click with the left mouse button e g to mark and select items or to activate buttons To select multiple items hold down the lt Ctr1 gt key and click the desired items To select many items from a list click the first item hold down the lt Shift gt key and click the last item All intermediate items are then also selected double click Two quick successive clicks with the left mouse button e g to open dialogs of selected items Double clicks are mostly shortcuts for single clicks followed by an additional action right click A single click with the right mouse button to access additional functionality of the user interface e g context sensitive menus Clicking the right mouse button also ends interactive drawing functions in HDevelop drag Keeping the left mouse button pressed while moving the mouse and finally releasing the mouse button Typically used to move items resize windows select multiple items at once e g program lines or to draw shapes drag and drop HDevelop supports drag and drop of image files and HDevelop programs from other applications You can e g drag an
294. tep e g after you displayed the model image page 149 again you can also display it via the menu item Use Model gt Test Images gt Display Selected Test Image without newly selecting it 7 3 3 9 Specifying the Number of Objects Visible in a Test Image In the dialog Test Images page 159 in the tab Model Use you can specify how many objects are visible in the current test image using the corresponding text box that appears when clicking onto the currently displayed number of visible objects in the text field of the currently selected test image The default value is 1 If you select the corresponding recognition mode in the dialog accessed via Use Model gt Go To Optimize Recognition Speed page 164 the specified numbers of visible objects are used when determining the recognition rate i e the recognition rate is 100 when the sum of all objects found in the test images is equal to the sum of the specified numbers 7 3 3 10 Assuring the Matching Success After loading page 158 the test images you can quickly test whether all objects are found successfully via the dialog Inspect gt Determine Recognition Rate page 165 If the matching succeeds in all test images i e if a recognition rate of 100 is reached you can start to optimize the speed page 145 of the matching process If the matching fails in one or more test images proceed as follows e Open the dialog Test Images page 159 in the tab Model Use e Check the bo
295. ter1 p_do_circles 12 fast_threshold Image Region 0 120 7 p_do_measure_rim 10 threshold Rim Dark O 128 p_do_clips 15 bin_threshold Clip Dark _do_pcb 19 dyn_threshold ImageOpening ImageClosing p_do_resistors 31 threshold DepthMean Resistor 158 255 mn da racietnre 2E thrachald ManthMasn Gelder 175 152 Figure 6 9 Finding all occurrences of the search text GUI Reference 62 Graphical User Interface i Find Replace Find Replace Variables Operators Texts Search for threshold y Find Find All Replace Fast _threshold y Replace All Find Parameter Scope C All Program Current Procedure Options Case Sensitive JV Whole Words Parameter Replacement Scheme threshold Fast_threshold les Image y E Image E Region y E Region ls MinGray y E Mincray E MaxGray y gt MaxGray y E tinsize Figure 6 10 Replacing operator calls 6 2 2 11 Preferences Synopsis Set global preferences of HDevelop HDevelop maintains a set of preferences that are persistent between sessions You can customize the ap pearance of HDevelop s user interface syntax highlighting fonts and language as well as its behavior configure the settings of external procedures and change the default visualization settings of the graphics windows Changes to the settings in this dialog are saved automatically without any user intervention The location of the generate
296. terface ew main Display Clear Display Clear Variable Control Vari Add Variable gt Image 1 type byte channels 3 size 512 512 Remove from User Tab channel 1 channel 2 channel 3 Sort by Name lv Sort by Occurrence cera v Update Variables Cleanup low 3600 Selected Ico Jm E BiAagaare 3600 Selected Ico FS f E Window 3600 Selected Teo x janaa BIE channel 1 channel 2 channel 3 Figure 6 42 Interactive channel selection from an RGB image 6 6 2 Control Variables To the right of the variable name you find its values in the default representation you have to keep in mind that a floating point number without significant fractional part is represented as an integer e g 1 0 is represented as 1 If you specify more than one value for one variable tuple they are separated by commas and enclosed by brackets If the number of values exceeds an upper limit the output is clipped This is indicated by three dots at the end of the tuple For undefined variables their name and a are shown in the variable field An empty tuple is represented by Both exceptions use the same symbols as the corresponding cases for the iconic variables Inspecting and Editing Variables See also dev_inspect_ctrl Double clicking a control variable opens a window that displays all its values in a tabular format This is helpful if you have tuple variable
297. test images page 143 The main use of this parameter is to exclude noise 1 e gray value fluctuations from the matching process Note that a low value for Minimum Contrast slows down the matching process because more points in the test image must be compared with the model Therefore we recommend to choose a value which is higher than the noise in the test images You can also let the Matching Assistant select a suitable value automatically based on the model image Note that although this parameter is only used during the search it is already included when creating the model in order to speed up the matching process If you already loaded test images you can quickly test the effect of the selected parameter value via the menu item Inspect gt Determine Recognition Rate page 165 7 3 2 27 Letting the Matching Assistant Select a Suitable Value for Minimum Contrast When you click the button Auto Select that is placed right beside the slider for the parameter Minimum Contrast the Matching Assistant selects a suitable value for the minimum contrast by evaluating the gray value fluctuations i e the noise in the model image Note that an automatic determination only makes sense if the image noise during the recognition is similar to the noise in the model image For this reason it is typically not useful when using a synthetic model image without noise 7 3 2 28 Reset All Parameters The button Reset inside the tab Model Creation res
298. text in the matched line The next matching line is highlighted automatically Click Replace A11 to replace all occurrences of the search text in the specified scope It is recom mended to do a Find A11 beforehand to estimate the extent of this operation 6 2 2 Menu Edit 61 Replacing Operator Calls You can replace one operator or procedure call with another Because different operators very likely have different parameters the source parameters have to be mapped to the target parameters beforehand See figure 6 10 for an example Click Operators to specify the search context Enter the source operator or procedure name and the target operator or procedure name When both names are specified the parameters of the target opera tor procedure are listed at the bottom of the dialog For every target parameter you have to select or enter a corresponding source parameter 6 2 2 10 Find Again Synopsis Find the next match of the last entered search string Shortcut Ctrl G This menu item repeats the search specified via the menu item Find Replace Find Replace Find Replace Variables Operators Texts Search for threshold y Find Find All Replace y Replace Replace All Find Parameter Scope All Program Current Procedure Options Case Sensitive J Whole Words Find Results p_do_ocr_color 25 threshold Green ForegroundRaw 0 220 p_do_ocr_color 34 bin_threshold ImageMean Clus
299. th windows are displayed in figure 3 2 19 iconic variables control variables PC program counter current procedure Lead Measurement Example for the application of ta including a lot of visualization operators First the length of the leads is measured then First read in the image and initialize the progre read_image Image ic_pin get_image_pointerl Image Pointer Type Width He p_reopen_window_fit 0 O Width Height 509 Windt p_set_font WindowHandle dev_display Image dev_set_draw margin dev_set_line width 3 Define and display the rectangular ROIs within wh Row 55 ae gt Figure 3 2 The variable and program window after loading the example program Run Example Program e Click Execute gt Run or click the corresponding button from the tool bar see figure 3 3 The program line next to the PC is executed the PC is moved to the following line and so forth until the execution stops There are four reasons for the program execution to stop 1 the last program line has been executed 2 a breakpoint has been reached 3 the HDevelop instruction stop has been encountered as in this example or 4 an error has occurred During execution the graphics window is used for visualization Changes to the variables are reflected in the variable window When the program execution stops the status bar displays the number of executed lines and the processing time To continue with the p
300. that you may wish to solve with HALCON These programs may serve as a foundation for your own development projects i Open Example loxi Category Pharmaceutical za Photogrammetry and r Example Short Description Precision engineering a fuzzy_measure_pin dev Measure pins of an IC using fuzzy Printing 5 measuring Rubber synthetic mat measure_ic_leads dev Measure leads of an IC Semiconductors Surveillance and security measure_pin dev Measure pins of an IC Locate IC on a board and measure pin distances Transport Wood and timber industry pack E Method Operator E New in version pm_measure_board dev T Keep dialog open Load Load in new HDevelop Figure 3 1 Open Example dialog 18 Running Example Programs Browse and Load Example Programs Click File gt Open Example This will open the example program browser see figure 3 1 on page 17 Similar to a file browser it shows a tree of categories on the left and a list of example programs from the selected categories on the right Categories that contain hidden subtopics are marked with a EH Double click on a category label to open the subtopics or click EH Double click again to close the subtopics or click 4 Browse the categories Click on a category to select it and display its example programs You can select multiple categories at once by holding the lt Ctr1 gt key while clicking on the categories
301. the first last occurrence of one of the character in s2 in string s1 or 1 if none of the characters occur in the string s1 may be a single string or a tuple of strings str r str See also tuple_strstr tuple_strrstr str 1 str s1 s2 returns the index of the first last occurrence of string s2 in string s1 or 1 if s2 does not occur in the string s1 may be a single string or a tuple of strings strlen See also tuple_strlen strlen s returns the number of characters in s See also tuple_str_bit_select s i selects a single character specified by index position from s The index ranges from zero to the length of the string minus 1 The result of the operator is a string of length one s i1 i2 returns all characters from the first specified index position i1 up to the second specified position 12 in s as a string The index ranges from zero to the length of the string minus 1 8 5 7 String Operations 185 split See also tuple_split split s1 s2 divides the string s1 into single substrings The string is split at those positions where it contains a character from s2 As an example the result of split usr image usr proj image consists of the two strings usr image usr proj image Language Regular Expressions HDevelop provides string functions that use Perl compatible regular expressions Detailed infor mation about them can be found in the Reference Manual
302. the first line of the current program e The IC is advanced so that additional lines will be added after the inserted line e The program line is executed and the PC is advanced To be more precise All the lines from the PC to the IC are executed which makes a difference when adding program lines in larger programs e The character is added to the window title to indicate unsaved changes in the current program e The image is displayed in the graphics window e The status bar is updated i e the execution time of the operator read_image is displayed and the format of the loaded image is reported e The output variable Clip is created and displayed in the variable window e The operator window is cleared and ready for the insertion of the next operator 5 4 Getting Help You may be wondering where the clip image was loaded from since we did not specify any path or even a file extension This is a detail that is related to the way the HALCON operator read_image works HDevelop does not know anything about it It just executes the operator with the parameters you supply Nonetheless it is easy to access the documentation of the operators from within HDevelop Double click the first program line in the program window The operator is displayed in the operator window for editing Now click Help to open the HDevelop online help window It will automatically jump to the documentation of the displayed operator see figure 5 4 The reference manual is compl
303. the following GUI element lt Shift gt lt Tab gt Select the previous GUI element lt Space gt Activate the focused button highlighted with a dashed border lt Up gt Scroll up one line lt Down gt Scroll down one line lt Pg Up gt Scroll up one page lt Pg Down gt Scroll down one page lt Home gt Scroll to the beginning lt End gt Scroll to the end Table 10 1 Keycodes for special editing functions 10 3 Warning and Error Windows 223 HDevelop Error x Iconic variable is not instantiated 2060 while calling threshold in procedure main line 2 Iconic variable Image is not instantiated Figure 10 1 Example for an error window 224 Tips amp Tricks Glossary 225 Appendix A Glossary Boolean is the type name for the truth values true and false as well as for the related boolean expres sions Body A body is part of a conditional instruction if or a loop while or for and consists of a sequence of operator calls If you consider the for loop for instance all operator calls that are located between for and endfor form the body Button A button is part of a graphical user interface With the mouse the user can press a button to cause an action to be performed Control data Control data can be either numbers finteger and freal character strings string and truth values boolean This data can be used as atomic values i e single values or as Ttuples i e
304. the resulting tuples is identical to the length of the input tuples e If one of the tuples is of length 0 a runtime error occurs In table 8 4 you can find some examples for arithmetic operations with tuples Pay special attention to the order in which the string concatenations are performed The basic arithmetic operations in HDevelop are Please note that is a dimorphic operation If both operands are numeric it adds numbers If at least one of the operands is a string it concatenates both operands as strings 8 5 2 Assignment 175 8 5 2 Assignment In HDevelop an assignment is treated like an operator To use an assignment you have to select the operator assign Input Result This operator has the following semantics It evaluates Input right side of assignment and stores it in Result left side of assignment However in the program text the assignment is represented by the usual syntax of the assignment operator Result Input The following example outlines the difference between an assignment in C syntax and its transformed version in HDevelop The assignment in C syntax u sin x cos y is defined in HDevelop using the assignment operator as assign sin x cos y u which is displayed in the program window as u sin x cos y If the result of the expression does not need to be stored into a variable the expression can directly be used as input value for any operator Therefore an assign
305. tion in most applications When you choose the values least_squares least_squares_high or least_squares_very_high a least squares approximation is used instead of an interpolation resulting in an even higher accuracy However this method requires additional computation time 7 3 3 18 The Search Parameter Last Pyramid Level With the parameter Last Pyramid Level you can select the lowest pyramid level to which the found matches are tracked For example when selecting the value 2 the matching starts at the highest pyramid level and tracks the matches to the second lowest pyramid level the lowest pyramid level is denoted by a value of 1 This mechanism can be used to speed up the matching It should be noted however that in general the accuracy of the extracted position orientation and scale is lower in this mode than in the normal mode GUI Reference 164 Matching Assistant in which the matches are tracked to the lowest pyramid level Hence if a high accuracy is desired the parameter Subpixel should be set to at least least_squares Note that if the lowest pyramid level to use is chosen too large it may happen that the desired accuracy cannot be achieved or that wrong instances of the model are found because the model is not specific enough on the higher pyramid levels to facilitate a reliable selection of the correct instance of the model In this case the lowest pyramid level to use must be s
306. tion Dark Single Soto ae ELA select_shape Single Selected area and 5000 10 aa mo O indow dev_set_draw fill cde reac dev_set_ dev_display Selected stop 4 Replace Apply Cancel Help Figure 6 29 Editing a program line Editing Program Lines To edit a line of a program you double click it with the left mouse button In case of conditions and loops the operator line with the parameters has to be selected For example you have to double click for ina for endfor loop but until in a repeat until loop You may edit only one operator or procedure call at a time After double clicking a program line note the following e The program line is highlighted in a slanted font This serves as a reminder that you are altering an existing program line instead of adding a new one e The operator or procedure call of the program line is displayed in the operator window and can be edited there e The window title of the operator window clearly indicates that you are editing an existing program line It also displays the procedure name and the line number e Unless the program line is deleted while still being edited clicking OK or Replace in the operator window will replace the original program line This is even the case if the corresponding program line is no longer in view e g if a different procedure is selected in the program window If the program line is deleted before the changes are committed
307. tively All procedures are declared at the beginning of the file The program body of the HDevelop main procedure is contained in a procedure action which is called in function main action and main can be excluded from compilation by inserting the instruc tion define NO_EXPORT_MAIN at the appropriate position in the application Using the instruction define NO_EXPORT_APP_MAIN only the main procedure is excluded from compilation This can be useful if you want to integrate exported HDevelop code into your application through specific proce dure interfaces In that case there is typically no need to export the main procedure which was probably used only for testing the functionality implemented in the corresponding real procedures Besides the program code the file contains all necessary include instructions All local variables iconic as well as control are declared in the corresponding procedures Iconic variables belong to the class Hobject and all other variables belong to Htuple Please note that in the current version the generated C code is not optimized for readability It is output such that it always produces identical results as the HDevelop code 9 7 1 2 Compiling and Linking in Windows Environments The next step is to compile and link this new program In the Windows environment Visual C is used for the compiling and linking Example projects can be found in the directory ZHALCONROOT examples c If you wa
308. tly edited operator or procedure call have to be calculated If the PC is placed at or after the insertion position only the currently edited operator or procedure call is executed The operator or procedure call is entered into the program window before it is executed After the execution the PC is positioned on the next executable program line after the edited operator or procedure call The computed output parameter values are displayed in the variable window Iconic variables are shown in the current graphics window if you haven t suppressed this option compare section Runtime Settings on page 72 Afterwards the operator window is cleared If you did not specify all parameters or if you used wrong values an error dialog is raised and execution is canceled In this case the operator window remains open to allow appropriate changes Enter Replace By clicking the button Enter the currently edited operator or procedure call is trans ferred into the program window without being executed When editing existing program lines through double clicking in the program window see page 103 the button label changes to Replace When clicked the original program line is replaced Apply If you click Apply the operator is executed with the specified parameters but not entered into or changed in the program This enables you to determine the optimum parameters rapidly since the operator dialog remains open and hence you can change parameters q
309. to Factory settings Adopt active settings Figure 6 18 Visualization Settings gt Visualization Parameters GUI Reference Graphical User Interface Runtime Settings Please note that the runtime settings are not persistent between sessions The runtime settings are reset to their default values when a new HDevelop program is started with Menu File gt New Program The dialog is displayed in figure 6 19 E AT User Interfase RuntimeSettings AE External Procedures eg General Options 29 Visualization Settings Runtime Settings 4 Runtime Settings Give Error Y Show Processing Time Y Update Program Counter Y Update Variables Y Y X Update Graphics Window Enable the Context Menu in the Graphics Window Figure 6 19 Runtime Settings Give Error See also dev_set_check This check box specified the behavior of HDevelop if an error occurs If it is checked HDevelop stops the program execution and displays an error message Otherwise the error will be ignored Show Processing Time See also dev_update_time This check box indicates whether the required runtime of the last operator or procedure call should be displayed after the execution has stopped It is a measurement of the needed time for the current operator or procedure call without output and other management tasks of HDevelop Along with the requir
310. ttings inside the assistant and update the generated code accordingly The code preview will show you exactly how the generated code lines will be updated Furthermore you can delete the generated code lines or release them When code lines are released the internal links between the assistant and those lines is cut off Afterwards the same assistant can generate additional code at a different place in the current program 30 Acquiring Images with HDevelop Programming HDevelop 31 Chapter 5 Programming HDevelop This chapter explains how to use HDevelop to develop your own machine vision applications It is meant to be actively followed in a running instance of HDevelop In the following it is assumed that the preferences of HDevelop are set to the default values This is always the case after a fresh installation of HALCON If you are uncertain about the current settings you can always start HDevelop with the default settings by invoking it from the command line in the following way see also chapter 2 on page 13 hdevelop reset_preferences We begin with a very simple example Given is the image displayed in figure 5 1 The objective is to count the clips and determine their orientation ENS STAY YS Ss Programming Figure 5 1 Paper clips 5 1 Start a New Program Start HDevelop or if itis still running click File gt New Program to start a new program HDevelop will notify you if there are unsaved changes
311. tus bar Note that some operators are visible in the menus but should not be used e g open_window in Menu Operators gt Graphics gt Window or reset_obj_db in Menu Operators gt System gt Database If you select one of these operators a warning text is displayed in the operator window This warning will usually refer to a legal substitute In the case of most of these operators you should use the corresponding Develop operator e g dev_open_window instead of open_window within HDevelop 6 2 7 Menu Suggestions Synopsis Let HDevelop suggest operators based on the current operator This menu shows you another possibility how to select HALCON operators But here they are proposed to you in a different manner It is assumed that you have already selected an operator in a previous step Depending on this operator five different suggestions are offered Suggestions are separated into groups as described below 6 2 7 1 Predecessors Many operators require a reasonable or necessary predecessor operator For example before comput ing junction points in a skeleton junctions_skeleton you have to compute this skeleton itself 6 2 8 Menu Assistants 95 skeleton To obtain a threshold image you usually use a lowpass filter before executing a dynamic threshold dyn_threshold Using the watershed algorithms watersheds it is reasonable to apply a smoothing filter on an image first because this reduces runtime considerably
312. uickly Note that this functionality is not available for procedure calls and thus the button is grayed out in this case Unlike the button Ox only the single line you edit or enter is executed no matter where the PC 1s located Thus you have to ensure that all the input variables contain meaningful values By pressing Apply the corresponding output variables are changed or created if necessary to allow you to inspect their values If you decide not to enter the line into the program body some unused variables may thus be created You can easily remove them by selecting Menu File gt Cleanup Cancel Clicking Cancel clears the contents of the operator window Thus there are neither changes in the program nor in any variables Help Clicking Help invokes an appropriate help text for the selected operator For this the system activates the online help window see Help Window Note that this functionality is not available for procedure calls and thus the button is grayed out in this case GUI Reference 6 6 Variable Window There are two kinds of variables in HALCON corresponding to the two parameter types of HALCON iconic objects images regions and XLDs and control data numbers strings The corresponding vari ables are called iconic and control variables These variables may possess a value or may be undefined 118 Graphical User Interface Iconic Yariables O00 EYES CET 0000 LELES LELE Ima
313. unctionality is to browse the file system and to select one or multiple files or in some cases directories Usually they have two buttons The one labeled Open or OK confirms the selection and thus performs the initial action e g loading a file while the other labeled Cancel aborts the initial action As an example the dialog Menu File gt Open Program is explained Choose a HDevelop program to open e My Recent Documents E Desktop File name Files of type HDevelop Programs dew y Figure 6 53 Example of a file selection dialog under Windows In the top most text field you may specify a directory which contains your HDevelop programs A combo box at the right hand side helps you browsing your directories To move one directory level up you press the button on the right hand side of this text field The next button creates a new folder to store HDevelop programs By pressing the last button you can activate or deactivate the option to see more details about your HDevelop programs i e the program size the program type the date when the most recent user update occurred and file attributes The middle text area displays all available HDevelop files to choose from By clicking the left mouse button on a file name you select it Double clicking a file name opens the file immediately and displays it in the program window page 102 Furthermore you may specify the file name in the text field below
314. ut parameters Any of the four types of parameters may be empty For example the signature of read_image reads read_image Image FileName The operator read_image has one output parameter for iconic objects read_image Image and one input control parameter read_image FileName The parameter types are reflected when entering op erators in the operator window The actual operator call displayed in the HDevelop program window is Language 170 HDevelop Language read_image Image Name The parameters are separated by commas Input control parameters can either be variables constants or expressions An expression is evaluated before it is passed to a parameter that receives the result of the evaluation Iconic parameters must be variables Control output parameters must be variables too as they store the results of an operator evaluation 8 2 Control Types and Constants All non iconic data is represented by so called control data numbers or strings in HDevelop The name is derived from their respective functions within HALCON operators where they control the behaviour the effect of image processing e g thresholds for a segmentation operator Control parameters in HDevelop may contain arithmetic or logical operations A control data item can be of one of the follow ing types integer real string and boolean integer and real The types integer and real are used under the same syntactical rules as in C Int
315. value and after that the index position as the third input parameter The result the fourth parameter is almost identical with the input tuple except of the new value at the defined index position see the example above In the following example regions are dilated with a circle mask and afterwards the areas are stored into the tuple Areas In this case the operator insert is used read_image Mreut mreut threshold Mreut Region 190 255 Areas for Radius 1 to 50 by 1 dilation_circle Region RegionDilation Radius area_center RegionDilation Area Row Column Areas Radius 1 Area endfor Please note that first the variable Areas has to be initialized in order to avoid a runtime error In the example Areas is initialized with the empty tuple Instead of insert the operator assign with tuple concatenation Areas Areas Area could be used because the element is appended at the back of the tuple More examples can be found in the program assign dev 8 5 3 Basic Tuple Operations 177 t1 t2 gt t concatenate tuples ltl gt i get number of elements of tuple t tli gt v select element i of tuple t 0 lt i lt Itl t i1 i2 gt t select from element i1 to element i2 of tuple t subset t i gt t select elements specified in i from t remove t i gt t remove elements specified in i from t find t1 t2 gt i get indices of all occurrences of t2 within t1 or 1 if no match uniq t
316. values depends on the selected adaptation mode which can be set independently for horizontal and vertical ranges e adaptive The corresponding range is adapted to the new values e increasing The corresponding range is only adapted if it has increased i e the new minimum value is smaller or the new maximum value is greater or both e fixed The corresponding range is not changed at all Output GUI Reference The selected range of gray values can be used for two major purposes thresholding segmentation and scaling the gray values The gray values between Min and Max can be visualized either in the originating or the active graphics window as specified in Output Destination The type of visualization is specified in the list box Display 136 Graphical User Interface e none no visualization e threshold Segment image The image from which the histogram was computed is segmented with a threshold operation with the selected minimum and maximum gray value Depending on the setting of the combo box Display the segmentation result is either displayed in the graph ics window from which the image was originally sent originating window or in the active graphics window active window With the three combo boxes Color Draw and Line Width you can specify how the segmentation results are displayed see also Colored Draw and Line Width If you want to select threshold parameters for a single image display t
317. vel errors are normally invisible for the user because they are transformed into more com prehensive error messages or simply ignored Activating this item generates a message box each time a low level error occurs e Ignore semantic type The lists of the parameter combo boxes in the operator window are extended so that they include variables whose semantic types do not match the semantic types of the corresponding parameters of the selected operator e Show memory usage If this option is activated the internal temporary memory usage of the last operator or procedure call is displayed in the status bar e Suppress warnings for HALCON operators that are replaced by dev operators Some operators are deprecated in HDevelop and issue a warning message when selected in the operator window Activating this option suppresses the warning message Visualization Settings These settings define the default visualization settings for graphics windows when HDevelop is started See the description of Set Parameters on page 82 The dialog is displayed in figure 6 18 o x Preferences File af User Interface Pen LUT Paint AF External Procedures pa e l SE General Options le fill C margin Shape original y BF Visualization Settings 28 Runtime Settings Color Line Width 1 3 C1 3 Co Ca Preview light gray cyan magenta yellow medium slate blue coral slate hiie El Reset
318. w Insert Operator Code generated by Image Acquisition 01 ImageFiles ImaqeFiles 0 C Program Files MYTec HALCON images Figure 4 5 Specifying variable names and previewing the code Code generated by Image Acquisition 01 ImageFiles ImageFiles 0 C Program Files MVTec HALCON images fin1 png ImageFiles 1 gt C Program Files MVTec HALCON images fin2 png ImageFiles 2 gt C Program Files MVTec HALCON images fin3 png for Index 0 to ImageFiles 1 by 1 read_image Image ImageFiles Index Do something endfor 4 3 2 Acquiring Images Through Image Acquisition Interfaces Select Image Acquisition Interface in the Source tab The drop down list below the radio button becomes active Initially it lists all image acquisition interfaces supported by HALCON You can tidy this list by clicking the button Detect HDevelop will then probe all the image acquisition interfaces and remove those that do not respond Probing the interfaces is potentially dangerous If there are unsaved changes in the current program HDevelop will display a corresponding dialog You can save the changes and proceed ignore the warning and proceed or abort the operation After the interfaces have been probed you can select the desired image acquisition interface from the list 26 Acquiring Images with HDevelop Source Connection Parameters Code Generation Image File s TT Recursiv
319. w management functions in this mode SDI single document interface In this mode the main window contains only the menu bar the tool bar the status bar and the program window All other windows are independent You may find this mode beneficial if you want to take advantage of special window manager capabilities under reed _image 38 6 ms 0 Clip 1 830x822 x1 xbyte T 25 ttoo run status messages runtime information image details gray value coordinates Figure 6 1 The status bar GUI Reference 46 Graphical User Interface 6 2 Menu Bar The menu bar of the main window provides access to the complete functionality of HDevelop Here you may choose HALCON or HDevelop operators or procedures or manipulate the graphical output Every menu item opens a pull down menu henceforth abbreviated as menu with optional submenus You open a menu by clicking a menu item or via the keyboard by pressing the lt A1t gt key in combination with the underlined letter of the menu item In the following sections the menu entries are described in the order in which they appear 6 2 1 Menu File This menu provides functions to load images and existing programs and to save recently created or modified programs and procedures respectively Furthermore you may export HDevelop programs to C C Visual Basic Visual Basic NET or C and also print them 6 2 1 1 New Program Synopsis Initialize a new HDevelop program Checks for
320. w one will become activated After the selection of lines the edit function can be activated by either using the menu Menu Edit or the tool bar see section Tool Bar on page 101 or via the context menu of the program window see page 105 6 4 2 PC IC and Break Points The column to the left of the displayed program body contains the PC represented as a green arrow pointing to a program line the IC a black triangle between two program lines and optionally one or more break points BP a red STOP sign The program counter resides in the line of the next operator or procedure call to execute The IC indicates the position to insert a new program line A break point shows the program line on which the program is stopped You may position or activate these three labels by clicking in the left column of the program window That column itself is divided into three areas Depending on the horizontal position of the mouse cursor all three label types are available The actual type is indicated through a change of the mouse cursor 6 4 3 Creating and Editing Procedures 105 At the leftmost position break points can be placed In the middle position the PC can be placed And finally in the rightmost position the IC can be placed HDevelop assists you by displaying the icon that would be inserted If this seems confusing you can force a specific label by holding down the following keys regardless of the horizontal position
321. window You can select HALCON operators and HDevelop procedures in this window The parameters of the selected operator can be specified and the operator can be executed entered in the current program or both You can also get online help for the selected operator from this window 3 Program window This window displays the current program Program editing in HDevelop is line based Program lines can be modified by double clicking them and editing them in the operator window The left column displays the program line numbers The small black triangle is the insert cursor which is where new program lines will be added In the following it is referred to as IC The green arrow is the program counter which marks the next line to be executed In the following the program counter is referred to as PC You can also add or remove break points in the current program in this column These will halt the program execution at user defined places 4 Variable window Program variables can be watched in this window It displays all variables of the current procedure and their current values Iconic variables are displayed as thumbnails whereas control variables are displayed as text The layout of this window can be switched between horizontal and vertical splitting by double clicking the separator You can double click iconic variables to display them in the active graphics window Double clicking on control variables spawns an inspection window with a lis
322. with the operator continue and break respectively see below Please note that the expressions for start and termination value are evaluated only once when en tering the loop A modification of a variable that appears within these expressions has no influence on the termination of the loop The same applies to the modifications of the loop index It also has no influence on the termination The loop value is assigned to the correct value each time the for operator is executed If the for loop is left too early e g if you press Stop and set the PC and the loop is entered again the expressions will be evaluated as if the loop were entered for the first time In the following example the sine from 0 up to 67 is computed and printed into the graphical window file name sine dev old_x 0 old_y 0 dev_set_color red dev_set_part 0 O 511 511 for x 1 to 511 by 1 y sin x 511 0 2 3 1416 3 255 disp_line WindowID old_y 256 old_x y 256 x old_x x old_y y endfor Language 196 HDevelop Language In this example the assumption is made that the window is of size 512x512 The drawing is always done from the most recently evaluated point to the current point continue The operator continue forces the next loop cycle of a for while or repeat loop The loop condition is tested and the loop is executed depending on the result of the test In the following example a selection of RGB
323. x HDevelop procedures 10 export 219 external 11 hierarchy 11 local 11 main 10 200 204 206 208 211 213 216 219 program export to C 9 215 export to C 199 export to C 203 205 export to Visual Basic 213 export to Visual Basic NET 208 210 HDevelop dev_ operators 91 example programs 47 language 169 runtime error 74 warning 141 HDevelop Language 100 HDevelop Reference 99 Help 99 105 About 100 HALCON News WWW 100 HALCON Reference 99 HDevelop Language 100 HDevelop Reference 99 Help 99 Search Documentation 100 history of files 46 IC 102 iconic data 225 iconic object 225 if 75 90 102 192 196 if 192 if 225 ifelse 90 102 192 ifelse 192 image 225 image acquisition assistant 23 Image Acquisition Assistant 95 image coordinates status bar 44 image properties status bar 44 image pyramid display 149 Image Size 79 Import 62 insert 90 175 176 178 179 insert 201 Insert All As Local 88 Insert All 48 Insert Code 96 167 insert cursor 15 Insert Mainbody 49 Insert Procedures 49 Insert Program 48 Insert Used As Local 88 Inspect 165 junctions_skeleton 94 Keep dialog open 48 53 keyboard 12 keyboard menu access 46 Keycodes 221 Keywords 95 Last Pyramid Level 163 Line Width 80 Load Assistant Settings 96 148 Load in new HDevelop 48 Load Model 147 Load Test Images 158 local procedure 49 look up table 81 lo
324. x Always Find 7 3 3 The Menu Use Model and the Tab Model Use 161 e Step through the test images to determine the images where the matching fails e If an object is not found check whether one of the following situations causes your problem e Is the object crossing the image border i e does it lie partially outside the test image By default the objects must lie completely within the test image in order to be found This behavior can be changed in the dialog Advanced Model Use Parameters in the tab Model Use via the parameter Shape models may cross the image border page 164 GUI Reference e Is the Matching Assistant too greedy By default the Matching Assistant uses a fast search heuristic which might overlook an object Therefore try reducing the corresponding parameter Greediness page 163 in the dialog Advanced Model Use Parameters manually or automatically via the menu item Inspect gt Optimize Recognition Speed page 164 e Is the object partly occluded If the object is to be recognized in this state nevertheless try reducing the parameter Minimum Score in the dialog Standard Model Use Parameters in the tab Model Use manually or automatically via the menu item Inspect gt Optimize Recognition Speed page 164 e Has the object a low contrast If the object is to be recognized in this state nevertheless try reducing the parameter Minimum Contrast page 157 in the dialog Standard Model Parameters page 150 in
325. xit The HDevelop operator exit is translated into the Visual Basic NET routine End Because this routine has no parameter the parameters of exit are suppressed 9 5 2 5 Used Classes There are only six classes types that are used Object for control parameters and HUntypedObjectX for iconic data In addition there is the container class HTupleX which comprises all operators of HALCON processing tuples in this case the data type Object Then there are the classes HWindowXCtr1 and its low level content HWindowX HWindowXCtr1 is used inside the project for the output window and a variable of class HWindowX directs the output to this window Finally the class HOperatorSetX is used as a container for all HALCON operators There is no need for other classes as long as the program has the same functionality as in HDevelop When editing a generated program you are free to use any of the classes of HALCON COM to extend the functionality 9 5 3 Limitations and Troubleshooting Besides the restrictions mentioned in this section and in section 9 8 on page 217 please also check the description of the HDevelop operators in section 6 2 6 2 on page 91 9 5 3 1 Variable Names In contrast to C C or HDevelop Visual Basic NET has many reserved words Thus the export adds the prefix ho_ to all iconic and hv_ to all control variables respectively in order to avoid collisions with these reserved words 9 5 3 2 Exception Handling In HDevelop ever
326. y exception normally causes the program to stop and report an error message in a dialog window This might not be useful in Visual Basic NET The standard way to handle this in Visual Basic NET is by using the Try Catch mechanism This allows to access the reason for the exception and to continue accordingly Thus for HDevelop programs containing error handling dev_ set_check give_error the corresponding code is automatically included Every op erator call for which it is assumed that the HALCON error mechanism is turned off is enclosed in a Try block followed by a Catch block The latter handles the exception and assigns the corresponding HALCON error number to the error variable activated by dev_error_var or to a local error variable otherwise Please note that a call of dev_ set_check give_error has no influence on the operator call The exception will always be raised This is also true for messages like H_MSG_FAIL which are not handled as exceptions in C for example When handling exceptions you also have to be aware that the COM interface always resets the output parameters at the beginning of the operator execution Thus when the exception occurs output variables are set to Nothing Therefore you cannot use the values of variables used as output parameters of the operator causing the exception 9 6 Code Generation for Visual Basic 6 HALCON COM 213 9 5 3 3 Memory Management The NET Framework s runtime envi
327. y the corresponding iconic variable in the active graphics window with or without clearing the window first and you can clear the iconic variable If an iconic variable contains multiple items you can also select a specific item from a submenu If you click Select in this submenu you can quickly browse the items of the iconic variable from a dialog This also works for multi channel images See figure 6 42 for an example Normally regions images and XLDs are represented in variable icons Besides this there are three exceptions which are shown by special icons e Undefined variables are displayed as a question mark icon You may write to but not read them because they do not have any value e Brackets are used if a variable is instantiated but does not contain an iconic object empty tuple This may be the case using operators like select_shape with wrong specified thresholds or using the operator gen_empty_obj Such a value might be reasonable if you want to collect iconic objects in a variable gradually in a loop using concat_obj Here an empty tuple is used as starting value for the loop e A last exception is an empty region This is one region that does not contain any pixels points i e the area number of points is 0 You must not confuse this case with the empty tuple because there the area is not defined The empty region is symbolized by an empty set icon GUI Reference 122 Graphical User In

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