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HALCON Version 5.2 HDevelop User`s Manual

1. gt Mr select_shape SingleBalls Ir sort_region IntermediateBal Match smallest_circle FinalBalls K Tools NumBalls Radius Diameter 2 Radius LD meanDiameter sum Diameter Al mimDiameter min Diameter Misc wrrvvvvrrrr anisotrope_diff eliminate_min_max eliminate_sp fil_interlace gauss_image info_smooth mean_image Variable Watch Iconic Variables 125 879310345 130 277777778 130 411764706 130 448529412 13 117 120689655 220 5 326 941176471 429 772058824 535 5 641 1 18 8480195564 18 5645276853 18 3522385752 19 3302061918 1 NumBalls 6 Diameter 37 6960391127 37 1290553706 36 7044771504 38 6604123836 3E meanDiameter 37 6264463801 REITEN NINA ATTA TOA Smooth by averaging Figure 4 25 Menu hierarchy of all HALCON operators e g different smoothing filters because they reside in the same subchapter To get additional in formation a short description of an operator while activating its name in the menu is displayed in the status bar see figure 4 25 Menu item Suggestions 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 or executed an operator in a previous step Depending on this operator five different suggestions are offered Figure 4 26 shows possible successor suggestions for operator read_image S
2. JAE 8 angio part gif a combine tif aa fir tif a audiz tif a die3 tif an fin2 tif sa ic0 tif autobahn tif laa egypt1 tif a fin3 tif laa ic1 tif b5_1 tif a engraved tif a for5 tif laa ic2 tif bitrot tif a fabrik tif forest_airl tif laa ic3 tif bottle2 tif face1 tif forest_road tit a letters tif si caltab tif face2 tif horses tif Marks tif alphal tif clip tif face3 tif hull ti meninggs tif Figure 4 6 The dialog window to load an image i HalconDevelop i Figure 4 7 The options window time If the output is suppressed you have the same behavior as exported C and Visual Basic code where automatic output of data is not supported Show Processing Time This checkbox indicates whether the required runtime of the last operator should be displayed after the execution has stopped It is a measurement of the needed time CHAPTER 4 GRAPHICAL USER INTERFACE for the current operator without output and other management tasks of HDevelop Along with the required runtime the name of the operator 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 Insert Interactions Sometimes it is very helpful to record user interactions as a sequence of operat
3. 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 If the second parameter of dev_error_var cannot be derived from the program because no constant 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 behaviour 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 excecution of the loop body Therefore Try not to use dev_error_var inside a loop Use it right at the beginning of the program Wrong Window ID In HDevelop no window identifiers for most graphic operators are used because windows are simply inspection tools during program development and the concept of active windows is used But the window operators of the HALCON C library require a window identifier Therefore it is added automatically to each operator call But in the case of multiple HDevelo
4. Table 5 15 Trigonometric functions For the trigonometric functions the angle is specified in radians 5 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 Table 5 16 shows the provided exponential functions 5 5 12 Numerical Functions The functions min and max select the minimum and the maximum values of the tuple values All values either have to be of type string or integer real It is not allowed to mix strings with numerical values 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 86 CHAPTER 5 LANGUAGE exponential function e natural logarithm In a a gt 0 decadic logarithm log a a gt 0 a122 al 222 exp a log a log10 a pow al a2 ldexp al a2 Table 5 16 Exponential functions integer The same 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 min t max t sum t mean a deviation a sqrt a deg a rad a real a round a abs a fabs a ce
5. 75 Examples for arithmetic operations o oo e 76 Basic operations on tuples 2 42 u a Bar kB wa tds BH 78 Tuple operations for control and iconic data oaoa 78 Arithmetic Operations go a es Si a Ss Ole ele a 80 Bitoperations os Sy SL e o Gee Ey ta e SS Se a Sd de So Sah Sen Sa a 81 Alithmeieoperalons m as rate tee AA 81 Comparison operators 6 a ca ar a a are 84 Examples for relational operations 2 2 Cm o 84 Boolean Operators 2 au een ae ae Se ee Oh eo ed 85 Trigonometric functions area ar dete Belted ee Sele hee Beles 85 Exponential functions 22 224 524 824 244 See bee Peed es 86 Numerical functions 2 2 2 2 ee ar aan ra a 86 Miscellaneous functions ass naar an ae Rune a 87 Operator precedence 5 Gate o SER nr Dr A 88 Reserved WOT S 4 6 45 20 8 a SR BI OIE A ASAS 88 Keycodes for special editing functions o 126 177
6. for i 1 to Number by 1 SingleSelected CompactRegions i area_center SingleSelected Area Row Column dev_set_color green if Area gt 500 and Area lt 50000 dev_set_color red Eyes SingleSelected Eyes endif endfor Note that you have to specify the number of regions count_obj in order to run a for loop from 1 to Number Within this loop a region is selected select_obj according to the loop variable i in order to evaluate its attributes If its area is within certain bounds the region is added to variable Eyes concat_obj You have to specify the variable Eyes properly as it is also used as input for concat_obj This can be done by using empty_object that assigns no iconic object in a defined way to the variable i e count_obj returns zero for it During the run time of the program you can see how the individual regions are selected and examined To speed up the processing you can use the menu File gt Options to suppress the automatic output 7 10 Exception Handling File name exception dev In some applications it is necessary to have explicit control over the result state of an operator By default HDevelop stops if an operator returns a different state than H_MSG_TRUE and gives an error message To have explicit control over the result state two HDevelop operators are available dev_error_var and dev_set_check The following example shows how to use these operators The task is to get onl
7. System operators dev_set_lut LutName Set look up table lut dev_set_lut sets look up table of the the output window A look up table defines the transfor mation of a gray value within an image into a gray value or color on the screen It describes the screen gray value color as a combination of red green and blue for any image gray value 0 255 so it is a table to look up the screen gray value color for each image gray value look up table Transformation into screen colors is performed in real time at every time the screen is displayed new typically this happens about 60 70 times per second So it is possible to change the look up table to get a new look of images or regions Please remind that not all machines support changing the look up table e g monochrome resp truecolor For common monitors only one look up table can be loaded per screen Whereas dev_set_lut can be activated separately for each window There is the following solution for this problem It will always be activated the look up table that is assigned to the active window a window is set into the state active by placing the mouse inside the window look up tables can also be used with truecolor displays In this case the look up table will be simulated in software This means that the look up table will be used each time an image is displayed query_lut lists the names of all look up tables a Attention Ze 2 I
8. Appendix A Control assign Input Result Assign a new value to a control variable assign assigns a new value to a variable In HDevelop an assignment is treated like an op erator 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 repre sented by the usual syntax of the assignment operator 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 Parameter en gt Input input_control 22222ee seen een real array real integer string New value Defaultvalue 1 gt Result output control u see real array real integer string Variable that has to be changed 129 130 APPENDIX A CONTROL Example SSS Tuplei 1 0 3 4 5 6 7 8 9 Val sin 1 2 cos 1 2 Tuple1 1 2 Tuple2 for i 0 to 10 by 1 Tuple2 i i endfor fs 2 2 Result nr assign returns 2 H_MSG_TRUE if the evaluation of the expression yields no error Alternatives SSS insert Module Basic operators comment Co
9. fill Value List DrawMode fill margin Example SS read_image Image monkey threshold Image Region 128 255 dev_clear_window dev_set_color red 152 APPENDIX B DEVELOP dev_set_draw fi11 dev_display Region dev_set_color white dev_set_draw margin dev_display Region Result dev_set_draw always returns 2 H_MSG_TRUE COC Possible Successor Functions BE dev_set_line_width dev_display See Also set_draw Module 33 System operators dev_set_line width LineWidth Define the line width for region contour output dev_set_line_width defines the line width in pixel in which a region contour or lines are displayed e g with dev_display disp_region disp_line disp_polygon etc a Attention If dev_set_line_width should be used for exported Code C please note the description of set_line_width due to the different semantics in C Parameter a gt LineWidth input zone ri integer integer Line width for region output in contour mode Defaultvalue 1 Restriction LineWidth gt 1 Example en read_image Image monkey threshold Image Region 128 255 dev_set_draw margin dev_set_line_width 5 dev_clear_window dev_display Region Result a dev_set_line_width always returns 2 H_MSG_TRUE Possible Successor Functions _ _ dev_display See Alo___ SS set_line_with query_line_width 153 Module
10. 145 dev map_prog Make the main window of HDevelop visible dev_map_prog is used to map the main window of HDevelop after it has been unmapped by dev_unmap_prog Attention VE This operator is not supported for exported C code Depending on the operating system or the window manager the execution of dev_map_prog will result only in a visible icon of the window In this case it has to be opened by the user with mouse interaction Result BEN dev_map_prog always returns 2 H_MSG_TRUE Possible Predecessor Functions _ dev_unmap_prog Possible Successor Functions _ dev_unmap_prog See Also dev_map_par dev_map_var Module Basic operators devmap_var Map the variable window on the screen dev_map_var maps the variable window on the screen i e makes it visible that has been un mapped using dev_unmap_var Attention __ This operator is not supported for exported C code a a a Ida o dev_map_var always returns 2 H_MSG_TRUE Possible Predecessor Functions gt _ dev_unmap_var Possible Successor Functions _ dev_unmap_var See Also ss dev_map_par dev_map_prog Module o Basic operators 146 APPENDIX B DEVELOP Open a graphics window dev_open_window opens a new graphics window which can be used to perform output of gray value data regions and graphics as well as to perform textual output This new window auto matically becomes active which means that all output
11. 27 64 Insert 25 Modules 31 New 24 26 Open 25 26 Options 25 27 Quit 33 Read image 26 Save 26 Save as 26 30 fill_up_shape 113 Filter Gaussian 109 Linear 107 Low pass 109 Mean 109 Smoothing 114 fnew_line 120 for 48 89 93 100 121 131 165 INDEX Framegrabber 52 fwrite_string 120 gen_grid_region 124 gen_region_line 112 gen_tuple_const 79 get_mbutton 110 get_grayval 121 get_image_pointeri 119 get_mposition 121 get_system 96 101 Gnuplot 120 Graphics 146 158 Graphics window 21 68 97 99 165 Activate 50 Clear 36 Close 36 50 Color 44 Draw 44 History 70 Line width 44 Look up table 44 47 Open 35 50 Paint 44 45 Parameter 50 Pen 45 Position 50 Reset 36 Size 43 50 Zoom 43 46 Gray value 10 gray histo 39 gray_inside 114 H_MSG_FAIL 73 94 121 H_MSG_FALSE 73 94 H_MSG_TRUE 73 94 121 H_MSG_VOID 73 94 Help 57 History 70 139 146 Host language 12 HP UX 13 Iconic data 10 165 Iconic object 65 71 120 165 Iconic Object 139 if 48 89 133 165 ifelse 48 89 134 169 Image 10 65 165 Image analysis 53 insert 48 49 76 79 92 134 Insertion cursor 60 Inspection 143 intensity 42 Interaction 125 Internet Explorer 14 Interpreter 21 Intersection 118 intersection 112 junctions_skeleton 54 Keyboard shortcuts lt Ctrl gt C 32 lt Ctrl gt N 24 lt Ctrl gt 0 25 lt Ctrl gt S 26 lt
12. A description can be found in section Program Window The menu Options has been extended A vi sualization of a framegrabber handle with automatic online grabbing double click inside Variable Window has been introduced Further examples for the use of different HAL CON operators can be found in HALCONROOT examples hdevelop lt Chapter gt x Online inspection of gray values and basic image features has been introduced in the menu Visualization gt Image Info The edit buttons Cut and Copy have been changed according to the standard order in other Windows NT tools e 2 d Edition November 1997 The menu Visualization gt Set Parameters has been extended and the descrip tion has been revised CHAPTER 1 ABOUT THIS MANUAL Chapter 2 Introduction 2 1 Concepts The following sections explain the basic ideas and concepts of HALCON 2 1 1 Working environment Basically HALCON supports two methods of programming Interactive development of programs via HDevelop as described in this manual and using the programming languages C and C HALCON provides an interface to these languages While developing programs according to the second method is done using standard program ming tools HDevelop actively supports the user in different ways With the graphical user interface of HDevelop operators and iconic objects can be directly analyzed selected and changed within one environment HDevelop suggests operator
13. Height Minimal Value Step 1 Recommended Value Step 1 Restriction Height gt 0 V Height 1 gt Background input control nn a eee a integer integer string Color of the background of the new window Defaultvalue black 148 APPENDIX B DEVELOP gt WindowHandle output_control 0 cee eee eee window integer Window identifier Example ee dev_close_window read_image For5 for5 get_image_pointeri For5 Pointer Type Width Height dev_open_window 0 0 Width Height black WindowHandle dev_display For5 dev_set_lut rainbow dev_display For5 stop dev_set_lut default dev_display For5 stop dev_set_part 100 100 300 300 dev_display For5 RT Fe Fe Fe IF ur If the values of the specified parameters are correct dev_open_window returns H_MSG_TRUE If necessary an exception handling is raised N ao Possible Successor Functions _ dev_display dev_set_lut dev_set_color dev_set_draw dev_set_part Alternatives mr open_window See Alo___ SS query_color Module ts System operators dev_set_check Mode Specify the error handling dev_set_check sepcifies how HDevelop should react if an error occures If Mode has the value give_error which is the system default HDevelop stops the program execution if an ex ception occures and displays an error message If you use give_error the exception will b
14. If you try to read such a variable a runtime error occurs If a variable obtains a value the variable type is 66 CHAPTER 4 GRAPHICAL USER INTERFACE specified more precisely A control variable that contains for example an integer is of type integer This type might change after specification of new values for this variable to real or a tuple of integer But it always remains a control variable The more refined type is bound to the value and not to the variable Similarly this is the case for iconic variables which may contain regions images or XLDs You may assign new values as often as you want to But you cannot change them to the state before the first assignment see above Creation of a new variable happens in the operator dialog area during specification of operator 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 is excecuted the results are stored in variables connected to its output parameters This is done by first deleting the contents of the variable and then assigning the new value to it The
15. followed by a decimal digit string A null digit string is treated as a zero conversion characters A conversion character indicates the type of conversion to be ap plied d 0 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 letters 0123456789abcdef and the X conversion uses the numbers and letters 0123456789ABCDEF The precision component of the argument specifies the min imum number of digits to appear If the value being converted can 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 dddrddd where the number of digits after the radix character r is equal to the precision specification 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 1drddde 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 5 5 EXPRESSIONS FOR INPUT CONTROL PARAMETERS 83 precision is 0 no radix character appears The E conversion character produces a number wi
16. lsh rsh deviation mean sqrt gen_tuple_const H_MSG_TRUE H_MSG_FALSE H_MSG_FAIL H_MSG_VOID Table 5 20 Reserved words 5 7 Control Structures HDevelop provides the following constructs to structure programs 5 7 CONTROL STRUCTURES 89 e The simplest control structure is if The condition contains a boolean expression If the condition is true the body is executed Otherwise the execution is continued at the first expression or operator call that follows the word endif if lt Condition gt endif e Another simple control structure is the condition with alternative If the condition is true all expressions and calls between the head and the word endif are performed If the condition is false the part between else and endif is executed Note that the operator is called ifelse and it is displayed as if in the program text area if lt Condition gt else endif e The while loop has a boolean expression as the conditional part As long as it is true the body of the loop is performed In order to enter the loop the condition has to be true in the first place while lt Condition gt endwhile In chapter 7 3 you can find an example for using the while loop e The for loop is controlled by a start and termination value and an incrementation value that determines the number 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
17. pen paint lut zoom 0 IV Update cyclic_temperature hsi Close Figure 4 21 Settings of parameter 1ut a program segment henceforth named body dependent on a test if and ifelse and the repetition of a program segment for and while Furthermore 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 They rather serve to specify values for control data assignment The operator comment is used to add a comment that means any sequence of characters to the program The corresponding menu is shown in figure 4 22 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 input with Step or Run The insertion cursor 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 see figure 4 23 To get an idea how
18. see section 5 5 2 In this case HDevelop code like T i New can directly be transferred to the efficient and similar looking code T i New 6 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 6 1 CODE GENERATION FOR C 93 6 1 4 Limitations and Troubleshooting Besides the restrictions mentioned in the next section please check also the description of the HDevelop operators on page 50 Assignment In HDevelop each time a new value is assigned to a variable its old contents are removed This is also the case for iconic objects Hobject The class HTuple also has a destructor which removes the data stored inside a tuple But problems arise if a tuple contains a handle for example file windows ocr etc In this case the memory of the handle but not the data which it points at is automatically removed Using C this data has to be removed explicitly by calling the corresponding operators called close_ like close_ocr or close_ocv That means that the close_ operators for all handles in use have to be called e before a new value is assigned to a handle and e at the end of the program for Loops HDevelop and C have different semant
19. 111 Despite optimization the program is quite comprehensible 1v The program is very short This example shows that you can write efficient programs even while using complex data struc tures Hence a significant reduction of development time is achieved Furthermore data encap sulation is a basic condition for the portability of the whole system and the user software Chapter 8 Miscellaneous In this chapter different aspects of working with HDevelop are discussed in detail 8 1 Starting of HDevelop In UNIX HDevelop is started from the shell like any other program Optionally an application name can be given as a parameter to HDevelop hdevelop lt File gt dev This application is then loaded This is identical to a normal invocation of HDevelop without any parameter and a subsequent loading of the application If you want to run the application immediately after it has been loaded you can invoke HDevelop as follows hdevelop run lt File gt dev This is identical to a normal invocation of HDevelop without any parameters with a loading of the application and pressing the Run button in HDevelop After the application has been executed HDevelop waits for input from the user The program can be interrupted or stopped by pressing the Stop button To stop or halt the complete program without user interaction the stop or exit operator can be used 8 2 Keycodes In order to speed up the entering of values in the input fiel
20. 2 Sek a ne ne Bere 22 4 3 Man Window ya a e as BS eRe ee Beles 22 43b tle Bar A II EEES 23 4 327 Mi BE ea o FS a 24 4 3 3 ToolBar cara ale A Kae ae A 59 4 3 4 Window Area 2 4 00 u we a eS 59 ABS SANUS Baris AAA IA AA IA 60 4 4 Program Window 456 200008 a be a e ae we ag 60 4 5 Operator Window 4 645 e Ree bbe eee we Ree we RS 61 4 6 Variable Window ze a Bote Gude Budo Gk ee Bra Org 65 4 6 1 Area for Iconic Data cael AA AAA AA 66 4 6 2 Area for Control Data nr en erh een ee 67 4 7 Graphics Window 2 Alu ae ee ea Du 68 5 Language 71 5 1 Baste Types of Parametern sa er 71 5 2 Control Types and Constants 2 2 Cm oo 72 5 3 Variabl s ana Yan ar A eee ae ees ee op ae pee ae 74 5 4 Operations on Iconic Objects 2 2 es 75 CONTENTS 5 5 Expressions for Input Control Parameters 0 75 5 5 1 General Features of Tuple Operations 75 32 2 ASSIOnment e ei een Es PEERS EE EF 76 5 5 3 Basic T ple Operations areas om fe ld AREAL ARE HE 78 o ple Creation 2 22 22 ara Pe ES 2 79 5 5 5 Simple Arithmetic Operations 2 2 80 5 5 6 Bit Operations es u un ari 81 39 7 String Operations aa ri DR DD 81 3 3 9 Comparison Operators 0 ur we Se nee er 84 5 5 9 Boolean Operators ae ee er ee 84 5 5 10 Trigonometric Functions ooa a 85 5 5 11 Exponential Functions 4 05 644 44 44 Pea eee Dr ead 85 3 2 12 Numerncal FUNCHONS ale apie cour ee pak
21. 39 40 117 Aerial image interpretation 5 Application areas 5 Applications 103 area_center 41 119 Assertions 11 assign 48 76 77 79 129 Attributes 103 bin_threshold 107 Boolean 165 Breakpoint 33 60 Buffer 146 Button 165 C 6 9 11 C 6 9 11 24 91 Compile 91 Export 10 91 Link 91 CAVE 5 Cleanup 27 64 Clear 139 clear_obj 126 Clearing 139 clip region 124 Closing 141 Code generation 91 97 Color 116 COM 97 Comment 130 comment 34 48 50 130 compactness 42 Computer Aided Vision Engineering 5 concat_obj 121 Condition 134 Configuration 12 14 connect_and_holes 42 Connected components 111 116 connection 106 111 167 contlength 42 Control data 10 65 165 Control parameter 71 Control structures 47 48 88 exit 90 for 89 if 89 ifelse 89 stop 90 while 89 Control Variable 143 convexity 42 cooc_feature_image 42 cooc_feature_matrix 43 Coordinate system 51 Coordinate System 146 count_obj 112 121 Data structures 10 71 72 75 Database 139 Debugging 6 dev_clear_obj 52 139 dev_clear_window 50 111 139 dev_close_inspect_ctrl 52 140 dev_close_window 50 141 dev_display 52 94 100 142 dev_error_var 53 73 94 121 142 dev_inspect_ctrl 52 143 dev_map_par 52 144 dev_map_prog 52 145 dev_map_var 52 145 dev_open_window 50 94 146 dev_set_check 53 73 94 121 148 dev_set_color 51 149 dev_set_colored 51 150 dev_s
22. Area Row Column dey_set_line_width 3 dev_set_draw margin Length 80 for i 0 to Phil 1 by 1 dev_set_color blue disp_arrow WindowID Rowfi Column i Row i Length sin Phifi Columr dev_set_color orange set_tposition Vindow ID Row i Column i verite_string VVindowlD deg Phifi deg endfor dev_update_window on I asd a AN gt Y Operator Ioj xi Variable Watch Iconic Variables Operator select_shape v Regions Single SelectedRegions Selected Features area Operation and Min 5000 Max 10000 rn Per 0 696166860103 2 49775691502 0 671220448793 5791 6489 6792 6265 6161 5702 5632 6389 691 125 882751465 165 13822937 197 817428589 270 4 182 482299805 437 936981201 622 510131836 239 80 12 dev_update_window 0 00s Figure 4 29 The window management function Tile About HDevelop x Halcon Yersion 5 2 HDevelop Version 3 0 MYTec Software GmbH Orleansstr 34 81667 Munich Germany E mail mvtec mytec com Www http www mvtec com 1996 99 MY Tec Software GmbH Figure 4 30 Information about the current HALCON version 4 3 MAIN WINDOW 59 Another possibility of requesting information about the current operator is pressing button Help inside the operator window see page 61 4 3 3 Tool Bar You use most icons in this tool bar to accelerate acc
23. Ctrl gt V 31 lt Ctrl gt Z 31 F5 32 F6 33 F9 34 Keycodes 125 Language definition 71 Language interface 9 11 Language independent operator interface 12 Laws filter 107 lines_gauss 11 Loop 48 131 136 Body 165 Lut 47 Main window 21 22 Menu bar 24 Title bar 23 Tool bar 59 Manuals 5 mean_image 107 111 Medical image analysis 5 Memory management 106 Menu bar 50 min_max_gray 42 Miscellaneous 125 moments_gray_plane 43 170 Morphology 10 Mouse handling 22 Netscape Navigator 14 Noise removal 110 Notation Decimal 72 Hexadecimal 72 Octal 72 open_file 120 Opening 110 Operation Arithmetics 80 Boolean 84 Comparison 84 String 81 Trigonometric 85 Tuple 78 Operator Data base 165 Description 12 Name field 65 Sequence 55 Suggestions 54 Operator text field 61 Operator window 21 59 61 63 166 Apply 64 Cancel 64 Enter 64 66 Help 64 Input parameter 62 OK 63 66 Output parameter 62 63 Optimization 92 orientation_region 42 Output 27 51 Package 12 13 Paint mode 45 Parameter display 62 Parameter expressions 75 Parameter types 71 Pixel 10 Preprocessing 53 Program 25 60 Counter 28 33 60 Execution 32 34 48 INDEX Termination 50 Program window 21 60 165 Programming 103 Quality control 5 Rapid prototyping 21 read_image 54 reduce_domain 39 40 117 124 Region 10 65 166 Empty 165 Region of interest 10 1
24. It behaves like the HDevelop program running with the options update window off That means whenever you want to have data to be displayed you must explicitly call the operator dev_display This will be converted to the appropriate C call in the exported code Of course you have to open a window e g via dev_open_window before displaying any data 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 behaviours concerning the result state of operators Messages In the case of 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 indicate 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 managem
25. This means that ra and 42 CHAPTER 4 GRAPHICAL USER INTERFACE rb are half the width and height of the smallest rectangle with arbitrary orientation that completely contains the selected region The orientation of the region is computed in both cases with the operator orientation_region to get the full range of 360 for the angle You can select whether to display the angle in degrees or radians with the correspond ing combo box The next three displays show simpler shape features of the selected region The first of these displays shows the contour lenght of the region i e the euclidean length of its boundary see contlength The second one shows the compactness of the region i e the ratio of the contour length of the region and the circumference of a circle with the same area as the region see compactness The compactness of a region is always larger than 1 The compacter the region the closer the value of the compactness is to 1 The third display shows the convexity of the selected region 1 e the ratio of the area of the region and the area of the convex hull of the region see convexity The convexity of a region is always smaller than 1 Only convex regions will reach the optimum convexity of 1 The last but one display shows shape features derived from the ellipse parameters of the selected region which are calculated with eccentricity The anisometry of the region is the ratio of the major and minor axis of the ellipse
26. and lines An XLD object is built up by setting base points along the contour lines and connecting them with lines They can represent a contour or set of lines at any precision by varying the number and position of the base points at subpixel precision Additional information such as gradient filter response or angle is stored with the points and lines Typically XLD objects describe the result of operators for edge line detection e g edges_sub_pix lines_gauss In particular they are used for image processing at subpixel precision and offer a wide range of features and transformations 2 1 3 Module Structure Visual MS Basic Java Een etc Frame grabber Interface Extension Package Iconic Data Management Operator Knowledge Base Figure 2 1 Layered structure of HALCON The basis of HALCON is the data management together with the operator knowledge base The data management is reponsible for basic memory management optimized for image processing and on top of this for the creation handling and deletion of iconic objects and tuples The knowledge base stores information about operators which can be accessed while the system is running All other modules make use of it to process image operations and to obtain information about the configuration and current state of the system It is also used to automatically generate the HALCON language interface for C and C all operator information used by H
27. and their variables are still needed like all other variables To reverse this action you may press item Edit gt Activate Note that you can insert a comment into your program by using the operator comment With the menu item Execute gt Reset Program you can reset the variables of the cur rent program to their initial states i e all variables have undefined values Furthermore the break point is cleared and the program counter is set to the first executable line of the program This menu item is useful for testing and debbuging of programs The menu item Execute gt Clear Break Point is used to clear the break point This is often useful when the current program is long and you want to avoid having to scroll the program window to locate the break point Menu item Visualization All items which can be selected are shown in figure 4 11 4 3 MAIN WINDOW 35 HDevelop clip dev File Edit Execute fea Operators Suggestions Window Help oela nn EEE El Beil fis rel Clear Window MEI So veo Op METE Pixel Info E Zooming Gray Histogram Info Region Info Figure 4 11 Submenu Shape of menu Visualization With this you are able to open or to close graphics windows and to clear their displays Further more you may specify their output behavior during runtime e Visualization gt Open Window By using this menu item you open additional graphics windows For this a dialog window pops up see figure 4 1
28. boolean This data can be used as atomic values 1 e single values or as ftuples 1 e arrays of values Empty region An empty fregion contains no points at all 1 e 1ts area is zero Graphics window A graphics window is used in THDevelop for displaying timages tregions or TXLD 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 regions fimage and TXLD Image An image consists of one or more multichannel image image arrays and a fregion as the definition domain All image arrays have the same dimension but they can be of different pixel types The size of the tregion is smaller or equal than the size of the image arrays The tregion determines all image points that should be processed Iconic object Generic implementation of ticonic data in HALCON integer is the type name for integer numbers Integers are implemented using the C type long 4 or 8 byte Operator data base The operator data base contains information about the HALCON opera tors They are loaded at runtime from the binary files in HALCONROOT help 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 165 166 APPENDIX C GLOSSARY Operator window In the operator window of HDevelop the parameters of th
29. called fuzzy operator In this case fuzzy means that the value of each pixel is not interpreted as gray value but as the affiliation to a certain class The bigger the number max 1 the stronger the affiliation By applying gray_inside to an image every pixel value is interpreted as the potential energy you have to afford to get from the pixel position to the image border The dark pixels present valleys and the bright pixels mountains Thus a dark region in the middle of an image is equiv alent to a hole in a mountain that needs a lot of energy to be left This is also true for the dark circles on the bright background in the image of the calibration board Before calling gray_inside you should use a smoothing filter to suppress small valleys This In HALCON the range of 0 to 1 is mapped to values of a byte image 0 to 255 7 7 DEVICES 115 reduces runtime considerably If you look at the operator result on the right side of figure 7 11 you will notice the circles as significant bright points Now a simple thresholding is sufficient to extract them read_image Caltab caltab gauss_image Caltab ImageGauss 9 gray_inside ImageGauss ImageDist threshold ImageDist Bright 110 255 connection Bright Circles elliptic_axis Circles Ra Rb Phi After calculating the ellipse parameters of each circle elliptic_axis you may compute the camera parameters 7 7 Devices File name ic dev This example discusses
30. changing stamps to the gray value of the paper After this preprocessing it is pos sible to process the remaining text using an OCR program Figure 7 2 shows the segmentation result When creating an application to solve this kind of problem it is helpful to describe characteristic attributes of the objects to be searched here stamps This task can be solved by a novice with some experience too In this case a characterization might look as follows e Stamps are darker than paper e Stamps are connected image areas that do not overlap e Stamps have a minimum and maximum size 103 104 CHAPTER 7 PROGRAM EXAMPLES DE E eat 1421 500C mehrfarbig 1 50 75 1422 90C mehrfarbig 3 60 3 25 FDC 4 Saz 5 4 FDC 3 50 1414 500C APA Au one fen 1427 50 25C mehrfarbig 3 50 3 50 1428 50 25 C mehrfarbig 3 50 1429 50 25 C mehrtarbig 380 330 1430 50 25 C 3 50 3 50 mc BOOKS 18 15 Figure 7 1 Part of the page of a Michel catalog e Stamps are rectangular The task would be very simple if the attribute list would directly represent the program Unfor tunately this is not possible due to the ambiguity of spoken language Thus you need language constructs with a precise syntax and a semantics that are as close as possible to the informal description Using the HDevelop syntax an appropriate program would look like this dev_close_window read_image Catalog swissi tiff
31. corresponding list If there is no need to execute the operator 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 to the program In any case you have to specify iconic parameters exclusively with variable names It is not possible to use expressions 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 In particular this is to support novices selecting an appropriate 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 4 5 OPERATOR WINDOW 63 a list of variables that contain values of the required type A restriction of propo
32. effect Visualization gt Set Parameters gt Zoom The menu item specifies which part of an image region XLD or other graphic item is going to be displayed see figure 4 20 The upper left four text fields spec ify the coordinate system left upper defines the pixel which will be displayed at the upper left corner of the window lower right defines the pixel which will be displayed at the lower right side of the window By selecting the upper button Interactive you specify a rectangular part in the graphics window interac tively For this you press the left mouse button to indicate the rectangle s upper left corner Hold the button and drag the mouse to the lower right corner s position Release the button and correct the size by grabbing the borders or corners of the rectangle By pressing the right mouse button inside your specified rectangle you display the objects inside the rectangle in the graphics window You also have the possibility to enter the coordinates of the desired clipping man 4 3 MAIN WINDOW 47 ually In order to do so you have to specify the coordinates of the upper left corner and the lower right corner in the respective text fields Visualization Parameters x lut paint pen zoom IV Update left column upper row 7 30 right column lower row 285 234 center column center row 181 132 Interactive Reset Zoom out Zoom in Aspect Close Figure 4
33. 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 e Selecting Execute gt Step keyboard shortcut F6 enables you to execute a program even if it is not complete step by step HDevelop executes the operator directly to the right of the green arrow which is used as the program counter PC see chapter 4 4 The mouse pointer changes its shape to a clock This indicates that HDevelop is active and 34 CHAPTER 4 GRAPHICAL USER INTERFACE not available for any user input After the operator has terminated all computed values are assigned to their respective variables that are named in the ouput parameter positions Their graphical or textual representation in the variable window is also replaced If iconic data has been computed you will see its presentation in the current graphics window In the status bar of the program window the operator runtime is indicated if the time measurement has not been deactivated The PC is set before the next operator to execute If the operators are specified in a sequen tial 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 inside the statement s body After endfor and endwhile the PC is always set on the beginning of the loop If
34. false lt true In the program compare dev you can find examples for the comparison operators 5 5 9 Boolean Operators The boolean operators and or xor and not are defined only for tuples of length 1 1 and lis set to true 1 if both operands are true 1 whereas 1 or 1 returns true 1 if at least one of 5 5 EXPRESSIONS FOR INPUT CONTROL PARAMETERS 85 negation logical and logical or logical xor Table 5 14 Boolean operators the operands is true 1 1 xor 1 return true 1 if exactly one of both operands is true not 1 returns true 1 if the input is false 0 and false 0 if the input is true 1 5 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 5 15 shows the provided trigonometric functions sin a sineofa cos a cosine of a tan a tangent of a asin a arc sine of a in the intervall 7 2 7 2 a acos a arc cosine a in the intervall 7 2 7 2 a atan a arc tangent a in the intervall 7 2 7 2 a 1 1 atan2 a b arc tangent a b in the intervall 7 7 sinh a hyperbolic sine of a cosh a hyperbolic cosine of a tanh a hyperbolic tangent of a
35. get_image_pointeri Catalog Pointer Type Width Height dev_open_window 0 0 Width 2 Height 2 black WindowID 7 1 STAMP SEGMENTATION 105 Figure 7 2 Segmentation result for stamps dev_set_part 0 0 Height 1 Width 1 dev_set_draw fi11 threshold Catalog Dark 0 110 dev_set_colored 6 connection Dark ConnectedRegions fill_up ConnectedRegions RegionFillUp select_shape RegionFillUp StampCandidates area and 10000 200000 select_shape StampCandidates Stamps compactness and 1 1 5 106 CHAPTER 7 PROGRAM EXAMPLES smallest_rectanglei Stamps Row1 Columni Row2 Column2 dev_display Catalog dev_set_draw margin dev_set_line_width 3 disp_rectanglei WindowID Row1 Columni Row2 Column2 Due to the unknown operators and unfamiliar syntax this program appears unclear to the user at first glance But if you look closer at the operators you will notice the direct relation to the description above threshold selects all image pixels darker than the paper connection merges all selected pixels touching each other to connected regions select_shape selects the regions with areas attribute area inside a specified interval smallest_rectanglei computes each region s coordinates row column of the enclosing rectangle Once the user is familiar with the single operators and their syntax the transformation becomes easy In particular it is n
36. images of a die Figure 7 9 Examplary images with bonding balls on a die 7 6 CALIBRATION BOARD 113 The die border and the bonding wires appear dark Thus you may apply a thresholding Since the background is also dark we have to extract the die before doing the segmentation The die is rather bright Thus we can select the pixels by their gray values read_image Bond die3 threshold Bond Bright 120 255 shape_trans Bright Die rectangle2 All pixels of the die that got lost by the thresholding can be recoverd by using a hull compu tation Since the die is rectangular and may be slightly turned during the assembly we use the smallest enclosing rectangle as a hull Now you can start the segmentation of wires and bonding balls Since only those parts of wires and balls are of interest that lie within the die area you may restrict the segmentation to this region All dark pixels within the die area belong to wires Unfortunately there are some bright reflections on the wires that are not found by the segmentation You may fill these gaps by using fill_up_shape In our case the gaps with a certain size 1 up to 100 pixels are filled reduce_domain Bond Die DieGray threshold DieGray Wires 0 100 fill_up_shape Wires WiresFilled area 1 100 opening_circle WiresFilled Balls 15 5 connection Balls SingleBalls select_shape SingleBalls IntermediateBalls circularity and 0 85 1 0 so
37. library this menu item suggests alterna tive operators Thus you may for example replace mean image with operators such as gauss_image sigma_image or smooth_image See also Contrary to Alternatives operators are offered here which have some con nection to the current operator Thus the median filter median_image is not a di rect alternative to the mean filter mean_image Similarly the regiongrowing operator regiongrowing is no alternative for a thresholding In any case they offer another 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 Keywords This menu item gives access to HALCON operators by using keywords which are associated with each operator You get a window divided into two parts which contains all keywords on the left hand side and the selected operators on the right see figure 4 27 After the suggestions for an operator have been generated all keywords belonging to this operator are marked reversed on the left hand side of the window On the right side you Because there are many entries in the left keyword list you may see all marked keywords only by scrolling it 56 CHAPTER 4 GRAPHICAL USER INTERFACE Keywords x Keywords Operators clip_contours_xld partition_rectangle partition_dynamic clip_region_rel clip_region
38. loaded a program the corresponding file name will be appended at the end of the menu File after the menu item Quit This allows you to switch between recently loaded files quickly The most recently loaded file is always listed first The menu item File gt Save keyboard shortcut lt Ctr1 gt S saves the current program to a file If no file name has been specified so far the dialog corresponding to File gt Save As will be activated Menu item File gt Save As saves the current program to a file The type of file HDevelop text Visual Basic or C can be selected see Figure 4 4 A dialog box similar to the window described in menu item File gt Open is opened in which you can specify the appropriate settings You may specify a new file name and a directory where to locate this file You may indicate whether the HDevelop program remains a HDevelop program or is transformed to a C Visual Basic or an ASCII file This is done by clicking the combo box of the text field called Files of type In UNIX the selection of the file type has to be done by entering the corresponding file extension manually For C code you have to add cpp to the file name for ASCII you have to add txt Default type is the HDevelop type extension dev The details of the C code generation are described in chapter 6 1 The extension for Visual Basic is bas The export to Visual Basic is described in Chapeter 6 2 Similar to loading the file n
39. lt Shift gt key This places the insert cursor in the program window see 4 4 Clicking the left mouse button once while pressing the lt Ctr1 gt key The breakpoint will bet set in the program window By performing this action once more the breakpoint will disappear see 4 4 e Clicking the left mouse button twice results in an action that will be performed with the activated item In the program window the operator corresponding to the program line together with its parameters is displayed directly in the operator window and can then be modified Iconic and control variables are displayed in the graphics window or in specific dialogs 4 3 Main Window The main window contains the other four HDevelop windows and possibly additional graphics windows The main window can handle HDevelop programs manipulate the graphics output offer all HALCON and HDevelop operators give suggestions and help on choosing operators and manage the HDevelop windows After starting HDevelop you will see a window configu ration similar to figure 4 1 The main window comprises five areas In a UNIX environment the main window comprises the program window and the operator window It has no special Window manager functionality like in Windows NT 4 3 MAIN WINDOW 23 HDevelop Al ES File Edit Execute Wisualization Operators Suggestions Window Help Dee slae Elfs Jaa El 1 El 1 Operator Variable Watch iol x Ico Graphics Window fx Cl
40. objects to the host language An operator call is performed by the language interface which is generated automatically by a compiler using the information in the operator data base It allows to access HALCON operators within the programming languages C C and COM Windows NT only The interface to C allows the development of object oriented tools HDevelop is implemented on top of the language interface using HALCONC and the GUI toolkit wxWindows developed by the Artificial Intelligence Applications Institute at The Uni versity of Edinburgh to get a portable user interface for Windows and UNIX 2 2 Configuration The following section describes the environment variables that are used by the HALCON li brary and HDevelop A detailed description can be found the the Getting Started Manual The description here is given for the UNIX environment e HALCONROOT This is the most important environment variable It designates the directory in which HALCON is installed Typical paths might be e g usr local halcon or usr halcon on Unix systems or C Program Files MVTec Halcon on Windows NT systems According to this variable the system can access subdirectories that are impor tant for running HALCON Some of them are HALCONROOT help Here the operator data base is situated It is accessible by all HALCON programs to obtain information about HALCON operators HALCONROOT doc html reference hdevelop HDevelop uses this directory for o
41. 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 is determined during the execution Figure 8 1 shows an example of an error window 8 5 Restrictions Not every HALCON operator that is available in HALCON C or HALCON C can or should be used in HDevelop There are two reasons for this On the one hand the HALCON system is influenced by HDevelop so deeply that some operators don t behave like in a normal user pro gram Usually this concernes the graphical operators like set_color For this class of operators specific versions for HDevelop are available e g dev_set_color On the other hand some low level operators exist like reset_obj_db or clear_obj that will bring HDevelop out of balance 8 5 RESTRICTIONS 127 Error sintas error in parameter 1 lt car gt Figure 8 1 Example for an error window Not the whole functionality of HDevelop can be transferred to a C program because the graphics windows of HDevelop are more comfortable than the simple HALCON windows However the points described above are very special and will not bother the normal user because the appropriate functions can be found in both working environments If you use dev_set_color in HDevelop for example you would use set_color as its counterpart in HALCON C Further restrictions can be found in section 6 1 4 128 CHAPTER 8 MISCELLANEOUS
42. 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 left and lt Delete gt deletes the right character You may also select invert a sequence of charac ters in the text field using the mouse 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 You can find additional editing functions on page 125 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 Pre vious entries are deleted Afterwards the combo box is closed If there are no variables or appropriate values the combo box remains closed Below the parameter edit fields you find four buttons that comprise the following functions see figure 4 34 e By clicking OK you execute the operator with the specified parameters In doing so the execution mode is dependent on the po
43. or if the tuple contains only one value in all positions e g 1 1 1 number converts a string to an integer or a real depending on the representation For integer and real it returns the input is_number returns true for numbers and string if it represents a number 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 ASCH integers chrt converts a tuple of integers into a string 88 CHAPTER 5 LANGUAGE 5 5 14 Operator Precedence Table 5 19 shows the precedence of the operators for control data Some operations like func tions t etc are left out because they mark their arguments clearly or xor bor bxor and band lt gt lt gt unary minus Table 5 19 Operator precedence increasing from top to bottom 5 6 Reserved Words The strings shown in table 5 20 are reserved words and their usage is strictly limited to their predefined meaning They cannot be used as variables true false and or xor bor bxor chr ord chrt ords band bnot not sum sin cos tan asin acos atan sinh cosh tanh exp log log10 ceil floor atan2 pow fabs abs fmod ldexp round deg rad min max sort inverse strlen strchr strrchr strstr strrstr split environment is_number number real
44. the combination of different segmentation methods It works with an image of multiple electronic components These differ in shape size and arrangement The left side of figure 7 12 shows the input image Figure 7 12 Board with electonic devices left and the corresponding color value image in the HSV space right First you extract resistors and capacitors This is quite simple because you have a color image and both component types have different colors The input image consists of three channels containing the red green and blue channels Since segmentation in the RGB space is difficult you have to transform the image into the HSV space Here the color information is stored in one single channel The right side of figure 7 12 shows the image representation in this channel Hue Elements that are too small can be eliminated via select_shape The program sequence to extract resistors and capacitors is shown below 116 CHAPTER 7 PROGRAM EXAMPLES read_image ICs ic decompose3 ICs Red Green Blue trans_from_rgb Red Green Blue Hue Saturation Intensity threshold Saturation Colored 100 255 reduce_domain Hue Colored HueColored threshold HueColored Blue 114 137 connection Blue BlueConnect select_shape BlueConnect BlueLarge area and 150 100000 shape_trans BlueLarge Condensators rectangle2 threshold HueColored Red 10 19 connection Red RedConnect select_shape
45. the expression is a string so that the following numbers are converted into strings Here denotes the concatenation of characters instead of the addition of numbers 7 9 Region Selection File name eyes dev This example explains how to handle single iconic objects In contrast to numerical data where many different functions may be executed on parameter positions see chapter 5 5 iconic ob jects may only be handled by using HALCON operators The most important operators to select and combine iconic objects are shown in this example The task is to search the eyes of the mandrill in figure 7 17 Mehl Kr ei Figure 7 17 Mandrill and the detected result This is a simple task First we extract the bright parts by a thresholding Then we have to examine the connected components according to their shape and size to select the eyes At this you could use the operator select_shape and get a fast program of five lines that processes the task For demonstration purpose we use a kind of low level version instead every region is extracted separately and examined afterwards If it conforms to a given shape it is added to a result variable dev_close_window read_image Image monkey threshold Image Region 128 255 connection Region ConnectedRegions select_shape ConnectedRegions CompactRegions 7 10 EXCEPTION HANDLING 121 compactness and 1 5 1 8 Number CompactRegions Eyes
46. the segmenta tion result in figure 7 6 left Figure 7 6 Small objects simple left and advanced segmentation right As we see all objects have been found Unfortunately the edges of the large particles and several very small regions that emerged due to the noisy image material were found too We first try to suppress the edges One way is to eliminate all objects that exceed a certain maximum size You can do this by calling conncetion Small SmallSingle select_shape SmallSingle ReallySmall area and 1 300 By the same method you might also eliminate all objects which are too small blurring For this you would just have to increase the minimum size with the call of select_shape But if you examine the segmentation results again you will notice that some of the resulting pixels were already extracted by the first segmentation Thus you should search the small particles within the complement of the large ones only To avoid the segmentation of small particles in the direct neighbourhood of the large ones those are enlarged before building their complement Thus we get the following modified program 110 CHAPTER 7 PROGRAM EXAMPLES dilation_circle Large LargeDilation 8 5 complement LargeDilation NotLarge reduce_domain Particle NotLarge ParticleRed mean_image ParticleRed Mean 31 31 dyn_threshold ParticleRed Mean Small 3 light This method shows two advantages First the reliab
47. variable window is a kind of 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 and the other for control data below see figure 4 36 Variable Watch OF x Iconic Variables WiresFill 125 579310345 130 277777778 130 411764706 130 448529412 174 117 120689655 220 5 326 941176471 429 772058824 535 5 641 18 3450195564 18 5645276853 18 3522395782 19 3302061915 18 6 37 6960391127 37 1290553706 36 7044771504 38 6604123836 36 meanDiameter 376264463801 ee A A AC_FTNMAATTALFNA Figure 4 36 Variable window for both iconic and control data All computed variables are displayed showing their iconic or control values see page 27 In case of a tuple result which is too long the tuple presentation is shortened indicated by three dots 4 6 1 Area for Iconic Data Here you can see iconic variables They are represented by icons which contain a gray image a region or an XLD depending on the current value The icons are created depending on the type of data according the following rules 4 6 VARIABLE WINDOW 67 e In the case of images the icon contains a zoomed version of it filling the icon completely Due to the zooming onto the square shape of the icon the aspect ratio of the small image might be wrong If there is more than one
48. 141 146 158 Halcon 53 ID 50 95 Window size 158 Working environment 9 171 XLD 10 11 65 166 172 INDEX Bibliography Jai89 A K Jain Fundamentals of Digital Image Processing Prentice Hall International Edi tions Englewood Cliffs New Jersey 1989 Bal82 D H Ballard C M Brown Computer Vision Prentice Hall Englewood Cliffs New Jersey 1982 Rus92 J C Russ The Image Processing Handbook CRC Press Boca Raton Florida 1992 Radig93 B Radig Hrsg Verarbeiten und Verstehen von Bildern Oldenbourg Miinchen 1993 Abmayr94 W Abmayr Einf hrung in die digitale Bildverarbeitung B G Teubner Stuttgart 1994 Haralick92 R M Haralick L G Shapiro Computer and Robot Vision Addison Wesley Mas sachusetts 1992 Eckstein91 W Eckstein W Glock Development and Implementation of Methods for Seg mentation of bond wedges In R Klette editor Proc 4th Computer Analysis of Images and Patterns volume 5 of Research in Informatics pages 153 161 Dresden 1991 Eckstein93 W Eckstein G Lohmann U Meyer Gruhl R Riemer L Altamirano Robles J Wunderwald Benutzerfreundliche Bildanalyse mit HORUS Architektur und Konzepte Pro ceedings DAGM 1993 Springer Verlag Berlin 1993 Jaehne89 B J hne Digitale Bildverarbeitung Springer Verlag Berlin 1989 Laws80 K I Laws Texture image segmentation Ph D dissertation Dept of Engineering Uni versity of Southern California 1980 Eck86 W
49. 17 123 Remote sensing 5 Reserved words 88 reset_obj_db 126 Restrictions 90 93 98 126 ROL 10 124 Run 50 125 Run mode 28 Runtime error 33 94 121 Segmentation 103 106 122 select_gray 40 select_obj 121 select_shape 40 106 109 111 115 118 120 Semantics 71 set_system 96 101 Settings 6 Shell 125 skeleton 54 smallest_rectanglei 41 106 smallest_rectangle2 41 sobel_amp 124 Status bar 60 Step 50 Stop 135 Stop 125 stop 48 50 90 125 135 String 81 166 Concatenation 75 Operations 81 Suggestion 54 Alternative 55 Keyword 55 Predecessor 54 See also 55 Successor 54 INDEX Surveillance tasks 5 Syntax 71 System parameters 6 Termination 130 Texture 107 Texture energy 107 texture_laws 107 Threshold 106 108 113 115 117 120 123 threshold 40 106 117 124 true 72 165 Tuple 63 67 166 Arithmetic 75 Concatenation 77 78 Type 66 166 boolean 72 75 84 165 Control parameter 71 72 Iconic object 71 75 integer 10 63 72 74 75 81 165 Numerical 72 real 10 63 72 74 75 81 165 166 string 10 63 72 74 75 165 166 Tuple 63 User extensions 13 Variable 74 Control 65 67 Iconic 52 65 66 Visualization 28 Variable window 21 30 52 65 66 166 Visual Basic 24 97 Export 97 Visualization Line width 51 Region 51 Regions 44 Segmentation results 44 XLD 44 watersheds 54 while 48 89 93 100 136 165 Window 139
50. 19 The corresponding HDevelop program looks as follows MinSize 30 set_system init_new_image false 124 CHAPTER 7 PROGRAM EXAMPLES read_image Motorway motorway count_seconds Seconds1 gen_grid_region Grid MinSize MinSize lines 512 512 clip_region Grid GridRoad 130 10 450 502 reduce_domain Motorway GridRoad Mask sobel_amp Mask Gradient sum_abs 3 threshold Gradient Points 40 255 dilation_rectanglei Points RegionDilation MinSize MinSize reduce_domain Motorway RegionDilation SignsGray threshold SignsGray Signs 190 255 count_seconds Seconds2 Time Seconds2 Secondsi dev_display Signs First you create a grid by using gen_grid_region It is reduced to the lower image half with clip_region The operator reduce_domain creates an image containing this pattern as def inition range This image is passed to the operator sobel_amp You obtain pixels with high gradient values using threshold These pixels are enlarged to the region of interest ROI by a dilation with a rectangular mask Within this region another thresholding is performed Correct road markings are equivalent to bright areas in the search window ROI The HALCON program needs an average of 20ms on a standard Pentium Notice that this is even possible under the following restrictions 1 Only standard operators have been used 11 Only encapsulated data structures have been used
51. 2 Here you may specify some graphics windows attributes 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 obtains the same size as the largest image in the current session A position value of 1 specifies that the window position is determined by the window manager UNIX If you have not already created an image the size 512 x 512 is used The handling of graphics windows is described in chapter 4 7 at page 68 3Normally upon starting HDevelop automatically opens one graphics window 36 CHAPTER 4 GRAPHICAL USER INTERFACE Row o Column o Width 1 Height f Background fbiack y cm Figure 4 12 Dialog window of menu item Visualization gt Open Window Visualization gt Reset Parameters Here the display parameters of all graphics windows are set to their initial state the state after starting the program The only exception is the history of previously displayed objects and the size of each window To clear the history you can use Visualization gt Clear Window to set the size you can use Visualization gt Size Window Visualization gt Close Window Selecting this item closes the active graphics window Visualization gt Clear Window The active graphics window is cle
52. 20 4 21 4 22 4 23 4 24 4 25 4 26 4 27 4 28 4 29 4 30 Layered structure of HALCON 2 2 222 nennen 11 HDevelop loading an image on nen 16 HDevelop handling mean a Br Er a TERN EES ES 17 HDevelop processing dyn_threshold o 18 select_shape with attributes area and compactness 19 HDevelop after segmentation termination 00 20 The main window of HDevelop 2 2 00040000 23 The menuitem Elie ung ok eh E AE at ig at EE eh at RE el 24 The dialog window to open an HDevelop file 25 The dialog window to save as aoaaa 27 The menu item File gt Read Image bib ij o eg eS ss 28 The dialog window to load an image 29 The options window o dE Owe gene RAR 29 The modules window 2 a4 24 a i a eS 31 Main window s menu item Edit 32 Main window s menu item Execute 33 Menu Visualization in the menu bar 35 Menu item Open window in HDevelop 36 Online gray value checking nF ie Siew Ber Ber ehr 37 Realtime ZOOmINg sea aite a as Bele Eee Bele Be ye ee 37 Online gray histogram inspection e 38 Online region feature INSpecti0ON a 41 Configuration dialog for single region features 2 2 22222 43 Settings of parameter paint oaoa es 45 Settings of parameter pen scr e 46 Setti
53. 20 Settings of parameter zoom Below the coordinates of the rectangle you see its center This center can also be specified interactively using the button Interactive Activating this mode you first have to click with the left button into the active graphics window Now you can correct this position by again pressing the left mouse button To quit press the right mouse button The buttons Zoom out and Zoom in activate a zooming with factor 2 or 0 5 respec tively To get the image s full view back on your graphics window you simply click the checkbox Reset Visualization gt Set Parameters gt Lut Using lut you are able to load different look up tables for visualization see figure 4 21 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 hard ware For color images only the gray look up tables can be used which change each channel separately with the same table Menu item Operators This menu item comprises all HALCON and HDevelop operators including the HDevelop control constructs In the following you will see a description of all items to select O The item Control Here you may select control structures for the program to create This involves execution of 48 CHAPTER 4 GRAPHICAL USER INTERFACE Visualization Parameters x
54. 25 8 3 Interactions during Program Execution 2 2 aaa a 125 CONTENTS 8 4 Warning and Error Windows 0 0000 eee ee ee eee 8 5 Restrictions A Control assign comment exit 2 222220 B Develop dev_clear_obj dev_clear_window dev close TAS DOCESCIEE io e e Bago Gude er dev_close_window dev_display dev_error_var dev_inspect_ctrl dev_map_par dev_map_prog dev_map_var dev_open_window dev_set_check dev_set_color dev_set_colored dev_set_draw dev_set_line_width dev_setlut dev_set_paint dev_set_part dev_set_shape dev_set_window dev_set_window_extentS a sea oea s oca araa oni a a a e a G aa e a G dev_unmap_par dev_unmap_prog dev_unmap_var dev_update_pc dev_update_time dev_update_var dev_update_window C Glossary 126 126 129 129 130 130 131 133 134 134 135 136 139 139 139 140 141 142 142 143 144 145 145 146 148 149 150 151 152 153 154 155 156 157 158 159 160 160 161 161 162 162 165 Index Literature Figures Tables CONTENTS 167 172 174 177 Chapter 1 About this Manual This manual is a guide to HDevelop the graphical user interface for HALCON HDevelop facilitates rapid prototyping using the concept of Computer Aided Vision Engineering CAVE which offers a highly interactive programming environment for designi
55. 5 Parameter gt gt S oo gt Input input control oi 344 er ees ER real array real integer string Tuple where the new value has to be inserted Defaultvalue gt Value input control va RE ee real real integer string Value that has to be inserted Defaultvalue 1 Value Range 0 lt Value lt 1000000 gt Index Gnputcontrol une integer integer Index position for new value Defaultvalue 0 Value Suggestions Index 0 1 2 3 4 5 6 Minimal Value Step 1 gt Result output control micro baw ebedabie eis real array real integer string Result tuple with inserted values A en insert returns 2 H_MSG_TRUE if the evaluation of the expression yields no error Alternatives assign Module SSS Basic operators stop Stop program execution stop stops the program execution of HDevelopThe PC is then placed at the program line behind stop The operator is equivalent the presing the stop button in the menu bar Attention stop is not available in C Example SS read_image Image fabrik regiongrowing Image Regions 3 3 6 100 Number Regions dev_update_window off for i 1 to Number by 1 RegionSelected Regions i dev_clear_window dev_display RegionSelected stop endfor 136 APPENDIX A CONTROL a RResutt o stop always returns 2 H_MSG_TRUE See Also it exit Module A Basic operators whi
56. 5 EXPRESSIONS FOR INPUT CONTROL PARAMETERS 87 Dotvalue sum V1 V2 First the Euclidian distance of the two vectors V1 and V2 is computed by using the formula d Y Vh V2 i 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 ys V1 V2 5 5 13 Miscellaneous Functions sort t sorting in increasing order sort_index t return index instead of values inverse t reverse the order of the values number v convert string to a number is_number v test if value is a number environment s value of an environment variable ord a ASCII number of a character chr a convert an ASCII number to a character ords s ASCII number of a tuple of strings chrt i convert a tuple of integers into a string Table 5 18 Miscellaneous functions sort sorts the tuple 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 the identity operation if the input is empty if the tuple is of length 1
57. CON can be used together with Visual Basic based on the COM interface of HALCON The description of the interface can be found in the HALCON COM interface User s Manual 6 2 1 Basic Steps Interactive Development The first step is the well known process of program development in HDevelop as it is described in the rest of this manual Export The next step is to export the program using the menu File gt Save As Here you have to select the language Visual Basic and save it to file In UNIX you specify the file by giving it the corresponding extension which is bas The result is a new file with the given name and the extension bas Visual Basic Template The exported file is intended to be used together with the predefined Visual Basic project that can be found in HALCONROOT examples vb HDevelopTemplate This template has to be loaded by Visual Basic The project contains a form with a display window HWindowXCtr1 and a Run button 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 Run button of the form which will call the exported code 6 2 2 Program Structure The file created by HDevelop consists of the subroutine RunHalcon which corresponds to the original program In addition to this another subroutine is created with the name I
58. Develop the online help and the reference manuals The operator knowledge base contains information about names and number of operators as well as parameter types assertions and suggested values for the parameters This data set is stored in a structured way There exists a detailed 12 CHAPTER 2 INTRODUCTION description for each operator which handles the effects of the operator and which indicates the complexity the operator class as well as cross references and alternatives On top of these two modules the operators are implemented Most of them are contained in the HALCON image processing library which is decribed in the Operator Reference Manual This library can dynamically be extended using so called packages The operators of these packages behave like normal HALCON operators but they contain extensions to the standard library either generated by MVTec for easy update or by the user This concept permits the user to extend the system in a very flexible way For more information see the C Interface Manual Using a similar mechanism framegrabbers are integrated using dynamic libraries This allows the user to integrate his her own framegrabber or to download new releases of framegrabber interfaces via the internet for fast and easy update without further changes of the rest of the system The next module is the language independent operator interface It contains modules for calling operators handling the input output and passing data
59. EXAMPLES 7 3 Particles File name particle dev This program example processes an image that was taken from a medical application It shows tissue particles on a carrier figure 7 5 left Pr Figure 7 5 Tissue particles left and large objects right As in many other medical applications the existing objects have to be evaluated statistically This means that different objects have to be extracted and classified according to their size or other attributes for example After this you can analyze them An important step to solve this problem is the image segmentation that locates the relevant objects For the statistical evaluation you may have a look at appropriate literature about statistics In our case there are two object classes e large bright particles e small dark particles The large bright particles differ clearly from the background because of their gray values The informal description brighter than the background leads directly to the algorithmic solution using a thresholding The only thing to decide is whether you specify the threshold automat ically or empirically In our case a fixed threshold is completely sufficient due to the good contrast Hence you get the following simple segmentation operator read_image Particle particle threshold Particle Large 110 255 The variable Large contains all pixels whose gray values are brighter than 110 You can see the result on the right side of figur
60. Eckstein S J P ppl PSIWAG A Language for Logic Programming in Image Analysis Proc 8th ICPR Paris 1986 Eck88 W Eckstein Das ganzheitliche Bildverarbeitungssystem HORUS Proc 10 DAGM Symposium Z rich 1988 Eck93 W Eckstein Die Bildanalysesprache TRIAS Dissertation Infix Verlag St Augustin 1993 Hae86 S Haenel W Eckstein Ein Arbeitplatz zur halbautomatischen Luftbildauswertung Proc 8 DAGM Symposium Paderborn 1986 173 174 BIBLIOGRAPHY K1093 K Klotz Eine mehrschichtige Architektur zur Fehlerdiagnose und Fehlerbehebung bei der Entwicklung von logischen Programmen Dissertation Infix Verlag St Augustin 1993 Kri92 H Kristen O Munkelt Markov Feld basierte Bildinterpretation mit automatisch generierter Datenbasis Proc 14 DAGM Symposium Dresden 1992 Lan91 S Lanser W Eckstein Eine Modifikation des Deriche Verfahrens zur Kantendetek tion Proc 13 DAGM Symposium Miinchen 1991 Mes92 T Messer Wissensbasierte Synthese von Bildanalyseprogrammen Dissertation Infix Verlag St Augustin 1992 Rad92 B Radig W Eckstein K Klotz T Messer J Pauli Automatization in the Design of Image Understanding Systems Proc 5th International Conference IEA ATE 92 Paderborn Springer Verlag 1992 LNAI 604 S 35 45 List of Figures 2 1 3 1 3 2 3 3 3 4 3 5 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 4 12 4 13 4 14 4 15 4 16 4 17 4 18 4 19 4
61. GRAPHICAL USER INTERFACE 4 2 Mouse Handling You can use the mouse as follows e Clicking the left mouse button once you are able to select window specific components such as menu items iconic variables control variables action buttons checkboxes and you give the insertion focus to a specific text field Some of these text fields comprise a combo box which you may open in the same way Furthermore you select invert text in certain windows e g in the program window With this you are able to perform the general editor functions like cut copy and paste see sections 4 3 2 and 4 3 3 In the program window there is an extended mode to select lines by pressing the lt Shift gt or the lt Ctr1 gt key during the mouse click More than one line can be activated using the lt Shift gt key All lines between the last activation and the new one will become activated The lt Ctr1 gt key is used to active or deactivate more than one line using single mouse clicks Clicking at an item for the second time after a short pause will deactivate it e g lines in the program window or variables in the variable window Similarly the activation passes to another item by clicking at it Very important is the possibility to set the program counter PC at the left side of the program window see 4 4 By combining a mouse click with special keys you can activate further functions Clicking the left mouse button once while pressing the
62. H to access shared libraries For all other Unix architectures the environment variable LD_LIBRARY_PATH is used e HALCONSPY If this environment variable is defined regardless of the value before you start a HAL CON program the HALCON spy tool is activated This corresponds to executing the HALCON operator set_spy mode on in a HALCON program With this it is possible to monitor an already linked HALCON program during runtime without modifi cations Additionally you may specify any monitoring mode for the HALCON debugging tool For this you choose a parameter value e g operator input_control output_control etc and activate it This is done by adding these parameters to the envitonment variable HALCONSPY setenv HALCONSPY operator on input_control on Please note that the default output of spy is standard out which might lead to problems in a Windows NT environment For further information concerning set_spy please refer to the HALCON reference manual e HALCONEXTENSIONS This is a list of directories in which user defined extension operators so called packages are kept Each package consists of a number of operators linked into a shared library plus the additional operator documentation in help files and HTML files See the C Interface Programmer s Manual for details on user packages 14 CHAPTER 2 INTRODUCTION e DISPLAY On Unix systems HALCON uses this environment variable to determine the d
63. HALCON Version 5 2 MT MVTec Software GmbH HDevelop User s Manual April 21 1999 This manual explains the interactive tool HDevelop for HALCON version 5 2 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 Ist Edition July 1997 2nd Edition November 1997 3rd Edition March 1998 4th Edition April 1999 Mii EC Copyright 1997 99 MVTec Software GmbH Munich Germany mvrec software GmbH Information concerning HALCON http www mvtec com Address MVTec Software GmbH Orleansstr 34 D 81667 Munich Germany E mail mvtec mvtec com Contents 1 About this Manual 5 Il REACTS earen ice Hck Aine ee Se are See Se tent x Gh ae eS eS 5 1 2 Organization of this Manual lt a bated ete rt er Bere eRe es 5 1 3 Additional Sources of Information ooa aaa nn 6 4 Release Notes er ET IE EAU DE 2 7 2 Introduction 9 DM SEOBEEDE Ci e Bk ee Bo pee ey ee ee ee een ach 9 2 1 1 Working environment 4 35 De Gore a Ew YE 9 Del Data Str ctures s A AN AE een 10 2 1 3 gt NOC GS CMU ur ee A aca a 11 D2 SCOMNGGTAUON SE SE EN ee a le a 12 2 3 Online Helps Ernie A le REES 14 3 Example Session 15 4 Graphical User Interface 21 4 1 Interacting with HDevelop warn 222 eee a a 21 4 2 Mouse Handling
64. However several other tin elements on the board remain a problem because they have to be distinguished from the IC contacts This can be done by restricting the search on a region of interest IC contacts may only appear either on the right or the left side of IC s The coarse region of interest is defined by enlarging the IC regions with a following set subtraction Then the result is resized appropriately by using another dilation Figure 7 14 shows the operator result on the left side geaumuenng 30 udoda 22790599995 ADOOS go9ogazgJ Do 8 nono 290990973 Ln cda ojo ooo ro CALETA T 290500000008 Fanna naa X o a a 9 gt o b o y gt v 9 4 o Adaro PROD LIE edt MOCVD CT Figure 7 14 Searching regions for contacts left and IC contacts right Now you only have to intersect the result of the thresholding with the region of interest dilation_rectanglei IC ICWidth 5 1 difference ICWidth IC SearchingArea One matrix is shared by several iconic objects to reduce costs of memory and computation time 118 CHAPTER 7 PROGRAM EXAMPLES dilation_rectanglei SearchingArea SearchingAreaWidth 14 1 unioni SearchingAreaWidth SearchingAreaUnion reduce_domain Intensity SearchingAreaUnion SearchGray mean_image SearchGray Mean 15 15 dyn_threshold SearchGray Mean Contacts 5 light connection Contacts ContactsConnect fill_up ContactsConnect Cont
65. In this case the memory of the handle but not the data which it points at is automatically removed Using the exported code this data has to be removed explicitly by calling the corresponding operators called close_ like close_ocr or close_file That means that the close_ operators for all handles in use have to be called e before a new value is assigned to a handle and e at the end of the subroutine The ideal way would be to use the specific COM classes for this kind of data in combination with the member function This exchange has to be done by hand because the export is not able to generate appropriate code 100 CHAPTER 6 CODE GENERATION for Loops HDevelop and Basic have different semantics for loops which can cause confusion Because the problems are so seldom and the generated code would become very difficult to understand otherwise the code generation ignores the different semantics Now what are these differences 1 In Visual Basic 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 ii In Visual Basic you can modify the step range 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 enter
66. LCONROOT Ximages You may perform this step in three different ways e First you may specify the operator name read_image in the operator window s input text field e Second you may select this operator in Operators gt File gt Images gt read_image e The most often used and most convenient way is the third one Here you open the image selection box pressing menu item File gt Read Image gt The menu File gt Read Image contains several predefined directories one of which is HALCONROOT images Usually this directory will be C Program Files MVTec Halcon images Select this directory by pressing the appropriate menu button Now you can browse to your target directory and choose a file name By clicking the button Open a dialog window appears in which you may specify a new name for the iconic variable which contains the image you are about to load The variable will be used later in the program to access this image To facilitate the specification process HDevelop offers you a default variable name which is derived from the image s file name Pressing the button Ok transfers the operator into the program window and inserts a first program line similar to the following line into your program read_image Marks C Program Files MVTec Halcon images marks tif This new program line is executed immediately and the loaded image is displayed in the active graphics window Please note the double backslashes whic
67. RedConnect RedLarge area and 150 100000 shape_trans RedLarge Resistors rectangle2 If you look closer at this program segment you will notice some obvious enhancements that can be made One is necessary due to the color model The thresholding of the color image chooses all pixels with a certain color This selection is independent of the color saturation Thus it might happen that very bright pixels nearly white pixels or very dark pixels nearly black pixels have the same color value as the components But you are only looking for stronger colors For this you select all pixels first whose color is strong i e all pixels with a high saturation The second enhancement concerns the objects shape As the devices are rectangular you can specify the smallest enclosing rectangle of all connected components to enhance the seg ments On the left side of figure 7 13 the resulting components are marked Figure 7 13 Resistors and capacitors left and ICs right In a second step we will search for all ICs This seems to be easy as they are rather large and dark However some problems emerge due to the bright labels that are printed across some ICs Thus a simple thresholding alone is not sufficient In addition you have to combine the segments belonging to one IC This is done by examining the spatial adjacencies of the seg ments A dilation is used to enlarge the regions until they overlap each other This dilation m
68. Visualization in the menu bar Here you can set the appropriate parameters by clicking the desired item see section 4 3 2 The parameters you have set in this way are used for all win dows The effects of the new parameters will be applied direcly to the last object of the window history and alter its parameters only For further information on parameter effects please refer to the appropriate HALCON operators in the reference manual Chapter 5 Language The following 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 In the simplest case this is the name of a variable but it might also be an expression like sqrt A Besides control structures like loops and the semantics of parameter passing are described Chapter 7 explains the application of this language in image analysis However the HAL CON operators are not described in this chapter For this purpose refer to the HALCON ref erence manual All program examples used in this chapter can also be found in the directory HALCONROOT examples hdevelop Manuals HDevelop 5 1 Basic Types of Parameters HALCON distinguishes two kinds of data control data numerical string and iconic data im ages regions etc By further distinguishing input from output parameters we get four different kinds of parame ters These four kinds always appear in the same order in the HDevelop par
69. _image Image Image 3 3 add_image Image Image Add 1 0 You have to introduce additional variables Reserved Words In contrast to C and HDevelop Visual Basic has many reserved words Thus the export adds the prefix HXP to all variables to avoid collisions with these reserved words Graphics Windows The graphics windows of HDevelop and the basic window of the HALCON COM library have different functionality e Instead of the HDevelop windows one window of the class HWindowXCtr1 is used Thus if you want to use more than one window you have to modify the code accordingly e The size of the window in the panel is predefined 512 x 512 thus it will normally not fit to your image size Therefore you have to adapt this interactively or by using the properties of the window e The graphics windows in HDevelop automatically adapts to new image sizes This is not the case in Visual Basic Thus you have to specify the zooming using the operator dev_ set_part To get more information about both types of windows look at section 4 7 in this manual and read the description of open_window in the HALCON Reference Manual Assignment In HDevelop each time a new value is assigned to a variable its old contents is removed This is also the case for iconic objects HUntypedObjectX The type Variant also has a destructor which removes the data stored inside a tuple But problems arise if a tuple contains a handle for example file ocr etc
70. _set_part See Also set_window_extents Module E System operators dev_unmap par Hide the window for the graphic parameters dev_unmap_par hides the window for the graphic parameters so that it is no longer visible It can be mapped again using the operator dev_map_par a Attention SSS This operator is not supported for exported C code 160 APPENDIX B DEVELOP Result _ 2 dev_unmap_par always returns 2 H_MSG_TRUE Possible Successor Functions z dev_map_prog See Also dev_map_par dev_map_prog dev_map_var Module db Basic operators dev_unmap prog Hide the main window dev_unmap_prog hides the main window so that it is no longer visible It can be mapped again using the operator dev_map_prog SS Attention ___ This operator is not supported for exported C code SS Reuto dev_unmap_prog always returns 2 H_MSG_TRUE Possible Successor Functions dev_map_prog stop Sedisoon gt dev_map_par dev_map_prog dev_map_var Module a Basic operators dev unmap_var Hide the variable window dev_unmap_var hides the variable window so that it is no longer visible It can be mapped again using the operator dev_map_var Attention SSS This operator is not supported for exported C code Result dev_unmap_var always returns 2 H_MSG_TRUE Possible Successor Functions _ dev_map var See Alo____ dev_map_par dev_map_prog Module Basic opera
71. a Bd ee ee 85 5 5 13 Miscellaneous Functions 00002 eee eee 87 3 3 14 Operator Precedence e Au Gages ee Sravdond rd a ae o 88 3 6 Reserved Words lina Bok ee Ghat aes vane Be ah he he ae ws Le Oe a 88 3 7 Control an s ts ioc ues ot ak E A cae A Bs HE Boa Ay ge Sp Ge Ow 88 9 8 EIMIAUONS ae ee Be sates A LI WIN AHI RI RO 90 Code Generation 91 6 1 Code Generation for C 2 0 0 00 ee ee ee es 91 6 1 1 Basie Steps 22 5 22 AAA DEE a 91 6 1 2 Optimiz tion lt s i ansehe ra 92 6 1 3 Used Classes 28 8 ale Re Be a Er e 92 6 1 4 Limitations and Troubleshooting 93 6 2 Code Generation for Visual Basic o ee eee 97 G2 sl CB ASIC SIGNS pta oie hs Seah Rows A oe ee Ot Oe de ee 97 6 2 2 Program Structure 4 3 4343 Brake ea ar Bee 97 6 2 3 Limitations and Troubleshooting 2 22 22mm 98 Program Examples 103 7 1 Stamp Segmentation 22 2 2228 E28 da ae DA as 103 T2 Capillary Vessels i soe uce er a ee ee as 106 Tae Pareles oan aa ewok oan ky eis bie he ee a ee i ee aa we da ee eS 108 7 4 Annual Rings Luces as A nr re 111 Jeo BORIS a a a A IA Ros AA A 112 7 6 Calibration Board oro cc a a A ne a eS 113 Tak Devices O E E AE 115 18 Cel Walls oa tai id ds Sark OIG 118 7 Region Selection in E AA AS ek Ae AA 120 7 10 Exception Handling A a ee ee 121 7 1 Road Scene ae a A A A as 122 Miscellaneous 125 8 1 Starting of HDevelop 2 222 u u gear ia Br a 125 82 Reycodes an aa ea DE GS 1
72. a condition as if or while evaluates to FALSE the PC is set behind the end marker Suggestions in the menu Suggestions are determined for the recently executed operator Finally the mouse pointer s shape switches to the arrow shape and HDevelop is available for further transactions Any user input which has been made during execution is handled now You may terminate the execution of a program mode Run by selecting Execute gt Stop keyboard shortcut F9 If you do so 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 After interrupting a program you may continue it by selecting Execute gt Run and Execute gt Step You may even edit the program before restarting it e g by parameter modification by exchanging operators with alternatives or by inserting additional operators It is often useful for testing purposes to prevent some lines of the program from being executed This can be done by selecting the appropriate lines in the program window and calling Execute gt Deactivate from the menu With this an asterisk is placed on the beginning of the selected lines and hence appear as comments in the program window They 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 in a file
73. actsFilled select_shape ContactsFilled ContactsRes area and 10 100 The result of the intersection is still not satisfying Too many small and too many wrong regions have been found So we have to eliminate them by using select_shape Figure 7 14 shows the final result of the segmentation on the right side 7 8 Cell Walls File name wood_cells dev In this example we will examine the alteration of the cell wall s proportion during a tree s growth The input image is a microscope view of wooden cells see figure 7 15 Figure 7 15 Microscope image of wooden cells 7 8 CELL WALLS 119 You can clearly see the single cells and the discontinuity that is caused by the stopped growing in winter Extracting cell walls is simple because they are significantly darker The remaining difficulty lies in the computation of the distribution in growth direction i e along the image x axis First we define the width of the window over which the cell distribution is computed by assigning it to the variable X in the program Then we fetch the image size using get_image_pointeri to get the corresponding loop parameters The broader the search range the stronger the smoothing during the measurement Now the loop starts from the left side to compute the whole image The ratio of the area of the cell walls and a rectangle of width X is computed for every value of the loop variable i The number of pixels belonging to a ce
74. al syntax of the assignment opera tor 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 doesn t need to be stored into a variable the expression can directly be used as input value for any operator Therefore an assignment 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 5 5 EXPRESSIONS FOR INPUT CONTROL PARAMETERS 11 To construct a tuple with insert normally an empty tuple is used as initial value and the elements are inserted in a loop Tuple for i 0 to 5 by 1 Tuple i sqrt real i endfor As you can see from this example the indices of a tuple start at 0 An insertion into a tuple can generally be performed in one of the following ways i In case of appending the value
75. altime zooming window Zooming factor 3 w Row Column 133 387 Figure 4 14 Realtime zooming The upper part of the tool contains a window of fixed size 256 x 256 in which the part of the graphics window over which the mouse pointer is located is displayed enlarged In the zooming window this pixel is marked by a red square its coordinates are displayed at the bottom of the zooming window The factor by which the enlargement is done can 38 CHAPTER 4 GRAPHICAL USER INTERFACE be adjusted with the combo box Zooming factor A zooming factor of 0 corresponds to displaying the contents of the graphics window in to normal resolution i e one pixel in the image object corresponds to one pixel in the zooming window Increasing the zooming factor by 1 roughly increases the enlargement by a factor of 2 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 object 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 e Visualization gt Gray Histogram Info This menu item opens a sophisticated tool for the inspection of gray value histograms that can also be used to select thresholds interactively and to set the range of displayed gray values dynamically Figure 4 15 shows the layou
76. ame of the program you save is appended at the end of the menu File The menu File gt Read Image contains several directories from which images are usu ally loaded The first entry of this menu always is the directory from which the most re cent image was loaded This is useful when several images from a non standard directory must be read The remaining entries except the last one are the directories contained in the HALCONIMAGES environment variable The final directory denoted by is the cur rent working directory of the HDevelop program which usually will be HALCONROOT 4 3 MAIN WINDOW 21 Save HDevelop Program File 21x Save in a Fa laa adapt_pattern dev a8 fin2 dev laa ball dew a holes dev laa ball2 dev a hull dev a board dev a ic dev a board2 dev a pattern dew clip dey a pm_illu dev clip2 dey a pm_illu_rot dey a fin dev a rim dev File name Save as type ro dev Cancel I Open as read only Figure 4 4 The dialog window to save a program to a file on Windows NT systems and the directory in which HDevelop was started on Unix sys tems When any of the directories is selected an image file selection box appears Again its functionality is similar to the dialog discribed in menu item File gt Open Figure 4 6 shows an example of the Load Image File dialog After selecting a file name the name of the variable for the image in
77. ameter list Table 5 1 shows their order of appearance Table 5 1 Order of appearance of the four basic parameter types As you see iconic input objects are always passed as the first parameter s followed by the iconic output objects The iconic data is followed by the control data and again the input parameters succeed the output parameters Each parameter is separated from its neighbours by a comma read_image Image Name area_center Region Area Row Column mean_image Image Mean 11 11 71 12 CHAPTER 5 LANGUAGE In the above example the operator read image has one output parameter for iconic objects Image and one input control parameter filename area center accepts regions as in put iconic and three control parameters as output Area Row Column The filter operator mean_image has one iconic parameter as input and one as output Its two input control parame ters specify the size of the filter mask Input control parameters can either be variables constants or even complex expressions An expression is evaluated before it is passed to a parameter that receives the result of the evalua tion Since iconic objects always are represented by variables all iconic parameters only accept variables Control output parameters must always contain variables too as they store the results of an operator evaluation 5 2 Control Types and Constants All non iconic data is represented by so called control data nume
78. aphics windows and their corresponding operators have additional functionality as 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 op erators that modify visualization parameters dev_set_color dev_set_draw etc For exam ple 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 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 and Visual Basic code In contrast to the parameter dialog for changing display parameters like color the corresponding operators like dev_set_color do not change to contents of the graphics window i e they don t cause a redisplay They are used to prepare the parameters for the next display action All HALCON operators Here 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 prepro
79. ared The history previously displayed objects of the window is also removed Visualization gt Pixel Info Here you can open an inspection display This is used for interactive examination of gray values of images Apart from this the size pixel type and the number of channels are displayed The upper part of the dialog contains a gauge to display the gray value 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 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 white background If the value is above 255 the gauge is black or colored for rgb images Below the gauge the gray values are displayed as numbers If more than three channels are present only the gray value of the first channel is displayed Below the gray values the coordinates of the mouse position is displayed Below these the size pixel type and the number of channels of the selected image are shown Visualization gt Zooming With this menu item a tool for realtime viewing of zoomed parts of an image object is 4 3 MAIN WINDOW 37 Pixel Information Ed Gray RGB 201 Row Column 563 823 Width Height 830 822 Pixel Type Channels Figure 4 13 Online gray value inspection and basic image features opened Figure 4 14 shows the layout of the re
80. at the back or at the front the concatenation can be used Here the assign operator is used with the following parameters assign Tuple NewVal Tuple which is displayed as Tuple Tuple NewVal ii 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 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 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 78 CHAPTER 5 LANGUAGE concatenation of tuples number of elemen
81. c ify more than one value for one variable tuple they are separated by commas and enclosed by 7You 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 68 CHAPTER 4 GRAPHICAL USER INTERFACE 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 empty 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 Clicking on a variable will select it Similar to iconic variables all program lines that use this variable are then marked with a black rectangle on the left Double clicking a control variable opens a window that displays all its values In most cases this will be a dialog containing a scrolled list This is helpful if you have variables with a large number of values that you want to inspect In the case of a framegrabber handle a dialog FGHandle x Width 640 Height 480 Name PXC Pixel rab pa Port FP Device A Trigger false Online M Figure 4 37 Variable inspection for framegrabber handles representing basic framegrabber parameters is opened see figure 4 37 Here you find the size name device port and other features of the framegrabber The toggle button Online allows to grab i
82. cessing filter ing or measurement see figure 4 25 You may look for a detailed description of each operator in the HALCON reference manual The menu has a cascade structure according to the chapter structure of the HALCON refer ence manual As this menu has to be built up after opening the program window 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 Operators of the menus Control and Develop are special operators of HDevelop Thus you will not find them in the reference manuals 54 CHAPTER 4 GRAPHICAL USER INTERFACE HDevelop ball dev Lol xi Fie Edit Execute Visualization E Suggestions Window Help Dooley x esl o E El ml IRA Classification gt ball dev Inspection of Ball File Filte Affine Transformations gt Feed mage Bond de threshold Bond Bright 100 Graphics Arkhmetic 2 shape_trans Bright Die re Bit gt reduce_domain Bond Die Color gt threshold DieGrey Wires Edges gt fill_up_shape VVires Wires Enhancement gt opening_circle WiresFilled connection Balls SingleBall FFT Lines gt
83. chosen image part Defaultvalue 0 gt Column Gnputicontrol u ee rectangle origin x integer Column of the upper left corner of the chosen image part Defaultvalue 0 gt Row2 input control use ea Re rectangle corner y integer Row of the lower right corner of the chosen image part Defaultvalue 128 156 APPENDIX B DEVELOP gt Column input control ec cs Suet et te ae rectangle corner x integer Column of the lower right corner of the chosen image part Defaultvalue 128 Example BE read_image Image fabrik for i 1 to 240 by 10 devoset part i i 511 i 511 i dev_display Image endfor dev_set_part 1 1 1 1 dev_display Image Result dev_set_part always returns 2 H_MSG_TRUE Possible Successor Functions _ dev_display See Alo___ SS set_part Module System operators dev_set_shape Shape Define the region output shape dev_set_shape defines the shape for region output The output shape is used by dev_display for regions The available shapes can be queried with query shape Available modes original The shape is displayed unchanged Nevertheless modifications via parameters like dev_set_line_width can take place This is also true for all other modes outer_circle Each region is displayed by the smallest surrounding circle See smallest_circle inner_circle Each region is displayed by the largest included circle See inner_circle
84. consist of several numerical data items with different types The standard representation of a tuple is a listing of its elements included into brackets see figure 5 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 There exist more than 400 error numbers internally see C Interface Manual 74 CHAPTER 5 LANGUAGE Tuple constant Value string es integer OL Le a real boolean Figure 5 1 The syntax of tuple constants 4711 0 815 Text 16 100 0 100 0 200 0 200 0 FileName Extension 4711 0 815 Hugo The maximum length of a tuple is limited to 1000000 5 3 Variables Names of variables are built up as usual by composing letters digits and the underscore _ The maximum 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 chapter 5 1 The kind of the variable is determined during the input of the operator parameters whenever a new identifier appears a new variable with the same identifier is created Control and iconic variables must have different nam
85. conversion always begins with a sign or lt space gt If the 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 The value is to be converted to an alternate form For d and s 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 Ox or OX prefixed to 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 field 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 the d o x or X 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 in s conversion The precision takes the form of a period
86. crop_domain_rel Figure 4 27 Operator suggestions according to keyword Clipping will find all operators associated with at least one of these keywords Clicking a keyword on the left list causes the addition of operators belonging to this keyword If you want to transfer one of these operators to the operator dialog area you click one of them with the left mouse button Afterwards the selection window is closed Menu item Window This menu item offers support to manage your four windows i e the program operator variable and graphics window They are very useful while working with HDevelop You see the items in figure 4 28 This menu item is not supported in a UNIX environment because according to the X Windows style we don t have a main window with a functionality similar to Windows NT e The item Cascade By pressing this item HDevelop arranges the four windows in a cascade as you can see in figure 4 28 e The item Tile You see all four windows inside the main window They have the same size and fit exactly in the main window Thus you get a global view of the windows contents at once Notice that the four windows may shrink depending on their size to fit in the main window Figure 4 29 shows you the effect using this item e The item Arrange Icons As in every system using windows you are able to iconify and deiconify your windows You may even move your icons on the display This might create a confusing working
87. cs window Attention If dev_set_window should be used for exported Code C please note the different handling of windows in C dev_set_window is not supported for C Parameter e gt Window ID input control reiben window integer Window id Example 2 158 APPENDIX B DEVELOP dev_open_window 1 1 200 200 black WindowID1 dev_open_window 1 220 200 200 black WindowID2 read_image Image monkey dev_set_window WindowID1 dev_display Image dev_set_window WindowID2 dev_display Image Possible Predecessor Functions _ dev_open_window Possible Successor Functions gt _ dev_display Made Os Basic operators Change position and size of a graphics window dev_set_window_extents changes the position and or the size of the currently active graphics window The parameters Row and Column specify the new position upper left corner of the window If one of both values is negative the position will remain unchanged The parameters Width and Height specify the new size of the window This is the size of the inner part that actually displayes the data If one of the two values is negative the size will remain unchanged SSCA tention Never use set_window_extents to change the size and position of an HDevelop graphics win dow The operator dev_set_window_extents has to be used instead Parameter ss B7REW IHnPUL COLOR ak rectangle origin y integer Row index
88. cts and e display parameters that have been displayed or changed since the most recent Clear 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 70 CHAPTER 4 GRAPHICAL USER INTERFACE Other output like text or general graphics like disp_line or disp_circle or iconic data that displayed using HALCON operators like disp_image or disp_region are not part of the his tory and are not redrawn Only the object classes image region and XLD that are displayed with the HDevelop operator dev_display or by 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 The menu area of the graphics window has an additional function If the mouse cursor is in this area the look up table of the window is reactivated This is necessary if other programs use their own look up table Thus if there is a strange graphics window presentation you may load the proper look up table by placing the mouse near the buttons If you want to specify display parameters for a window you may select the menu item
89. d substring see figure 4 35 If there is an unambiguous search result the operator is displayed immediately in the operator window If there are several matching results acombo box opens and displays all operators containing the specified substring By clicking the left mouse button you select one operator and the combo box disappears Now the operator s parameters are shown in the operator window HDevelop File Edit Execute Visualization Operators Suggestions Window Help read_cam_par read_char read_class_box read_gray_se read_ocr_traint read_ocr_trainf_names read_ocr_trainf_select read_sampset Figure 4 35 Operator selection in the operator name field If you are already more familiar with HDevelop it is reasonable to select an operator in the operator name field However in order to do so you obviously have to be familiar with the operator names 4 6 Variable Window There are two kinds of variables in HALCON This corresponds to the two parameter types of HALCON iconic objects images regions and XLDs and control data numbers strings In HALCON the corresponding variables are called iconic and control variables These variables may possess a value or be undefined An undefined variable is created for example when load ing 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 by writing them only
90. date occurred and file attributes 26 CHAPTER 4 GRAPHICAL USER INTERFACE 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 see chapter 4 4 Furthermore you may specify the file name in the text field below 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 your file with a write protection choose the checkbox at the bottom of this dialog window To open your specified file you press the Open button This action deletes an already loaded HDevelop program and all created variables The same actions as with File gt New are performed Now you can see 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 your program and you are ready to execute it The visualization and options will be reset after loading same as File gt New If you want to cancel this task you have to press the corresponding button By using one of these two buttons Open or Cancel the dialog window disappears After you have
91. deg Phili deg endfor dey_update_window on Figure 4 28 Window management functions If you use one of the next four items Program Window Operator Window Variable Window and Graphics Window the specified window will become the top window and gets the window focus Menu item Help Here you may query information about the system itself and all HALCON and HDevelop operators The menu item Help gt About delivers information about the current HALCON version see figure 4 30 The next menu item is Help gt Halcon Operators This help is based on an HTML browser see chapter 2 3 The browser will display the main page of all HALCON and HDevelop op erators It is quite easy for you to browse through this operator menu and to find the desired operator The menu item Help gt HDevelop Language starts the HTML browser with a description of the language similar to chapter 5 of this manual 58 CHAPTER 4 GRAPHICAL USER INTERFACE HDevelop clip2 dev MA x File Edit Execute Visualization Operators Suggestions Delaj fae ae Se ey Graphics Window rer icons Program iol x Next dev_display Clip Fr stop Q 1 Program bin_threshold Clip Dark v 2 Operator 3 Variable Watch ilt 4 Graphics Window dev_set_i colored 12 dev_display Selected stop dev_display Clip dev_set_color green dev_display Selected orientation_region Selected Phi area_center Selected
92. des the program code the file contains all necessary include instructions All variables iconic as well as control are declared locally in the procedure action Iconic variables belong to the class Hobject and all other variables belong to HTuple Compiling and Linking The last step is now to compile and link this new program In the case of UNIX this can be done using the predefined makefile which can be found in the directory 91 92 CHAPTER 6 CODE GENERATION HALCONROOT examples C To compile and link a program called test cpp you call the makefile like make PROG_NAME test or set the variable PROG_NAME in makefile to test and then just type make In the Windows NT environment Visual C is used for the compiling and linking For details see the User s Manual of HALCON C 6 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 the transformed to T Append New in C and requires no creation of a new tuple whereas T New T which is transferred to T New Append T would need the creation of a new tuple 11 Another good way to modify a tuple is the operator insert
93. dev_display and automatical display of operator results is redirected to this window This is shown by the green dot in the Active button In the case of the standard display operators like disp_image disp_region disp_line etc instead of dev_display the logical window number WindowHandle has to be used The background of the created window is set to the color specified in Background Pressing the Clear button clears the graphics window contents and the history of the window This can also be achived by using the operator dev_clear_window You close a graphics win dow using the Close button of the window frame or by calling dev_close_window The 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 increase from top to bottom Normally the coordinate system of the graphics window corresponds to the the most recently displayed image which is automatically zoomed so that every pixel of the image is visible The coordinate system can be changed interactively using the menu Visualization gt Set Parameters gt Zoom or with the operator dev_set_part Every time an image with a different size is displayed the coordinate system will be adapted automatically Each window has a history which contains all e objects and e display parameters which have been displayed or changed since the most recent clear action or display of a full image This
94. ding to a display can be configured to set the minimum and maximum values for each gauge Furthermore the scaling function of the gauge can be determined This can be used to make the relation of the features of different regions more intuitive For example features that depend on the area of the region are more intuitively grasped when the scaling is set to sqrt x The configuration dialog is the same for all gauges and is shown in figure 4 17 It can be brought up by pressing the arrow button next to each gauge e Visualization gt Size Window There are convenient methods to change the size of the active graphics window dependent on the size of the previously displayed image Using the submenu Original the window is set to the same size as the most recently displayed image that means for each pixel of the image one pixel on the screen is used for displaying Similar to this you can select Original half or Original quarter to make the window half or a quarter as big as the displayed image The submenus Half and Double change the size of the graphics window to half and double its current size respectively independent of the size of the previously displayed image You can combine Double with Original The submenu Aspect changes the aspect ratio of the graphics window so that pixels are displayed as squares on the screen For this operation again the size of the previously displayed image is used e Visualization gt Zooming This is a co
95. ds of HDevelop e g operator pa rameters several keycodes are defined which have special functions They conform to the standards of the emacs editor This feature is only available for UNIX systems Some of them are shown in table 8 1 8 3 Interactions during Program Execution The interpreter of HDevelop allows some user interactions during the execution of a program First the stop button has to be mentioned which is responsible for interrupting the execution of a program When the stop button is pressed the execution is stopped at the active HALCON operator 125 126 CHAPTER 8 MISCELLANEOUS Table 8 1 Keycodes for special editing functions Other features of the HDevelop interpreter are the possibility to display iconic variables by simply double clicking on them and the facility to set the parameters which control the display to the appropriate values In addition to this it is possible to insert commands into the program text no matter whether this makes any sense or not Please note that interactions during the execution of HALCON application can only be used in a sensible way if the single operators have short runtimes because HDevelop can only react within the gaps that is between the calls to the HALCON library Please note that neither the PC nor the BP can be set during the execution of the HALCON application 8 4 Warning and Error Windows Warning and error windows are popups that make the user aware
96. e ignored and the program continues dev_set_check is intended to used in connection with dev_error_var which allows to check for the result state of an operator A tention If dev_set_check should be used for exported Code C please note the description of set_check due to the different semantics in C 149 Parameter gt Mode input control i recy endian er Swe ate teks string gt gt string Mode of error handling Defaultvalue give_error Example SSS dev_close_window dev_open_window 0 0 512 512 black WindowHandle dev_error_var Error 1 dev_set_check give_error FileName wrong_name read_image Image FileName dev_set_check give_error ReadError Error if ReadError H_MSG_TRUE write_string WindowHandle wrong file name FileName endif Now the program will stop with an exception read_image Image FileName pe AA E AB aa e e aeee dev_set_check always returns 2 H_MSG_TRUE Possible Successor Functions _ dev_error_var See Also AS set_ckeck Module A System operators dev_set_color ColorName Set output color dev_set_color defines the color for region and line oriented output in the graphics win dows The available colors can be queried with the operator query_color The colors black and white are available for all screens If colors are used that are not displayable on the screen HALCON can choose a similar disp
97. e 34ff Figure 4 32 The different parts to the HDevelop toolbar 4 3 4 Window Area The window area contains all necessary windows to show your HDevelop programs to visualize your iconic and control results and to specify any operator s parameters Additionally you may 60 CHAPTER 4 GRAPHICAL USER INTERFACE open as many graphics windows as you want to get a detailed view of your iconic results You are free to move the windows according to your needs and preferences inside this area You may iconify and or deiconify them To handle these windows in a comfortable way HDevelop supports you with some window management functions see 4 3 2 4 3 5 Status Bar The status bar at the bottom of the program window shows you information which is important while working with HALCON e g context sensitive information about a specific user action or the operator runtime if time measurement has not been deactivated 4 4 Program Window The program window is divided into two areas The left one a small column contains the program counter PC represented as a green arrow pointing to a program line the insertion cursor a triangle between two program lines and optionally a breakpoint BP a red STOP sign You may position or activate these three labels as follows e The PC is set by pressing the left mouse button only e The insertion cursor is set by pressing the left mouse button and the lt Shift gt key e The BP is set by pre
98. e 7 5 It is more difficult to find the small dark particles A first effort to specify a threshold inter actively shows that there is no fixed threshold suitable to extract all particles But if you look closer at the image you will notice that the smaller particles are much brighter than their local environment i e you may specify suitable threshold values that are valid for a small image part 7 3 PARTICLES 109 each Now it is easy to transform this observation into an algorithm One way is to determine the threshold values locally e g from a bar chart Another solution might be the definition of a local environment by an n x n window This method is used in the example The window s mean value is used as an approximation of the background intensity This can be done by ap plying a low pass filter such as a mean filter or a Gaussian filter The window size n defines the size of the local environment and should approximately be twice as large as the objects to search for Since they show an average diameter of 15 pixels a mask size of 31 is used The resulting pixels are specified by the comparison of the original gray values with the mean image To reduce problems caused by noise you add a constant to the mean image 3 The appropriate program segment looks as follows mean_image Particle Mean 31 31 dyn_threshold Particle Mean Small 3 light The operator dyn_threshold compares two images pixel by pixel You can see
99. e Edt Execute Visualization Operators Suggestions Window Help oela Jejajs 2 2 See El ela 0 0 Width Height black WindowiD Height 1 Wicth 1 Filed ou mean_image 0 065 Figure 3 2 Selecting Operators gt Filter gt Smoothing gt mean_image opens an operator dialog for the operator mean_image With the help of the opened combo box you may specify a reasonable value for the filter size To choose the operator mean_image you traverse the menu hierarchy Operators gt Filter gt Smoothing gt mean_image It will be displayed in the operator window immediately Now you specify the image variable names ImageFilled in the text field called Image and ImageMean in the output text field The filter matrix size is chosen by opening the combo boxes of the corresponding text fields MaskWidth MaskHeight These combo boxes contain a selection of reasonable input values which is offered by HDevelop In our example the size is set to 29 see figure 3 2 By clicking the button OK you insert the operator mean_image in the program and execute it Now you have to search for the name of the dynamic thresholding For this you specify a 18 CHAPTER 3 EXAMPLE SESSION substring that is included in the operator name in the operator window s operator name text field Three letters are already sufficient to produce a result You will notice the open combo box that pre
100. e selected opera tors can be entered or modified Real is the type name for floating point numbers They are implemented using the C type double 8 bytes Region A region is a set of image points without gray values A region can be imagined as a bi nary 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 inthe 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 fcontrol data a tuple can consist of a large number of items with different data types The term tuple is also used in conjunction with ticonic objects if it is to be emphasized that several ficonic objects will be used Type ticonic variables can be assigned with data items of type timage fregion and TXLD The types of fcontrol data items can be one of finteger freal boolean or Tstring Variable window In HDevelop the variable window manages the fcontrol and ticonic data XLD is the short term for eXtended Line Description It is used as a superclass for contours polygons and lines see also the HALCON Reference Manual Index add_channels
101. ear Active Col Op a e atitle bar Figure 4 1 The main window e a menu bar e atool bar e a window area and e a status bar In the following chapters you will find all necessary information to interact with this window 4 3 1 Title Bar Your HDevelop main window is identified by the title HDevelop in the window s title bar After loading or saving a file the file name will be displayed in the title bar Additionally it offers three buttons on the right hand side to iconify and to maximize the window and to exit the HDevelop session 24 CHAPTER 4 GRAPHICAL USER INTERFACE 4 3 2 Menu Bar In the menu bar of the main window HDevelop functionality is offered Here you may perform the important actions to solve your image processing tasks i e to choose any HALCON or HDevelop operators or to manipulate the graphical output Every menu item opens a pull down menu henceforth abbreviated as menu with optional submenus You open a menu by click ing a menu item inside the appropriate text or via the keyboard by pressing the key lt Alt gt in combination with the underlined letter of the menu item All menu items are going to be explained in the following Menu item File In the menu item File you will find all functions to load an image and existing programs and to save recently created or modified programs respectively Furthermore you may export HDevelop programs to C and Visual Basic Figu
102. ed 111 The last difference concerns the value of the loop variable after exiting the loop In Vi sual Basic 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 do the programming according to the fol lowing rules 1 Don t modify the loop variable or the step value inside the loop If you need this behaviour use the while loop ii Don t use the loop variable after the loop Automatic Display Normally the result of every operator is displayed in the graphics window of HDevelop This is not the case when using an exported Basic program It behaves like the HDevelop program running with the options update window off That means whenever you want to have data to be displayed you must explicitly call the operator dev_display This will be converted to the appropriate Basic call in the exported code Because the template project already has a window there is no need to explicitly open a window inside HDevelop 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 exception and to continue accordingly Thus for HDevelop prog
103. ed description of the HALCON operators refer to the HALCON reference manual and the remarks in chapter 5 5 3 5 5 Expressions for Input Control Parameters In HDevelop the use of expressions is limited to control input parameters all other kinds of parameters must be assigned by variables 5 5 1 General Features of Tuple Operations This chapter is intended to give you a short overview over the features of tuples and their op erations 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 These letters give information about possible limitations of the areas of definition A single letter inside these tables represents a data type 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 To begin with table 5 5 specifies the names and types of the symbolic names Symbol integer arithmetic that is integer or real boolean string all types atomic all types tuple Table 5 5 Symbolic variables for the operation description Operators are normally described for atomic tuples tuples of length 1 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 ope
104. egion or XLD is displayed in the active graphics window This can be changed by using the value off for DisplayMode In this case objects are only displayed in single step mode Here one would use the operator dev_display to output objects This option can also be controled by the dialog File gt Options gt Update Window a Attention SSS This operator is not supported for exported C code 163 Parameter A gt DisplayMode input control er ssursaer e IA seg ed eae e eS string gt gt string Mode for graphic output Defaultvalue off Value List DisplayMode on off Result BEE dev_update_window always returns 2 H_MSG_TRUE Possible Successor Functions _ dev_display See Also h dev_update_pc dev_update_var dev_update_time Module Basic operators 164 APPENDIX B DEVELOP Appendix C Glossary Boolean is the type name for the truth values true and false as well as for the related boolean expressions 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 fstring and truth values
105. el and texture transformation 106 Capillary vessel texture energy and segmentation 107 Tissue particles and large objects 4 6 6 hoe 2228 ae ee css 108 Tissue particles small objects 2 20 0 002 000 0000 109 Tissue particles final result 22542542 4G 2422 24 2 22 2 22 ds 110 Number determination of annual rings 2 2 on nn 111 Bonding position images ends ae ee ABE ee A ee ee ie 112 Detected bonding positions 0 0 0 0 0 eee eee ee 114 Calibration board Ea ia ee o rd A Oa 114 Board with devices oi a E AE AE ETA IA 115 BoOar devices votos toca e A Rp pd HOR he ge a ad ae 116 Searching regions and contacts ra A a ge a Ra a 117 Wo demcells os bi e es Deja Bh ge ba BY Sa Ba gat aa hae Se ee SROs a Sg 118 Distribution of cell wall proportion o e 119 Mandril SEves ita Go eh AR A A O RARO A 120 Segmentation of a road scene ia A a a 123 Marking segmentation 0464 22d a 123 An error windOW o i aos s aoea ds ea oe re e ek 127 List of Tables 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 5 12 5 13 5 14 5 15 5 16 5 17 5 18 5 19 5 20 8 1 Order of appearance of the four parameter kinds 71 Surrogates for special characters e ee er ee ieh 73 Sting examples Mee a ae na a od eg OAs Ve ARs ho ae ah RAE od a 73 Return values for operators a eae ee De Dee 13 Symbolic variables for the operation description
106. ellipse Each region is displayed by an ellipse with the same moments and orientation See elliptic_axis rectanglel Each region is displayed by the smallest surrounding rectangle parallel to the coordinate axes See smallest_rectanglel rectangle2 Each region is displayed by the smallest surrounding rectangle See smallest_rectangle2 convex Each region is displayed by its convex hull See shape_trans 157 icon Each region is displayed by the icon set with set_icon in the center of gravity SSCA tention nE If dev set shape should be used for exported Code C please note the description of set_shape due to the different semantics in C Parameter SS gt Shape input control au Nee string string Region output mode Defaultvalue original Value List Shape original convex outer_circle inner_circle rectanglel rectangle2 ellipse icon Example u read_image Image monkey threshold Image Region 128 255 connection Region Regions dev_set_shape rectangle1 dev_set_draw margin dev_display Regions oO Possible Successor Functions ae dev_display dev_set_color See Also A set_shape dev_set_line_with Module _ System operators dev_set_ window WindowID Activate a graphics window dev_set_window activates a graphics window This is equivalent to pressing the Active button of the graphi
107. em Visualization gt Image Info has been renamed to Visualization gt Pixel Info A tool for realtime zooming of graphics window contents has been added under Visualization gt Zooming A tool to visualize the gray value histogram of an image and to select thresholds has been added under Visualization gt Gray Histogram Info An inspection tool for shape and gray value features of regions has been added under Visualization gt Region Info The menu item Visualization gt Size Window gt Reset has been replaced with three more convenient menu items Original Original half and Original quarter Two new HDevelop operators have been added dev_clear_obj and dev_set_window_extents The operator window has been extended with an Apply button that helps you to find the optimum parameters of an operator even more quickly e 3 Edition HALCON 5 1 March 1998 The new operators dev_set_check and dev_error_var together with the constants for return values H_MSG_TRUE etc have been introduced The menu Visualization has been extended by Size Window Reset Parameters Zooming and Paint Three new parameter functions mean deviation and gen_tuple_const have been introduced The chapters About this Manual Graphical User Interface and Code Generation for C have been revised The selection of program lines has been changed Now an ex tended mode lt Shift gt and lt Ctr1 gt keys together with the mouse is used
108. en vironment if you are handling several graphics tools simultaneously To get the HDevelop icons back on top of the main window s status bar you just have to press this button e The item Next By using this item you bring the top window in the background Hence it looses its win dow focus The window to get the window focus and to become the top window is the window which was only hidden by the former top window 4 3 MAIN WINDOW 57 HDevelop clip2 dev File Edit Execute Visualization Operators Suggestions Dee Hae 61d Fe ne op Vaias owac Ne Vari Ico Graphics Window v 1 Program Program 2 Operator get_image_pointer1 Clip _ _ Width Hei 2 Variable Watch dev_close_window 4 Graphics Window dey_open_window 0 O Width 2 Height Z black VvindowlD dev_display Clip stop Q bin_threshold Clip Dark connection Dark Single select_shape Single Selected area and 5000 10000 dev_set_draw fill dev_set_colored 12 dev_display Selected stop dey_display Clip dev_set_color green dev_display Selected orientation_region Selected Phi area_center Selected Area Row Column dey_set_line_width 3 dey_set_draw margin Length 80 for i 0 to Phil 1 by 1 dey_set_color blue disp_arrow WindowID Rowf i Column i Rowfli Length sin Phifi Columnfi Length cos Pt dey_set_color orange set_tposition WindowID Row i Columnfi write_string WWindowlD
109. eneity 0 779976 bulkiness 1 46616 contrast 1 56384 structure 2 68131 Figure 4 16 Online region feature inspection features of the entire image will be calculated Analogously to the gray histogram inspection window the gray value features of a multi channel image are calculated from the first channel by default You can use the combo box Channel to select the desired channel The shape features on the left side of the region inspection window are grouped into seven categories which correspond roughly to individual HALCON shape feature operators The topmost of the displays shows the most basic region features namely the area and center of gravity of the region see area center in the Reference Manual and the width and height of the smallest axis parallel rectangle of the region The latter is computed from the output of the operator smallest_rectanglel The second display contains information about the orientation angle and size of the region along the two principal directions ra and rb of the region With the combo box shape you can select by what means the size is computed If you select ellipse the size is computed with the operator elliptic_axis This means that the parameters ra and rb are the major and minor axis of an ellipse that has the same moments as the selected re gion Note that this ellipse need not enclose the region If you set shape to rectangle the size is computed with the operator smallest_rectangle2
110. ent object ID is NULL will happen in successive operators because the predecessor operator did not calculate an ap propriate 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 behaviour 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 That means that each time the operator is executed e g ina 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 dur ing program excecution 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 6 1 CODE GENERATION FOR C 95 dev_error_var error false if error H_MSG_TRUE write_string WindowId error number error exit endif dev_set_check give_error This program will be translated to HTuple error set_check give_error error threshold image amp region 100 255 if error 2 write_string WindowId HTuple error number HTuple error exit 1 set_check give_error
111. enter SingleSelected Area Row Column dev_set_color green if Area gt 500 and Area lt 50000 dev_set_color red Eyes SingleSelected Eyes endif endfor dev_display Image dev_set_color red Figure 4 23 Example for using a for loop and displayed in the program window by x y z The operator insert implements the assignment of a single value tuple of length 1 at a spec 50 CHAPTER 4 GRAPHICAL USER INTERFACE ified index position of a tuple Thus an array assignment here in C syntax ali v is entered as insert a v i a in the operator window and is displayed as ali v in the HDevelop program window The operators stop and exit are used to terminate the program More precisely stop inter rupts an execution and exit terminates HDevelop Having interrupted the execution you may continue the program by pressing Step or Run This is useful e g in demo programs to install defined positions for program interruption Using exit is in particular recommended in combi nation with the startup file see page 125 Thus you may terminate HDevelop if your program which is included in the startup file has been processed see page 125 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 O The item Develop This menu contains several operators that help to adapt the
112. erator 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 E Attention SSS For exported C please note the different semantics of the for loop 132 APPENDIX A CONTROL Parameter AA gt Start input control si vr a Hee a number integer real Start value for the loop variable Defaultvalue 1 gt End input control cio sd aa A number integer real End value for the loop variable Defaultvalue 5 AA A eo ke tke hee bg number integer real Increment value for the loop variable Defaultvalue 1 gt Variable QUuiput conttol 2204 0A eher ha number integer real Loop variable Example 3 dev_update_window off dev_close_window dev_open_window 0 0 728 512 black WindowID read_image Bond die3 dev_display Bond stop threshold Bond Bright 100 255 shape_trans Bright Die rectangle2 dev_set_color green dev_set_line_width 3 dev_set_draw margin dev_display Die stop reduce_domain Bond Die DieGrey threshold DieGrey Wires 0 50 fill_up_shape Wires WiresFilled area 1 100 dev_display Bond dev_set_draw fill dev_set_color red dev_display WiresFilled stop opening circle WiresFilled Balls 15 5 dev_set_color green dev_displa
113. es The value of a variable iconic or control is undefined until the first assignment defines it the variable hasn t been instantiated yet A read access to an undefined variable leads to a runtime error Variable lt x gt not instantiated 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 beeing instantiated unless you select the menu item Execute gt Reset Program The content of the variable is deleted before the variable is assigned with new values The concept of different kinds of variables allows 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 5 4 OPERATIONS ON ICONIC OBJECTS 75 5 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 detail
114. es on which the two vertical lines lie are displayed next to the lines in the same color 40 CHAPTER 4 GRAPHICAL USER INTERFACE The frequency of the respective gray values is displayed within the Dynamic data area of the display The selected range of gray values can be used for two major purposes First when the combo box Display is set to Threshold the image from which the histogram was computed is segmented with a threshold operation with the selected minimum and maximum gray value Depending in the setting of the combo box Send the segmentation result is either displayed in the graphics window from which the image was originally sent Send Back or to the active graphics window Send To Active Second if Display is set to Scale the gray values of the image are scaled such that the gray value 0 of the scaled image corresponds to the minimum selected gray value and the gray value 255 to the maximum selected gray value Again the combo box Send 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 If you want to select threshold parameters for a single image display the 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 see Visualization gt Col
115. essing 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 These icons are explained in figure 4 32 Deal y eje EN ese Figure 4 31 The HDevelop tool bar These icons are shortcuts for the menu items File gt New File gt Load and File gt Save in the menu bar For a detailed de scription see page 24ff These icons are shortcuts for the menu items Edit gt Cut Edit gt Copy Edit gt Paste and Edit gt Undo in the menu bar For a detailed description see page 31ff These icons are shortcuts for the menu items Execute gt Run Execute gt Step and Execute D Stop in the menu bar For a detailed description see page 32ff These icons are shortcuts for the menu items Execute gt Activate Execute gt Deactivate and Execute gt Reset Program in the menu bar For a detailed description see page 32ff This icon is a shortcut for the menu item Visualization gt Set Parameters in the menu bar For a detailed description see page 34ff These icons are shortcuts for the menu items Visualization gt Pixel Info Visualization gt Zooming Visualization gt Gray Histogram Info and Visualization gt Region Info in the menu bar For a detailed description see pag
116. et_draw 51 151 dev_set_line_width 51 152 dev_set_lut 51 153 dev_set_paint 51 154 dev_set_part 51 155 168 dev_set_shape 51 156 dev_set_window 50 157 dev_set_window_extents 50 158 dev_unmap_par 52 159 dev_unmap_prog 52 160 dev_unmap_var 52 160 dev_update_pc 52 161 dev_update_time 52 161 dev_update_var 52 162 dev_update_window 52 162 Dilation 116 123 Document analysis 103 Domain 10 dyn_threshold 54 dyn_threshold 109 111 eccentricity 42 edges_sub_pix 11 Edit Copy 31 32 Cut 31 Paste 31 Undo 31 Editor 21 elliptic_axis 41 115 empty_obj 121 Encapsulation 122 entropy_gray 42 Environment Variable 12 14 ARCHITECTURE 13 DISPLAY 14 HALCONEXTENSIONS 13 HALCONIMAGES 13 26 HALCONROOT 12 26 HALCONSPY 13 HOME 14 LD_LIBRARY_PATH 13 SHLIB_PATH 13 Error message 126 Error code 142 Example 71 Annual Rings 111 Board 115 Bonding 112 Calibration board 113 Capillary vessel 106 Cell walls 118 INDEX Devices 115 Exception 121 IC 116 Medical 108 Region selection 120 Road scene 122 Stamps 103 Tissue particles 108 Example session 15 Exception 142 Exception handling 94 100 Execute Activate 34 Clear break point 34 Deactivate 34 Reset program 34 74 Run 32 34 Step 33 34 Stop 33 34 Execution time 29 Exit 130 exit 48 50 90 125 130 Extended line description 10 11 FA 5 Factory automation 5 false 72 165 File 120 Cleanup
117. eters By using this menu item a dialog called Visualization Parameters is opened which handles more complex parameter settings Select one setting with your left mouse but ton and the window brings up the according parameter box Each box contains different buttons text fields or check boxes to modify parameters Each box has an Update button If this button is pressed every change of a parameter will immediately lead to a redisplay of the image regions or XLD in the graphics window If the button is off the parameters become active for the next display of an object double click on an icon or excecution of an operator By default the update is 4 3 MAIN WINDOW 45 Visualization Parameters 3D plot_hidden y Figure 4 18 Settings of parameter paint deactivated for the boxes Lut and Paint You may specify the following parameter settings Visualization gt Set Parameters gt Paint 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 a picture see figure 4 18 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 have to specify the following parameters Step the distance of plot lines in pixels x Colored use the gray value of a pixel to draw a line segment instead of one graphic colo
118. f HALCON s tuple philosophy although you have several different results you do not have to worry how to handle them This is done transparently by HALCON HALCON operators rec ognize a tuple type variable and process it accordingly This results in more compact programs because you may combine several similar operator calls in one operator To obtain a better visualization of the results after calling connection you select the menu Visualization gt Colored Here you specify the 12 predefined color presentation Now ev ery computed region receives one of the 12 colors This presentation mode is very useful to indicate each region with a different color If there are more than 12 regions the system uses the same color for several different regions With dev_display of the image ImageFilled you refresh the graphics window to see the results of next step much better Select the menu 19 Operators gt Develop gt dev_display In the next step you have to specify the regions which correspond to the circular marks of the indicated person in shape and size For this you have to call the operator select_shape in menu Operators gt Regions gt Features The first call is used to obtain a preselection with the estimated object size given in pixels With an estimated size of 15 x 15 pixels you will get approximately 225 pixels After choosing select_shape you specify the parameters as follows 1 The input region will be ConnectedRegionsDynThresh i
119. f dev_set_lut should be used for exported Code C please note the description of set_lut due to the different semantics in C Parameter Beare Name Input contro s nee string gt gt string Name of look up table values of look up table RGB or file name Defaultvalue default Value Suggestions LutName default linear inverse sqr inv_sqr cube inv_cube sqrt inv_sqrt cubic_root inv_cubic_root color1 color2 color3 color4 three six twelfe twenty four rainbow temperature cyclic_gray cyclic_temperature hsi changel change2 change3 Example ss read_image Image mreut dev_set_lut inverse For true color only dev_display Image Result o dev_set_lut always returns 2 H_MSG_TRUE 154 APPENDIX B DEVELOP Possible Successor Functions _ dev_display See Also gt gt gt S oo set_lut Module SS System operators Define the grayvalue output mode dev_set_paint defines the output mode for grayvalue display in the graphics window The mode is used by dev_display This page describes the different modes that can be used for grayvalue output It should be noted that the mode default is the most suitable A different way to display grayvalues is the histogram mode histogram This mode has three additional parameter values Row seco
120. g simple mouse functions To use this feature one has to select one or more lines using the mouse e The selection of one line is done by clicking on it Previously activated lines will then become deactivated e To activate more than one line you have to press the lt Ctr1 gt key while clicking on the line If the line is already activated it will become deactivated while the state of all other lines remains unchanged 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 new one will become activated After the selection of lines the edit function can be activated by either using the menu Edit see sections 4 3 2 or the tool bar see sections 4 3 3 Further information on the use of the mouse can be found in section 4 2 4 5 Operator Window This window is mainly used to edit and display an operator and all its parameters Here you will obtain information about the number of the operator s parameters the parameter types and parameter values You are able to modify the parameter values according to your image processing tasks For this you may adopt the proposed system values or specify your own values The operator window consists of the following three parts e The first one is the operator text field 62 CHAPTER 4 GRAPHICAL USER INTERFACE e The second one is the largest part It is called parameter display and is used to edit the parameter
121. gram string dev The string concatenation can be applied in combination with strings or all numerical types if necessary the operands are first transformed into strings according to their standard repre sentation 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 filename 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 Bild Name i tiff endfor str r chr s1 s2 returns the index of the first last as a tuple occurrence of one character in s2 in string s1 or 1 if none of the characters occurs in the string str r str s1 s2 returns the index of the first last occurrence of string s2 in string sl or 1 if s2 does not occur in the string strlen s returns the number of characters in s s i returns the character at index position i in 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 ii i2 returns all characters from index position i1 up to position i2 in s as a string The index ranges from zero to the length of the string minus 1 split s1 s2 devides 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 i
122. h are necessary since 15 16 CHAPTER 3 EXAMPLE SESSION a single backslash is used to quote special characters see page 73 In our example we change the default for the name from Marks to Christof Using this selection box you are able to search images rapidly without knowing their exact file names In contrast to the two other possibilities the parameters of operator read_image are specified automatically Thus an explicit input of path and file name is not necessary in this case An icon with an appropriate variable name is created in the iconic variable area of the variable window Double clicking on such an icon displays its contents in the currently active graphics window Figure 3 1 shows a complete configuration of HDevelop for the explained scenario In addition a new window is opened after closing the default window to display the image in its original size Figure 3 1 Screen configuration after image loading If you look closer at the image in figure 3 1 you will see the typical temporal offset between two half images that occurs when taking images with a video camera This temporal offset is 20 ms for PAL systems and 16 6 ms for NTSC systems HALCON offers an algorithm that computes an interpolated full image from such a video image The name of the appropriate operator is fill_interlace see the HALCON Reference Manual The next step is to specify this na
123. her information you may consult the following manuals e Getting Started User s Manual e HALCON HDevelop The reference manual for all HALCON operators HDevelop ver sion e HALCON C User s Manual How to use the HALCON library in your C programs e HALCON C The reference manual for all HALCON operators C version e HALCON C User s Manual How to use the HALCON library in your C programs e HALCON C The reference manual for all HALCON operators C version e HALCON COM User s Manual How to use the HALCON library in your COM pro grams e g in Visual Basic 1 4 RELEASE NOTES 7 e HALCON C Interface Programmer s Guide How to extend the HALCON system with your own operators e Framegrabber Integration Programmer s Manual How to integrate a new framegrabber into the HALCON system The reference manuals are available as HTML documents as well 1 4 Release Notes Please note the latest updates of this manual e 4 Edition HALCON 5 2 January 1999 Keyboard shortcuts have been introduced for the most frequently used menu operations e g lt Ctrl gt Sfor File gt Save The menu File contains two new entries Insert and Modules The menu item File gt Read Image now has a submenu with sev eral useful image directories A new menu Execute with entries to run stop and reset a program has been added The menu items Edit gt Activate and Edit gt Deactivate have been moved to this menu The menu it
124. history is used for redrawing the contents of the window Other output like text or general graphics like disp_line or disp_circle or iconic data that is displayed using HAL CON operators like disp_image or disp_region are not part of the history and are not re drawn Only the object classes image region and XLD that are displayed with the HDevelop operator dev_display or by 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 If the mouse cursor is inside the window its look up table is reactivated This is necessary if other programs use their own look up table Thus if there is a strange graphics window presentation you may load the proper look up table by placing the mouse inside the window Opening a window causes the assignment of a default font It is used in connection with pro cedures like write_string and you may overwrite it by performing set_font after calling 147 dev_open_window On the other hand you have the possibility to specify a default font by call ing set_system default_font lt Fontname gt before opening a window and all following windows see also query_font If you want to specify display parameters for a w
125. i the output variable name remains unchanged 111 values area and and remain unchanged iv The region s minimum size should be 150 Min and v the region s maximum size should not exceed 500 Max vi The mean intensity should be between 120 and 255 In figure 3 4 the extended program can be seen File Edit Execute Visualization Operators Suggestions Window Help Osa e EUER Eee El ARE dev_close_window 0 ead_image Christof marks get_image_pointert Christof Pointer Type Wieth Height _window 0 0 Width Height black WindowiD Regions Marks Anisometry Anisometry Bulkiness Buikiness Structureractor Structursfactor en Christof ImageFill ImageMe RegionDy Connecte Selected Control Variables Type byte a Width 768 s Height 575 WindowiD 3600 Anisometry 1 12702204804 1 11467319487 1 18047551603 1 12294618312 1 42797741283 1 18 Bulkiness 1 00416718505 1 00426336515 1 00007240412 1 00253432078 1 00587046647 1 00 StructureFactor 0 131718557464 0 119425453718 0 180560987328 0 125792088964 043636030635 4 Figure 3 4 Region selection based on shape features Now you have to extract from the remaining regions the regions that match the objects to look for As you can see the regions representing the marks have a circular shape con trary to all others This is expres
126. i e the ratio of ra and rb in the second display if you set shape to ellipse This feature measures how elongated the region is Its value is always larger than 1 with isometric regions having a value of 1 The definition of the more complex features bulkiness and structure factor abbreviated as structure in the display can be obtained from the HALCON Reference Manual The final shape feature display shows the connected components and number of holes of the selected region as computed by connect_and_holes The gray value features are grouped into five displays on the right side of the region inspection window Again they correspond roughly to individual HALCONoperators The first display shows the mean gray value intensity and the corresponding standard deviation of the selected region These are computed with the operator intensity The second display shows the output of the operator min_max_gray This operator com putes the distribution hestogram of gray values in the image and returns the gray values corresponding to an upper and lower percentile of the distribution This percentile can be selected with the slider at the to of the display For a percentile of O the default the minimum and maximum gray values of the region are returned The display also shows the range of gray values in the region i e the difference between the maximum and minimum gray values In the third display the gray value entropy of the selected region is d
127. ible Successor Functions _ dev_open_window See Alo___ SS close_window Module es System operators 142 APPENDIX B DEVELOP dev_display Object Displays image objects in the current graphics window dev_display displays an image object image region or XLD in the active graphics window This is equivalent to a double click on an icon variable inside the variable window SSS Attention e If dev display should be used for exported Code C please note the description of disp obj due to the different semantics in C Parameter O be Object Gnpul OD JScript object array gt Hobject Image objects to be displayed Example o read_image Image fabrik regiongrowing Image Regions 3 3 6 100 dev_clear_window dev_display Image dev_set_colored 12 dev_set_draw margin dev_display Regions AN Redt _ dev_display always returns 2 H_MSG_TRUE S A ternative disp object disp image disp region disp xld See Also SS dev_set_color dev_set_colored dev_set_draw dev_set_line_width Module es System operators Define or undefine an error variable dev_error_var defines an error variable i e a variable which contains the status of the last call of an operator ErrorVar will be H_MSG_TRUE 2 if no error had occured The parameter Mode specifies if the error variable should be used 1 or not 0 If an error variable is active it will be updated each an operator excetion is fi
128. ics for loops which can cause confusion Because the problems are so seldom and the generated code would become very difficult to understand otherwise the code generation ignores the different semantics Now what are these differences 1 In C you can modify the loop variable e g by setting it to the end value of the con dition 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 ii In C you can modify the step range 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 111 The last difference concerns the value of the loop variable after exiting the loop In C 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 do the programming according to the fol lowing rules 1 Don t modify the loop variable or the step value inside the loop If you need this behaviour use the while loop ii Don t use the loop variable after the loop 94 CHAPTER 6 CODE GENERATION Automatic Display Normally the result of every operator is displayed in the graphics window of HDevelop This is not the case when using an exported C program
129. il a floor a fmod al a2 minimum value of the tuple maximum value of the tuple sum of all elements of the tuple or string concatenation mean value standard deviation square root y a convert radians to degrees convert degrees to radians convert integer to real 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 a1 Table 5 17 Numerical functions The functions sqrt mean deviation deg rad fabs ceil floor and fmod can 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 deg and rad convert numbers from radians to degrees and from degrees to radians respectively The function round always returns an integer value and the function abs always returns the absolut value that is of the same type as the input value real converts an integer to a real For real as input it returns the input round converts a real to an integer and rounds the value For integer it returns the input The following example filename euclid_distance dev shows the use of some numerical functions Vi 160851327433 19 3 V2 233 23 32 786 234 4224 63 33 Diff Vi V2 Distance sqrt sum Diff Diff 5
130. ill now be done automatically using the example program The first step is the segmentation of annual rings This is quite simple as you can see them clearly as bright or dark lines Again the dynamic thresholding dyn_threshold can be used as before during the particle segmentation in section 7 3 To achieve a suitable threshold image you apply the mean filter mean_image with size 15 x 15 first The segmentation result contains many tiny regions that are no annual rings To eliminate them you have to create the connected components connection and suppress all regions that are too small select_shape Counting the rings becomes difficult as there might be fissures in il i i I HN yt af E Figure 7 8 Annual rings of a tree SSS L am A ese FL 3 SIE SSS SS gt gt a Pr arg Thus we suggest the following method You define the start and end point of a line across the annual rings using your mouse Then the number of in
131. image in the variable only the first image is used for the icon Similarily for multi channel images only the first channel is used 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 Due to 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 vari able window in the order of creation from left to right If there is not enough space a horizontal scrollbar is created which you can use to scroll the icons Clicking on an icon with the mouse will select this icon This is indicated by the black back ground for the icon name For an activated icon all operators that use the corresponding variable are marked in the program area with a black rectangle on the left Double clicking with the left mouse button on an icon displays the data in the active graphics window If you use images of different sizes in a program the system uses the following output strategy for an automatic adaption
132. image with a covering mask i e the definition range All operators work only on those parts of the image data that lie within the definition range This can be exploited to reduce computation time The following assumptions on the image data help to specify a region as a search mask i Road markings remain in a certain image part only ii Road markings have a certain minimum length in y direction 111 Road markings are separated by an edge from their environment 3See section 2 1 2 for a short introduction to the data structures used by HDevelop 7 11 ROAD SCENE 123 Figure 7 18 Part of an image sequence left and search grid for marking band right The first two assumptions can restrict the search area enormously To make use of this we create a region as a grid whose line distance is determined by the minimum size of the road marking Figure 7 18 shows the corresponding region line grid on the right side While performing an edge filter within the grid all pixels with a high gradient are candidates on the contour of a road marking By enlarging these pixels by the minimum diameter of the markings dilation with rectangle you will get the search window shown in figure 7 19 on the left side Figure 7 19 Search areas for markings left and segmentation right Now the road markings can be easily extracted by a thresholding within the search windows The segmentation result is shown on the right side of figure 7
133. indow you may select the menu item Visualization in the menu bar Here you can set the appropriate parameters by clicking the desired item Parameters which you have set in this way are used for all windows in contrast to standard windows opened with open_window The effects of the new parameters will be applied direcly to the last object of the window history and alter its parameters only Attention Never use close_window to close an HDevelop graphics window The operator dev_close_window has to be used instead If dev_open_window should be used for exported Code C please note the description of open_window due to the different semantics in C Parameter gt Row input control ee ea rectangle origin y integer Row index of upper left corner Defaultvalue 0 Value Range 0 lt Row Minimal Value Step 1 Recommended Value Step 1 Restriction Row gt 0 gt Column input_control 1 0 0 0 2 eee eee rectangle origin x integer Column index of upper left corner Defaultvalue 0 Value Range 0 lt Column Minimal Value Step 1 Recommended Value Step 1 Restriction Column gt 0 gt Width input control ein rectangle extent x integer Width of the window Defaultvalue 256 Value Range 0 lt Width Minimal Value Step 1 Recommended Value Step 1 Restriction Width gt 0 V Width 1 gt Height input control Zeus ar ana rectangle extent y integer Height of the window Defaultvalue 256 Value Range 0 lt
134. ine information about the position of the mouse inside a graphics window and to display the gray value at this position This can be achieved using the two operators get_mposition and get_grayval The problem with get_mposition in HDevelop is that it returns H_MSG_FAIL if the mouse is outside of the window to indicate that the mouse coordi nates are invalid This would lead to an interruption of the program Therefore an explicit error handling is needed The complete program is given below read_image Image mreut dev_close_window dev_open_window 0 0 1 1 black WindowID dev_display Image Button 1 while Button 4 dev_error_var Error 1 dev_set_check give_error get_mposition WindowID Row Column Button 122 CHAPTER 7 PROGRAM EXAMPLES dev_error_var Error 0 dev_set_check give_error if Error H_MSG_TRUE get_grayval Image Row Column Grayval dev_set_color black disp_rectanglei WindowID 0 0 22 85 dev_set_color white set_tposition WindowID 15 2 write_string WindowID Rowt Column Grayval endif endwhile After loading an image and opening a window we enter the loop to query the mouse position Because the operator get_mposition might cause an exception we call dev_set_check to declare that HDevelop should not stop if an exception occurs dev_set_check has to be called before and after the critical call s If we want to know
135. ine_width For an explanation see item Visualization gt Line Width e dev_set_lut For an explanation see item Visualization gt Lut e dev_set_paint For an explanation see item Visualization gt Paint 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 e dev_set_shape For an explanation see item Visualization gt Shape e dev_set_part This operator adjusts the coordinate system for image region XLD and other graphic out put This is done by specifying the upper left and the lower right corner coordinates This 52 CHAPTER 4 GRAPHICAL USER INTERFACE specified part is shown in the entire graphics window If the width or height of the speci fied rectangle has a negative value e g Row1 gt Row2 the result is equivalent to the menu Visualization gt Zooming gt Reset the zoom mode is switched off i e the most re cently displayed image fills the whole graphics window This feature of dev_set_part is not supported for exported C and Visual Basic 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 and File gt Options on page 29 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
136. ing Started Man ual Chapter 6 Code Generation The idea of code generation is as follows After developing a program according to the given requirements it has to be transferred to its final environment Here you often don t want to use HDevelop to save memory or disk space In addition the program should execute as fast as possible especially without the overhead of an interpreter Therefore the program is transferred into another language that can be compiled and allows a faster execution In addition to this features of the new environment like special libraries or graphical user interface builder can be used The aim of this chapter is to describe the general steps of program development using this feature Later on some details of the code generation and optimization aspects are discussed 6 1 Code Generation for C In this section the use of HALCON in C is describes 6 1 1 Basic Steps Interactive Development The first step is the well known process of program development in HDevelop as it is described in the rest of this manual Program Export The next step is to export the program using the menu File gt Save As Here you have to select the language C and save it to file In UNIX you specify the file by giving it the corresponding extension which is cpp A file will be created that contains the HDevelop program as C source code in a procedure action This procedure is called in function main Besi
137. ing the given ID This ID is an out put parameter of dev_open_window After the execution the output is redirected to this window This operator is not needed for exported code in C because here every win dow operation uses the ID as a parameter The operator has no effect for exported code in Visual Basic 4 3 MAIN WINDOW 51 HDevelop File Edit Execute Visualization el Deal lele a Variable Watch Watch nn Graphics Windd 1 Suggestions Window Help gt dev_close_window gt dew_clear_window gt dev_set_window gt dev_set_colored Image gt dey_set_draw Lines gt dev_set_line_width Morphology gt dev_set_color gt gt gt gt gt gt Filter Graphics Clear Object dev_set_lut Regions dev_set_paint Segmentation dev_set_shape System dev_set_part Tools dev_display XLD dev_inspect_ctrl dev_close_inspect_ctrl dev_map_par dev_unmap_par dev_map_var dev_unmap_var dev_map_prog dev_unmap_prog dev_update_window dev_update_var dev_update_time dev_update_pc dev_error_var dev_set_check Internal HDevelop Operator Figure 4 24 Operators in menu item Develop e dev_set_color dev_set_colored dev_set_color has the same effects as the menu item Visualization gt Color dev_set_colored is equal to the menu item Visualization gt Colored e dev_set_draw This operator has the same effects as Visualization gt Draw e dev_set_l
138. ion If dev_set_paint should be used for exported Code C please note the description of set_paint due to the different semantics in C 153 Parameter gt Mode input control va wa ea a a string array string integer Grevalue output name Additional parameters possible Defaultvalue default Value List Mode default histogram line column contourline 3D plot 3D plot_hidden 3D plot_point Example read_image Image fabrik dev_set_paint 3D plot dev_display Image Possible Predecessor Functions dev_open_window ao Possible Successor Functions dev_set_color dev_display See Also set_paint Module System operators Modify the displayed image part dev_set_part modifies the image part that is displayed in the graphics window Row1 Column1 denotes the upper left corner and Row2 Column2 the lower right corner of the image part to display If Rowi is larger than Row2 the zooming will be reset That means that the last displayed image will be completetly visible Please note that this is not possible with the operator set_part outside HDevelop SCA tention If dev_set_part should be used for exported Code C please note the description of set_part due to the different semantics in C Parameter gt Row1 input control 23 0 fc ea rer Dies hated ion secs rectangle origin y integer Row of the upper left corner of the
139. iously displayed region or XLD object will be redisplayed with this color The default color is white Visualization gt Draw Here you can select a visualization mode to display region data It can either be filled item fill or the borders are displayed only item margin The border line thickness of the displayed regions is specified using the menu item Line Width see figure 4 19 Visualization gt 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 This parameter is effective if dev_set_draw is set to mode margin only Visualization gt Shape Here you specify the representation shape for regions Thus you are able to display not only the region s original shape but also its enclosing rectangle or its enclosing circle Visualization gt Lut This menu activates different look up tables which can used to display gray 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 Visualization gt Paint This menu defines the mode to display gray images For more information see the menu item Visualization gt Set Parameters Visualization gt Set Param
140. 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 If the start value is less or equal to the termination value the loop index is assigned with the starting value and the body of the loop is entered If the increment is less than zero the loop is entered if the start value is larger or equal to the end value Each time the body is executed the loop index is incremented by the incrementation value If the loop index is equal to the termination value the body of the loop is performed for the last time If the loop index is larger than the termination value the body will not be excecuted any longer For negative increment values the loop is terminated if the loop index is less than the termination value Please note that it is not necessary that the loop index has to be equal to the termination value before terminating the loop The loop index is set to the termination value when the loop is being left Please note that the expressions for start and termination value are evaluated only once when entering 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 op
141. is not supported for exported C code Parameter a gt Variable input_control 0005 real array real integer string Name of the variable which inspect window has to be closed Example L Var 1 dev_inspect_ctrl Var 141 Var 1 2 3 9 5 6 7 8 Var 3 4 stop dev_close_inspect_ctrl Var S 0 ee ee 8 If an inspect window associated with Variable is open dev_close_inspect_ctrl returns 2 H_MSG_TRUE Possible Predecessor Functions gt _ dev_inspect_ctrl Module Basic operators dev_close window Close the active graphics window dev_close_window closes the active graphics window which have been opened by dev_open_window or by HDevelop default window The operator is equivalent to press ing the Close button of the active window A graphics window can be activated by calling dev_set_window CA tention A If dev_close_window should be used for exported Code C please note the description of close_window due to the different semantics in C Example close all windows for i 1 to 10 by 1 dev_close_window endfor read_image For5 for5 get_image_pointeri For5 Pointer Type Width Height dev_open_window 0 0 Width Height black WindowHandle dev_display For5 Se Don Ze Ze A dev_close_window always returns 2 H_MSG_TRUE a Possible Predecessor Functions SSS dev_set_window dev_open_window Poss
142. is transformed into the Visual Basic routine End Because this routine has no parameter the parameters of exit are suppressed Used Classes There are only six classes types that are used Variant for control parameters and HUntypedObjectX for iconic data In addition to this there is the container class HTupleX which comprises all operators of HALCON 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 HWindowX directs the output to this window Finally the class HOperatorSetX is used as a container for all HALCON op erators 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 6 2 3 Limitations and Troubleshooting Besides the restrictions mentioned in the next section please check also the description of the HDevelop operators on page 50 6 2 CODE GENERATION FOR VISUAL BASIC 99 Duplicate Parameters Due to the parameter handling of Visual Basic COM it is not possible to use the same variable more than once in one call Thus for input and output parameters different variables have to be used Also it is not possible to use the same variable twice for input or output Examples for code which is not allowed are mean
143. isplay on which to open windows It is used in the same way as for other X11 applications e HOME If you start HDevelop the system searches for a startup file in the home directory see page 125 The corresponding directory is designated by the variable HOME Typically the definition of these environment variables belongs to a start shell script like cshrc Examples for entries in cshrc setenv HALCONROOT usr local halcon setenv ARCHITECTURE hppa2 0 hp hpux10 setenv PATH SHALCONROOT bin ARCHITECTURE setenv LD_LIBRARY_PATH HALCONROOT 1ib ARCHITECTURE setenv HALCONIMAGES HALCONROOT images On Windows NT systems they are set by the installation program They may be changed by the System Settings tool available from the Start menu You may obtain additional information concerning configuration in the Getting Started Manual 2 3 Online Help Online documentation is available in PDF and partly in HTML format In a UNIX environment the full documentation is available in postscript format as well To display the HTML files containing information on HALCON operators you need a browser It is not provided in the HALCON distribution but nevertheless used by HDevelop Such a tool may already be installed on your computer Otherwise you may obtain it for free e g via the Internet One browser that is suitable for displaying HTML files is Netscape Navigator It is a WWW browser that is able to display HTML docu
144. isplayed see entropy_gray Again this is a feature derived from the histogram of gray values in the region The feature entropy measures whether the gray values are distributed equally within the region This measure is always smaller than 8 for byte images the only suppurted image type for this operator Only images with equally distributed gray values reach this maximum value The feature anisotropy measures the symmetry of the distri bution Perfectly symmetric histograms will have an anisometry of 0 5 The fourth display contains gray value features derived from the coocurrence matrix of the selected region are displayed see cooc_feature_image The combo box 1d can be used to select the number of gray values to be distinguished 2 The combo box dir selects 4 3 MAIN WINDOW 43 the direction in which the coocurrence matrix is computed The resulting features energy correlation heomgeneity and contrast have self explanatory names A detailed description can be found in the reference of the operator cooc_feature_matrix The final display contains the output of the operator moments_gray_plane This are the angles of the normal vector of a plane fit through the gray values of the selected region Dialog x Minimum Maximum fo 100000 C y x y sqrt x C y logiO0 x C y log10 log10 x OK Apply Reset Cancel Figure 4 17 Configuration dialog for single region features Each of the gauges correspon
145. l is set to 1 In general every integer value 4 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 represented values true or false 5 2 CONTROL TYPES AND CONSTANTS 73 Abbreviation line feed horizontal tabulator vertical tabulator backspace carriage return form feed bell backslash single quote Table 5 2 Surrogates for special characters Hugo letters 210 9 numbers not real Text NM NL at the end of the string t Texti At Text2 two tabs in a text Sobel s edge filter single quote within the text c Programs MVTec Halcon images Directory Table 5 3 String examples e 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 con stants are available In table 5 4 all return messages can be found H_MSG_TRUE No error for tests true H_MSG_FALSE For tests false H_MSG_VOID Noresult could be computed 4 H_MSG_FAIL Operator did not succeed Table 5 4 Return values for operators 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
146. layable color of the output For this set_check color must be called The defined color is used until dev_set_color or dev_set_colored is called Colors are defined for all graphics windows in contrast to the operator set_color SSCA tention If dev_set_color should be used for exported Code C please note the description of set_color due to the different semantics in C 150 APPENDIX B DEVELOP Parameter gt ColorName input control coxa us er string array gt string Output color names Defaultvalue white Value Suggestions ColorName white black grey red green blue Example BE read_image Image mreut dev_set_draw fill dev_set_color red threshold Image Region 180 255 dev_set_color green threshold Image Region 0 179 a Redt _ dev_set_color always returns 2 H_MSG_TRUE Possible Predecessor Functions z dev_open_window query_color query_all_colors Possible Successor Functions _ dev_display Alternatives E dev_set_colored A 7 SSS dev_set_draw dev_set_line_width set_color Module ZA System operators dev_set_colored NumColors Set multiple output colors dev_set_colored allows the user to display a tuple of regions in different colors NumColors defines the number of colors that are used Valid values for NumColors can be queried with query_colored Attention 32 If dev_set_colored should be u
147. le Condition Continue to execute the body as long as the condition is true while executes the body as long as the condition is true The while loop has a boolean ex pression as the conditional part As long as it is true 1 e not equal 0 the body of the loop is performed In order to enter the loop the condition has to be true in the first place Parameter EEES gt Condition nput contrel s vkcatge gence erat pees legen hate integer integer Condition for loop Example es dev_update_window off dev_close_window dev_open_window 0 0 512 512 black WindowID read_image Image particle dev_display Image stop threshold Image Large 110 255 dilation_circle Large LargeDilation 7 5 dev_display Image dev_set_draw margin dev_set_line_width 3 dev_set_color green dev_display LargeDilation dev_set_draw fill stop complement LargeDilation NotLarge reduce_domain Image NotLarge ParticlesRed mean_image ParticlesRed Mean 31 31 dyn_threshold ParticlesRed Mean SmallRaw 3 light opening_circle SmallRaw Small 2 5 connection Small SmallConnection dev_display Image dev_set_colored 12 dev_display SmallConnection stop dev_set_color green dev_display Image dev_display SmallConnection Button 1 while Button 1 dev_set_color green get_mbutton WindowID Row Column Button dev_dis
148. le model of the large particles can be used to extract the small ones This increases the quality of the segmentation Second the processing speed is increased as the second segmentation works only on a part of the image data The right side of figure 7 6 shows the segmentation result Unfortunately the image still contains noise To remove it you may either sort out noisy objects by their area as described above or by an opening operation We prefer the second method as it additionally smooths the object edges opening_circle Small SmallClean 2 5 Here a circle is used as the structuring element of the opening operation The operator preserves regions only that may at least cover a circle of radius 2 5 Smaller regions are eliminated de iO a 5 a EN tr 5 gts o E e e d A e e 1 S o q ne e we e 2 CA 2 wi ie a eo a X of one of an e 0 e e x i Toe a Sa e ee e a e eee v a s l a gt ee x ve os 4 ve e ry e ry E e d e e ry 1 x ee so de a e y y Pp Figure 7 7 Noise removed segmentation left and final result right Figure 7 7 shows the result of the segmentation with noise removal on the left side The right side contains the final result Finally we would like to show within this example how to select regions with the mouse in teractively At this a loop is executed until yo
149. le to continue interacting with HDevelop e By clicking on the menu item File gt Open keyboard shortcut lt Ctr1 gt 0 you can load an existing HDevelop program Alternatively you can select File gt Insert to insert a file into the current program at the line in which the insert cursor is located In both cases a dialog window pops up and waits for your input see figure 4 3 It is called Load HDevelop Program File Please note that text Visual Basic and C versions of a file cannot be loaded Load HDevelop Program File RAE Look in a Fa A AAA a rim2 dev fa ball dev a holes dev laa ball2 dev a hull dev a board dev a ic dev board2 dev a pattern dev a clip dev a pm_illu dev lsa clip2 dey a pm_illu_rot dey a fin dev a rim dev Filename dev Files oftype HDevelop dev Cancel Open as read only Figure 4 3 The dialog window to open an HDevelop file In the topmost 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 up
150. ll wall Area is determined by area_center This value is transformed to percent for the output X 20 read_image WoodCellsi woodcell threshold WoodCellsi CellBorder 0 120 get_image_pointeri WoodCellsi Pointer Type Width Height open_file wood_cells dat output FileHandle for i 0 to Width X 1 by 1 clip_region CellBorder Part 0 i Height 1 i X area_center Part Area Row Col fwrite_string FileHandle i Area 100 0 X Height fnew_line FileHandle endfor close_file FileHandle Figure 7 16 shows the measurement result 90 T T T T T T T T wood_cells dat 80 Fr 70 Fr 60 Anzahl 40 30 F 20 L L L 1 1 L i 1 1 0 100 200 300 400 500 600 700 800 900 Position Figure 7 16 Cell wall proportion in growth direction in percent 120 CHAPTER 7 PROGRAM EXAMPLES To allow further processing of the data such as for plotting using gnuplot as in figure 7 16 it has to be written to a file Therefore a text file is opened first open_file Now you can write to this file by using fwrite_string and fnew_line Note the formatting of output when using fwrite_string The output text starts with the loop variable that is followed by a space character Thus the number is transformed into a string Finally the proportion of the cell wall in percent is concatenated to the string At this it is important that the first or second value of
151. ls Pixel data can be stored by the following types byte integer 1 2 and 4 byte real and complex While processing an image an operator exclusively works on the pixels inside the domain of the image All pixels outside are ignored and may even have invalid undefined values The domain i e region of interest can be of any shape and is not restricted to rectangles like in many other systems The region of interest concept allows you to focus the image processing The amount of data to work on becomes smaller and the processing is much faster Regions are arbitrary subsets of Z x Z They are used to define image areas of any size and shape at pixel precision To reduce memory costs and to speed up the region processing they are stored by a runlength encoding Regions may define the domain of an image but can also be used a basic feature of HALCON as a flexible data structure of its own The size of regions is not limited to the size of images This strongly influences the effect of operations e g in morphology since it prevents image border artefacts Moreover regions may overlap without an implicit merging that would happen when storing them as images This results in a flexible usage e g for describing segmentation results or regions of interest 2 1 CONCEPTS 11 XLD is the abbreviation for eXtended Line Description This is a data structure used for de scribing contours of areas e g arbitrarily sized regions or polygons
152. lter size and type Both attributes determine the frequency properties In this program the filter el with mask size 5 x 5 is used It performs a derivation in vertical direction and a smoothing in horizontal direc tion Thus structures in vertical direction are intensified You cannot directly use the computed result of texture_laws see figure 7 3 right because it is too speckled Therefore you must generalize the texture image by a mean filter mean_image From this you obtain the so called texture energy figure 7 4 left Figure 7 4 Capillary vessel texture energy left and segmentation right The filter mask is chosen very large within this program The mask size for the horizontal direction is 211 and 61 for the vertical direction The asymmetry is used because the vessel is nested in horizontal direction From this you obtain an image with an upper and lower part that is brighter than that in the middle read_image Image vessel texture_laws Image Texture el 5 5 mean_image Texture Energy 211 61 bin_threshold Energy Vessel To separate these areas you just have to find the appropriate threshold In this case we have only two types of textures the threshold can be found automatically This is done by the operator bin_threshold which also applies the resulting threshold and thus extracts the vessel The right side of figure 7 4 shows the result of the segmentation 108 CHAPTER 7 PROGRAM
153. m text in HDevelop is done in the operator window this will be described below The main reason for this principle is the advantage of providing sophisticated help Thus you are able to avoid many input errors To edit a line of a program you chose an operator in the program window by clicking the left mouse button twice In case of conditions and loops it is unimportant which lines e g for or endfor are selected In any case the head with its parameters is selected You may edit only one operator at a time 4 5 OPERATOR WINDOW 61 Program Al E dev_open_window 0 0 Width Height black VWindow ID dev_set_draw fill dev_set_part 0 0 Height 1 WWidth 1 threshold Image Region 128 255 dev_set_color white connection Region ConnectedRegions select_shape ConnectedRegions CompactRegions compactness and 1 5 1 8 Number CompactRegions gen_empty_obj Eyes for i 1 to Number by 1 SingleSelected CompactRegionsfi area_center SingleSelected Area Row Column dey_set_color green if Area gt 500 and Area lt 50000 dey_set_color red Eyes SingleSelected Eyes endif endfor dev_display Image dev_set_color red Figure 4 33 Program example with the PC the arrow pointing to the right insertion cursor and the the breakpoint BP Besides editing the parameters of a single operator single and multiple lines can be deleted cut or pasted in one step usin
154. mage usr proj image consists of the two strings usr image usr proj image 84 CHAPTER 5 LANGUAGE 5 5 8 Comparison Operators In HDevelop the comparison operators 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 5 12 shows all comparison operators less than greater than less or equal greater or equal equal not equal Table 5 12 Comparison operators t tandt t are 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 integer 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 Ist Operand 2nd Operand 1 1 0 a 1 2 1 2 3 4711 Hugo 4711 Hugo Hugo hugo 2 1 2 1 0 5 4 1 5 4 2 1 2 0 true false Hugo hugo Table 5 13 Examples for the comparison of tuples The four comparison operators compute the lexicographic order of tuples On equal index po sitions the types must be identical however values of type integer real and boolean are adapted automatically The lexicographic order applies to strings and the boolean false is considered to be smaller than the boolean true
155. mages continuously and to display them in the active graphics window If an error occurs during grabbing it is displayed in the status bar of the dialog At most one of these framegrabber dialogs can be opened at the same time 4 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 green dot in the Active button e Pressing the Clear button clears the graphics window content and the history of the window e You close a graphics window using the close button of the window frame 4 7 GRAPHICS WINDOW 69 Graphics Window cua Figure 4 38 HDevelop s graphics window Figure 4 38 shows an example for a graphics window The 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 increase from top to bottom Normally the coordinate system of the graphics window corresponds to the the most recently displayed image which is automatically zoomed so that every pixel of the image is visible The coordinate system can be changed interactively using the menu Visualization gt Set Parameters gt Zoom see section 4 3 2 or with the operator dev_set_part see page 50 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 obje
156. me in the operator window s operator name field If it is indicated completely HDevelop shows the operator immediately in the operator window Now you have to specify the variable name of your image For this you put in the name Christof in the parameter field ImageCamera To do so you have two possibilities e Direct input via the keyboard e Using the combo box that is associated with the parameter text field you may choose an appropriate name 17 The system s suggestion for the interpolated image is ImageFilled By clicking button OK you insert this operator into the program and execute it immediately The computed image is displayed automatically in the active graphics window In the next step you try to separate bright from dark pixels in the image using a threshold ing operation In this case a segmentation using the simple thresholding operator threshold does not result in a satisfying output Hence you have to use the dynamic thresholding op erator dyn_threshold For execution you need the original image i e the interpolated full image and an image to compare containing the thresholds You obtain this image by us ing the smoothing filter e g mean_image As input image you choose your original image ImageFilled After estimating the marks size in pixels you specify a filter size which is approximately twice the marks size compare the HALCON Reference Manual entry for dyn_threshold HDevelop marks dev Fil
157. ments Since the reference manual for HALCON operators is also stored in HTML format it is convenient to use a standard WWW browser In the tool HDevelop you may call Netscape via the menu Help gt html help It will start Netscape with the corresponding help files see page 57 An alternative to Netscape is to use the Microsoft Internet Explorer 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 NT systems This viewer is not activated from HDevelop but has to be started from the start menu of Win dows NT Chapter 3 Example Session To get a first impression how to use HDevelop you may have a look at the following example session Every important step during the image processing session is explained in detail Thus having read this chapter thoroughly you will understand the main HALCON ideas and concepts Furthermore you will learn the main aspects of HDevelop s graphical user interface for more details see chapter 4 A simple introduction can be found the in Getting Started Manual as well In this example the task is to detect circular marks attached to a person s body in a gray value image The program can be found in the file AHALCONROOT examples hdevelop Manuals HDevelop marks dev After starting HDevelop see pages 12 and 125 your first step is the loading of the image marks tif from the directory 4HA
158. mment Add a comment of one line to the program comment allows to add a comment of one line to the program As parameter value i e as comment all characters are allowed This operator has no effect on the program execution Parameter gt gt gt gt Comment input control i 120er 24er fei ae han rer ine string gt gt string Arbitrary sequence of characters Example ES This is a program width comments this is a string as comment here are numbers 4711 0 815 stop AAA Reuto comment always returns 2 H_MSG_TRUE Module Basic operators exit Terminate HDevelop exit terminates HDevelop The operator is aquivalent to the menu File gt Quit Internally and for exported C code the C function call exit 0 is used 131 Example SSS read_image Image fabrik intensity Image Image Mean Deviation open_file intensity txt output FileHandle fwrite_string FileHandle Mean Deviation close_file FileHandle exit A Reuto exit returns O o k to the calling environment of HDevelop operating system See Alo____ stop Made gt o Basic operators for Start End Step Variable Execute the body for a fixed number The for loop is controlled by a start and termination value and an incrementation value that determines the number of loop steps These values may also be expressions which are evaluated immediately before the loop
159. ncatenation of strings subtraction negation Table 5 9 Arithmetic operations operations in HDevelop match the usual definitions Expressions can have any number of paren theses The division operator a a 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 integer division The remaining arithmetic operators multiplication addition subtraction and 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 In the following example Vi 4 3 V2 4 3 0 V3 4 3 2 0 Vi is set to 1 V2 to 1 3333333 and V3 to 2 0 Simple examples can be found in the program arithmetic dev 5 5 EXPRESSIONS FOR INPUT CONTROL PARAMETERS 81 5 5 6 Bit Operations This section describes the operators for bit processing of numbers The operands have to be integers lsh i i left shift rsh i i right shift i band i bitwise and i bor i bitwise or i bxor i bitwise xor bnot i bitwise complement Table 5 10 Bit operations 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 i1 that is applied i2 times For non negative i1 this is equivalent to a division by 212 For negative i1
160. nd value and column third value They denote row and column of the histogram center for positioning on the screen The scale factor fourth value determines the histogram size a scale factor of 1 distinguishes 256 grayvalues 2 distinguishes 128 grevalues and so on The four values are passed as a tuple e g P histogram 256 256 1 If only the first value is passed histogram the other values are set to defaults or the last values respectively For histogram computation see gray_histo The modes line and column allow to display gray values along lines or columns respecively The position line and columnindex is passed with the second paramter value The third pa rameter value is the scale factor in percent 100 means 1 pixel per grayvalue 50 means one pixel per two grayvalues Gray images can also be interpreted as 3d data depending on the grayvalue To view these 3d plots select the modes contourline 3D plot or 3D plot_hidden Paramters for modes that need more than one parameter can be passed the following ways e Only the name of the mode is passed the defaults or the last values are used respectively Example dev_set_paint contourline e All values are passed all output characteristics can be set Example dev_set_paint contourline 10 1 e Only the first n values are passed only the passed values are changed Example dev_set_paint contourline 10 Attent
161. ng image analysis pro grams Together with the HALCON library it is a sophisticated image analysis package suit able for product development research and education HALCON provides operators covering a wide range of applications Factory automation quality control remote sensing aerial image interpretation medical image analysis and surveillance tasks This manual provides all necessary information to understand HDevelop s basic philosophy and to use HDevelop 1 1 Readers This manual is intended for all new users of HALCON It does not assume that you are an expert in image processing Regardless of your skills it is quite easy to work with HDevelop Anybody should be able to understand the basic HALCON principles to solve his or her image analysis problems quickly Nevertheless it is helpful to have an idea about the functionality of graphical user interfaces GUI and about some basic image processing aspects see e g Bal82 Jai89 Rus92 1 2 Organization of this Manual Each part of the manual concerns different areas of application and shows different levels of difficulty The HDevelop user s manual is structured as follows Chapter 2 Introduction Section 2 1 explains the basic concepts of HDevelop data structures configuration etc Chapter 3 Example Session Chapter 3 contains a first example that illustrates working with HDevelop Chapter 4 Graphical User Interface Chapter 4 explains the graphical user inte
162. ngs of parameter Zoom 222 425402 e 47 Settings of parameter lut 2 3a re Soh ER ER ee 48 Menu item Control ate ee ee 49 Example For loop aA a al a ae rs tas ds 49 Ment Develop e a ae ors wR Md a Be eed Jerez A 51 Menu hierarchy of all HALCON operators 2 2 2 onen 54 Suggestions to select a operator successor o nenn 55 Operator suggestions according to keyword Clipping 56 Window management functions 2 222 ron 57 The window management function Tile oaa 58 Information about the current HALCON version 58 175 176 4 31 4 32 4 33 4 34 4 35 4 36 4 37 4 38 5 1 7 1 1 2 1 3 7 4 7 5 7 6 PA 7 8 7 9 7 10 7 11 7 12 7 13 7 14 7 15 7 16 7 17 7 18 7 19 8 1 LIST OF FIGURES Toolbar ue ae ea Gir Sats Gale A a A es LE 59 The different parts to the HDevelop toolbar 59 Program example with the PC the BP and the insertion cursor 61 Operator window with operator select_shape 64 Operator selection in the operator name field 65 Variable window 2 S lt 2 a nd ee ed ee 66 Variable inspect framegrabber o e 68 Graphics window of HDevelop o e 69 The syntax of tuple constants 4 44 24 2 2 ii Buk Sauk Sek a 74 Stamp catalogs part A ED Se A eo BE eS a 104 Segmentation result for stamps 0002 ee eee eee 105 Capillary vess
163. nished Thus a value is only valid until the next call of an operator The value can be saved by assigning it to another variable see example or by calling dev_error_var ErrorVar 0 143 A AAA Attention ed If dev_error_var should be used for exported Code C please note the different handling of return values in C Parameter gt Error Var input control ee integer array integer Name of the variable which shall contain the error status gt Mode input control air er Kr integer integer Switch the error variable on or off Defaultvalue 1 Value List Mode 0 1 Example SSS dev_close_window dev_open_window 0 0 512 512 black WindowHandle dev_error_var Error 1 dev_set_check give_error FileName wrong_name read_image Image FileName ReadError Error if ReadError H_MSG_TRUE write_string WindowHandle wrong file name FileName endif Result 5 dev_error_var always returns 2 H_MSG_TRUE Possible Predecessor Functions gt _ dev_set_check a Possible Successor Functions a dev_set_check if ifelse assign See Also_ o o oo set_check Module ees Basic operators Open a window to inspect a control variable dev_inspect_ctrl opens a dialog to check the contents of a control variable This dialog has a scrolled list with all the values of the variable In the case of an framegrabber handle a spe cific dialog is opened which dis
164. nitHalcon This subroutine applies the same initializations which HDevelop does Most of the variables iconic as well as control are declared locally in the subroutine RunHalcon Iconic variables inside RunHalcon belong to the class HUntypedObjectX 98 CHAPTER 6 CODE GENERATION 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 where all output opera tions are passed to In addition to this depending on the program additional subroutines and variables are declared Array Assignment If a single value is assigned to a variant array a special subroutine is called to ensure that the index is valid If the array is to small the variable is resized Expressions All parameter expression inside HDevelop are transferred to expressions based on the HALCON tuple operators Therefore an expression might look somewhat complex In many cases these expressions can be exchanged by simple Visual Basic expressions like tuple_sub 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 semantic is not always identical Stop The HDevelop operator stop is transferred into a subroutine in Visual Basic which creates a message box This message box causes the program to halt until the button is pressed Exit The HDevelop operator exit
165. nline help which can be displayed by a suitable HTML browser like Netscape Navigator HALCONROOT 1lut User defined look up tables are situated in this directory HALCONROOT ocr This directory includes trained fonts 2 2 CONFIGURATION 13 HALCONROOT license This directory contains the license keys necessary for using HALCON HALCONROOT images If the variable HALCONIMAGES see below is not set the system looks for image files in this directory e HALCONIMAGES To search for image files specified by a relative path the system uses this environment variable Usually it contains several directory names which are separated by colons on Unix systems and semicolons on Windows NT systems e ARCHITECTURE Executable HALCON programs reside in HALCONROOT bin ARCHITECTURE To indicate shared libraries the directory HALCONROOT 1ib ARCHITECTURE is used ARCHITECTURE designates the used platform by an abbreviation e g hppa1 1 hp hpux9 or sparc sun solaris2 5 syntax processor hardware_vendor operating_system or does not have any content i e it is empty or undefined if the installation for HALCON was made for one architecture only It is useful to in clude the path HALCONROOT bin ARCHITECTURE or HALCONROOT bin in the path environment variable PATH of a shell script e LD_LIBRARY_PATH and SHLIB_PATH Using an HP UX architecture the HALCON library path should be included in the envi ronment variable SHLIB_PAT
166. ntax like HalconDevelop default syntax TRIAS C or Pascal Digits With this checkbox you can control how many digits of floating point numbers are displayed in the Variable window The selected number is the total number of digits displayed Therefore if you have selected four digits the result of the following assignment assign 4 atan 1 PI is displayed as 3 142 Note that the changes do not take effect until the values of the variables are actually updated by running the program 1 e the the variables are not redisplayed automatically Before continuing your HDevelop session you have to close the option window by press ing the button Ok or by cancelling the action If Insert Interactions is activated the 4 3 MAIN WINDOW 31 changes applied inside the dialog will result in automatic operator insertion after pressing OK e Menu item File gt Modules opens a window in which the HALCON modules used by the current program are displayed see figure 4 8 This window allows you to get an estimate of how many modules your application would need in a runtime license Only calls to the HALCON library are taken into account for the computation of the modules and not HDevelop control structures like assign or ifelse or HDevelop operators like dev_open_window or dev_set_color Therefore when you export your program to C or Visual Basic the actual number of modules required may be higher than the mod ules displayed in the M
167. nvenient menu for manipulation of the zooming mode The submenu Reset switches zooming off i e an image will be displayed so that it fills the graphics window completely The submenus Zoom In and Zoom Out apply a zooming in and out to the image or region by a factor of two Finally there are two interactive modes to control zooming Draw Rectangle allows the specification of a rectangular part of the window to be zoomed while Draw Center allows the definition of a pixel coordinate that should be at the center of the window e g for a successive Zoom In For more information see the menu Visualization gt Set Parameters D Zoom 44 CHAPTER 4 GRAPHICAL USER INTERFACE e Visualization gt 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 regions are displayed with one color you have to use the operator connection beforehand You can check this also with the operator count_obj Visualization gt Color This item enables color specification to display segmentation results regions and XLD text write_string and general line drawings e g 3D plots contour lines and bar charts The number of colors which are available in the submenu depends on the graphics display i e the number of bits used for displaying After selecting a color the prev
168. ode on off Result dev_update_time always returns 2 H_MSG_TRUE 162 APPENDIX B DEVELOP See Also ee dev_update_pc dev_update_window dev_update_var Module er Basic operators dev update_var DisplayMode Specify the behaviour of the variable window during program execution dev_update_var specifies the behaviour of the variable window during program execution Using the mode on default the contents of the variable window iconic and control variables is updated each time a variable is modified by the program In the mode off the variables are updated only when the execution is finished Please not that update in this contents only means the graphical representation of the internal values in the variable window This option can also be controled by the dialog File gt Options gt Update Variables Attention SSS This operator is not supported for exported C code Paramete SS gt DisplayMode input control u eh AA ido el hier string string Mode for graphic output Defaultvalue off Value List DisplayMode on off Result dev_update_var always returns 2 H_MSG_TRUE See Also D dev_update_pc dev_update_window dev_update_time Module BEE Basic operators dev_ update_ window DisplayMode Specify the output behaviour during program execution dev_update_window specifies the output behaviour during program execution By default every object image r
169. odule window depending on how many operators you add to the program e g for visualization purposes Used Modules x Basic operators af Image region XLD handling Image filters Subpixel operators Template matching Region processing KIN Morphology Background estimation Optical character recognition Fourier descriptors Wiener filter Camera calibration af Tools System Figure 4 8 The modules window e Menu item File gt Quit terminates HDevelop without saving the current program Menu item Edit In this menu item you find all necessary functions to modify a HDevelop program in the program window see chapter 4 4 You have the following items to choose from e You may undo your previous activities by clicking Edit gt Undo For example by click ing three times this item you cancel the last three user actions e You may use the items Edit gt Cut Edit gt Copy and Edit gt Paste for changing the program contents First you have to select the part of the program at least one program line that has to be changed use the left mouse button Then you may delete this part by clicking the item Cut keyboard shortcut lt Ctr1 gt Z The deleted program part is stored in an internal buffer Thus by using the item Paste keyboard shortcut lt Ctr1 gt V the buffer remains unchanged 32 CHAPTER 4 GRAPHICAL USER INTERFACE HDevelop OF x File BJ Execute Visualization Operators Suggestion
170. of the zooming Every window keeps track of the size of the most recently displayed 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 chapter 4 7 it is going to be suppressed Normally regions images and XLDs are represented in variable icons Besides this there are three exceptions which are shown by special icons e Empty variables are displayed as a question mark icon You may fo write but not read them because they do not have any values 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 operator empty_obj Such a value might be reasonable if you want to collect iconic objects in a variable gradually in a loop 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 4 6 2 Area for Control Data To the right of the variable name you find their values in the default representation If you spe
171. 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 If the start value is less or equal to the termination value the loop index is assigned with the starting value and the body of the loop is entered If the increment is less than zero the loop is entered if the start value is larger or equal to the end value Each time the body is executed the loop index is incremented by the incrementation value If the loop index is equal to the termination value the body of the loop is performed for the last time If the loop index is larger than the termination value the body will not be excecuted any longer Please note that it is not necessary that the loop index has to be equal to the termination value before terminating the loop The loop index is set to the termination value when the loop is being left Please note that the expressions for start and termination value are evaluated only once when entering 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 3For negative increment values the loop is terminated if the loop index is less than the termination value 90 CHAPTER 5 LANGUAGE value is assigned to the correct value each time the for operator is executed For m
172. of upper left corner Defaultvalue 0 Value Range 0 lt Row Minimal Value Step 1 Recommended Value Step 1 Restriction Row gt 0 V Row 1 gt Column input control users Rese eA bee RRS rectangle origin x integer Column index of upper left corner Defaultvalue 0 Value Range 0 lt Column Minimal Value Step 1 Recommended Value Step 1 Restriction Column gt 0 V Column 1 159 gt Width input control asada rectangle extent x integer Width of the window Defaultvalue 256 Value Range 0 lt Width Minimal Value Step 1 Recommended Value Step 1 Restriction Width gt 0 V Width 1 gt Height input control area rectangle extent y integer Height of the window Defaultvalue 256 Value Range 0 lt Height Minimal Value Step 1 Recommended Value Step 1 Restriction Height gt 0 V Height 1 Example SSS dev_close_window read_image For5 for5 get_image_pointeri For5 Pointer Type Width Height dev_open_window 0 0 Width Height black WindowHandle dev_display For5 stop dev_set_window_extents 1 1 Width 2 Height 2 dev_display For5 stop dev_set_window_extents 200 200 1 1 ZZ SAS E EE If the values of the specified parameters are correct dev_set_window_extents returns 2 H_MSG_TRUE If necessary an exception handling is raised ao Possible Successor Functions gt gt gt dev_display dev_set_lut dev_set_color dev_set_draw dev
173. on see below To do so you can deselect the checkbox Accept 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 O 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 in white The final static parts of the display are three cyan arrows The two upward pointing arrows denote the maximum and minimum grayvalue of the image The downward pointing arrow de notes the gray value that occurs most frequently i e the peak of the histogram These data are displayed in textual form within the Static data area of the display The dynamic parts of the histogram area are the three colored lines which can be manip ulated The dashed horizontal yellow line can be dragged vertically The label on this line indicates the frequency of gray values above this line The vertical green and red lines denote the minimum and maximum selected gray value of the histogram respectively The selected range is drawn as a white bar below the horizontal gray value axis The gray valu
174. or below 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 which is derived from another im age 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 Accept display the original image and then select the appropriate thresholds This way only one window is needed for the vi sualization For the second possibility you can display the derived image in one window make another window active or open a new window display the original image there make the first window active again open the histogram tool make the second window active again set Send to To Active and select your thresholds Although in this case it is not necessary to deselect Accept it is advantageous to do so because this prevents the histogram from being updated if you click into a graphics window accidentaly Visualization gt Region Info This menu item opens a tool for the convenient inspection of shape and gray value fea tures of individual regions It can for instance be used to determine thresholds for op erators that select regions based on these features e g select_shape
175. or select_gray Figure 4 16 shows the layout of the region feature inspection window The strategy to determine the data from which to compute the features is very similar to that of the gray histogram inspection window 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 only 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 4 3 MAIN WINDOW 41 Region Features Jof x Shape Features Gray Value Features i E center r c 301 14 205 79 inny Eifin width 108 deviation 5 03764 height 253 shape lelipse 148 464 59 1289 angle degrees y angle 92 6125 entropy 3 93026 anisotropy 0 597637 El contour length 1535 71 MS ld fo dir m m y compactness 9 97741 ga a energy 0 169344 II a convexity 0 706771 correlation 0 680979 m anisometry 251085 homog
176. or the type long in the class HTuple So again we have to change the program slightly by adding the cast Operator HTuple T1 T2 long val Ti T2 HTuple val System Parameters You should know that HDevelop performs some changes of system parameters of HALCON by calling the operator set_system see reference manual This might cause the C program 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 your own C program Both concrete errors shown above are hypothetical as they would be avoided by the automatic code generation in this special case But they are good examples for similar errors that might be caused by conflicting operators 6 2 CODE GENERATION FOR VISUAL BASIC 97 Graphics Windows The graphics windows of HDevelop and the basic window of the HALCON C library have different functionality Because the HDevelop windows are not available in C one is re stricted to the basic windows To get more information about both types of windows look at section 4 7 in this manual and read the description of open_window in the HALCON C ref erence manual 6 2 Code Generation for Visual Basic This section describes the export of an HDevelop program to Visual Basic HAL
177. ore details see section 6 1 4 on the code generation of for loops 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 for lt loop value gt lt Start gt to lt End gt by lt Increment gt endfor In the following example the sine from O up to 67 is computed and printed in to the graphical window filename sine dev old_x 0 old_y 0 dev_set_color red dev_set_part 0 0 511 511 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 In this example the assumption is made that the window is of size 512 x 512 The drawing is always done from the most recently evaluated point to the current point Further examples on how to use the for loop can be found in chapter 7 8 and 7 9 e stop stops the program after the operator is executed The program can be continued by pressing the Step or Run button e exit terminates the session of HDevelop 5 8 Limitations This section summarizes the restritions 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 name 256 characters e Maximum length of a tuple 1000000 The general restrictions of the HALCON operators can be found in the Gett
178. ors in the program To do so you select this option From now on interactions are inserted as a program line in the program window For example select the graphic color red by choosing the appropriate menu inserts the program line dev_set_color red into the program window Show Variable Usage If you activate a variable by single clicking on it all lines in the program that contain the variable are marked on the left with a black frame This works with iconic and control variables You can activate one iconic and one control variable simultaneously Each activated variable is marked by a black background for the name in the variable window Show Low Level Errors Low level errors of HALCON are normally invisible for the user because they are transferred into more comprehensive error messages or simply ignored Activating this item generates a message box each time a low level error occurs Automatic Program Save If you activate this option the program is automatically saved before each execution of the program i e before a Run or Step operation The file name the program is saved to is the file name of the current program Therefore if you create a new program you have to select File gt Save as manually first to give the program a file name Syntax Using a combo box you may specify the output mode inside the program window Depending on the mode each HALCON or HDevelop operator is shown in a specific sy
179. ot important to the program whether an image or a set of regions is processed You can handle them both in the same way In addition memory management of internal data structuresis transparent to the user Thus you do not need to bother about memory management and you can concentrate on the image analysis tasks to solve 7 2 Capillary Vessel File name vessel dev The task of this example is the segmentation of a capillary vessel In particular you have to separate the cell area in the upper and lower part of figure 7 3 left image from the area in the middle of the image Figure 7 3 Capillary vessel left and texture transformation right 7 2 CAPILLARY VESSEL 107 The area boundaries are very blurred and even a human viewer has difficulties recognizing them At first glance it seems very difficult to find a segmentation criterion There is neither a clear edge nor a significant difference between the gray values of both areas Thus it is not very promising to use an edge operator or a threshold operation One solution of this problem makes use of the different textures within the areas Cells are more textured than the part which is supplied with blood To emphasize this difference you can use a fexture transformation by Laws Laws80 Texture transformations are linear filters that intensify certain frequencies which are typical for the requested texture The correspond ing HALCON operator is texture_laws You have to specify the fi
180. p windows the mechanism might fail especially if the Activate button was used during program execution Compiler errors Sometimes it happens that messages like CC example cpp line 17 bad operands for int HTuple P PP P 96 CHAPTER 6 CODE GENERATION or CC example cpp line 17 error ambiguous call CC example cpp line 17 choices of HTuple operator CC example cpp line 17 HTuple operator const HTuple amp const CC example cpp line 17 HTuple operator double const CC example cpp line 17 HTuple operator int const are reported by the compiler Both errors are caused by conflicting operators In this case one either has to change the HDevelop or the C program To understand how let us look at the code which caused the errors above For the first error the C program would look like this HTuple T1 T2 Ti 2 T2 Because there is no operator int HTuple a compiler error is given This error can be handled in two ways 1 Do appropriate type casting in C T1 HTuple 2 T2 ii Change the order of the Operands in HDevelop and export the program again T1 T2 2 Both changes will do The first one would be used by the code generation anyway The second error mentioned above is caused by a similar reason The program might look like this HTuple T1 T2 long val Ti T2 val In this case val is a long variable and there is no multiplication available f
181. perator execution i e the position of the PC is not changed The insertion cursor is positioned after the new operator 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 of an operator rapidly since the operator dialog remains open and hence you can change parameters quickly Unlike the button OK only the single line you edit or enter is ex ecuted no matter where the PC is located Thus you have to ensure that all the input variables contain maningful values By pressing Apply the corresponding output vari ables are changed or created if necessary to allow you to inspect their values If you decide to not enter the line into the program some unused variables may thus be created You can easily remove them by selecting File gt Cleanup Cancel clears the contents of the operator window Thus there are neither changes in the program nor in any variables Help invokes an appropriate help text for the selected operator For this the system acti vates an HTML browser see chapter 2 3 4 6 VARIABLE WINDOW 65 Operator Name Field The operator name field is another possibility to select operators You simply have to enter a substring of an operator name By pressing lt Return gt or pressing the button of the combo box the system is looking for all operators in the menu Operators that contain the user specifie
182. play Image dev_display SmallConnection dev_set_color red select_region_point SmallConnection SmallSingle Row Column dev_display SmallSingle NumSingle SmallSingle if NumSingle 1 intensity SmallSingle Image MeanGray DeviationGray area_center SmallSingle Area Row Column dev_set_color yellow set_tposition WindowID Row Column write_string WindowID Area Area Int MeanGray endif endwhile dev_set_line_width 1 dev_update_window on ee gt Result while returns 2 H_MSG_TRUE if the evaluation of the expression yields no error as operator always returns 2 H_MSG_TRUE Alternatives for See Also if ifelse Module Basic operators 137 endwhile 138 APPENDIX A CONTROL Appendix B Develop dev_clear_obj Objects Delete an iconic object from the HALCON database dev_clear_obj deletes iconic objects which are no longer needed from the HALCON database It should be noted that dev_clear_obj cannot be exported to C due to the au tomatic memory management in C a AMO Never use clear_obj to clear objects in HDevelop The operator dev_clear_obj has to be used instead Parameter gt Objects input object Year tee pees nda lepra oS object array gt Hobject Objects to be deleted Result 2 dev_clear_obj returns 2 H_MSG_TRUE if the variable is instantiated If necessary an ex ception is raised See ATso clear_obj te
183. plays the most important framegrabber parameters and can be used to switch the framegrabber only interactively The contents of the dilaog will be up dated whenever the value s of variable changes The update mode can influenced by the op erator dev_update_ctrl The dialog can be closed by pressing the Close button or by calling dev_close_inspect_ctrl 144 APPENDIX B DEVELOP Attention gt This operator is not supported for exported C code Parameter 3 gt Variable input_control 05 integer array integer real string Name of the variable to be checked Example read_image Image fabrik regiongrowing Image Regions 3 3 6 100 area_center Regions Area Row Column dev_inspect_ctrl Area Result en dev_inspect_ctrl always returns 2 H_MSG_TRUE See Also dev_update_var Module ss Basic operators dev map_par Open the dialog to specify the display parameters dev_map_par opens the dialog which can also be accessed from the menu Visualization gt Set Parameters The dialog is used to configure the modes to display data like images regions or polygons Attention SSS This operator is not supported for exported C code Example 5 read_image Image fabrik threshold Image Region 128 255 dev_map_par SS Reato dev_map_par always returns 2 H_MSG_TRUE Possible Successor Functions _ dev_unmap_par Module L Basic operators
184. posed values After having selected the appropriate parameters you execute the operator and insert it into the program text i e the program window You can modify and verify your generated program interactively All intermediate results variables are displayed graphically images regions and polygons XLD or textually numbers and strings If you want to get a detailed step by step introduction have a look at the Getting Started Manual You start HDevelop on Windows NT by calling Start gt Programs gt Halcon gt HDevelop After starting the tool the main window which includes the following windows will appear on your screen see also figure 4 1 e aprogram window e an operator window e avariable window and e a graphics window In the following you will learn the functionality of these five windows and their effective use while creating HDevelop programs Please note that in the UNIX environment the main window the program window and the operator window are combined into one window Thus there are only three windows 4 1 Interacting with HDevelop You interact with HDevelop through its graphical user interface With the mouse you can ma nipulate visual controls such as menus or buttons in the HDevelop windows ln chapter 8 1 you can obtain further information on how to start the tool see page 125 The necessary settings for the operation system are described in chapter 2 2 on page 12 21 22 CHAPTER 4
185. r Eye height Eye distance view point Scale height of 3D plot Row and XK XX XX XX Column position of the center Visualization gt Set Parameters gt Pen Here the display modes for regions and XLDs are specified You can select the color single or multiple the drawing mode filled or border the line width for border mode and the shape of the regions 46 CHAPTER 4 GRAPHICAL USER INTERFACE lut zoom pen paint p V Update G1 C3 fill margin ss v border width la y shape original Close Figure 4 19 Settings of parameter pen You can select up to 12 colors by clicking the appropriate checkbox They are used to emphasize the connectivity of different regions in the graphics window If you choose a single color presentation you may specify this color by selecting it in the list box see figure 4 19 With the parameter shape default is original you may specify the presentation shape for regions Thus you are able to display not only the region s original shape but also its enclosing rectangle or its enclosing circle etc For regions the draw mode can be specified Either it might be filled item fill or the borders are displayed item margin only The border line thickness of the presented regions is specified with help of the menu item border width This menu is visible only if the draw mode is set to margin because in the draw mode fill this parameter has no
186. ram Files MVT ec Halcon i a E C ram Fi on Cleanup E images Options Modules Quit Je Read image from file Figure 4 5 The menu item File gt Read Image ning the program The so called PC Program Counter always indicates the line of the currently executing operator or the line before the next operator to execute Using the PC in this way is time consuming Therefore you may suppress this op tion after your test phase or while running a program with a lot of small operators inside a loop Update Variables This checkbox concerns the execution of a program Every variable iconic and con trol is updated by default in the variable window see page 65 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 to save time while excecuting 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 Window This item concerns the output of iconic data in the graphics window after the exe cution of a HALCON operator With the default setting all iconic data computed in the Run mode see page 32 is displayed in the current graphics window You may want to suppress this automatic output e g because it slows down the performance 4 3 MAIN WINDOW 29 Load Image File ans
187. rams containing error handling dev_set_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_MESS_FATL which are not handled as exceptions in C e g 6 2 CODE GENERATION FOR VISUAL BASIC 101 Special Comments HDevelop comments containing the symbol as the first character are exported as Visual Basic statement Thus 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 This feature can be used to integrate Visual Basic code into an HDevelop program System Parameters You should know that HDevelop performs some changes of system parameters of HALCON by calling the operator set_system see reference manual This might cause the Visual Basic program 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 your own Visual Basic program Multiple Windows The exported code is intended to work together with the Visual Basic template Thus only one window is available All
188. ration 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 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 5 6 you can find some examples for arithmetic operations with tuples In this example you should pay special attention to the order in which the string concatenations are performed 76 CHAPTER 5 LANGUAGE 5 5 5 5 1 2 3 2 1 2 3 2 1 10 1 2 3 1 2 3 1 2 3 1 2 Text1 Text2 17 23 Text Texti 99 Text2 Text 3 1 2 3 1 2 Text 3 1 2 Text 3 1 2 Text 25 25 2 4 6 12 1 14 2 16 3 1 4 9 runtime error Text1Text2 17 23 Text Texti 99 Text2 Text 6 2 runtime error 25 1 Text 23 12 Text Text 2 1 3 Text 2 13 Table 5 6 Examples for arithmetic operations with tuples and strings 5 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 evalu ates 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 usu
189. re 4 2 shows all the functions in this menu item HDevelop Edit Execute Visualization Operators Suggestions Window Help Open allt ENTE a sl E oa el Ctrl O El Aaa Insert Save Etrl S Save as lich Read Image dls Window Cleanup i Options Modules Quit K Create a new program clear the current program Figure 4 2 The menu item File e The menu item File gt New keyboard shortcut lt Ctrl gt N deletes the current program and all associated variables The contents of the variables are deleted before removing them In addition all graphics windows except one are closed The last window will be 4 3 MAIN WINDOW 25 cleared The display parameters for the remaining graphics window are identical to those when starting HDevelop The first four parameters of the menu File gt Options are reset to their initial state The update of windows variables PC and time is on A security check prevents you from deleting the current program accidentally if the pro gram has not been saved A dialog box appears and waits for your response whether you really want to delete the HDevelop program Your confirmation only deletes the HDe velop program you are working on and not the file associated with it Now you are ready to input a new HDevelop program If you give a negative response nothing will happen You have to press one of the two buttons before you are ab
190. rface of HDe velop Sections 4 1 to 4 7 describe the interactive elements of the graphical user interface Consult your platform s documentation for general information 5 6 CHAPTER 1 ABOUT THIS MANUAL Chapter 5 Language Chapter 5 explains syntax and semantics of the language used in HDe velop programs Chapter 6 1 Code Generation for C This chapter explains the export of a HDevelop pro gram to C Further information about using HALCON operators within conventional languages C and C can be obtained in the user manuals HALCON C and HAL CON C Chapter 6 2 Code Generation for Visual Basic This chapter explains the export of a HDe velop program to Visual Basic Further information about using HALCON operators with the COM interface can be obtained in the user manuals HALCON COM Chapter 7 Program Examples Programming in HDevelop is explained by examples in Chap ter 7 Chapter 8 Miscellaneous Chapter 8 explains how to start HDevelop and describes keycodes warning and error windows and restrictions Further information and hints can be found in Settings The following sections explain how to set up the system e 2 2 General settings e 2 3 Help files for HTML browser e 8 1 Starting HDevelop e 8 2 Keyboard settings of HDevelop Debugging Hints for debugging can be found in e Sections 2 2 and 8 1 Starting the program e Section 5 Programming HDevelop 1 3 Additional Sources of Information For furt
191. rical string in HDevelop The name is derived from their respective functions within HALCON operators where they control the behaviour the effect of image processing operators 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 following types integer real boolean and string e The types integer and real are used under the same syntactical rules as in C Integer 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 representa tions real becomes the C type double 8 bytes and integer becomes the C type long 4 or 8 bytes e A String 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 5 2 see the reference of the C language for comparison Examples of strings are shown in table 5 3 e The constants true and false belong to the type boolean The value true is internally represented by the number and the value false by 0 This means that in the expression Val true the effective value of Va
192. rt_region IntermediateBalls FinalBalls FirstPoint True column smallest_circle FinalBalls Row Column Radius Since the balls are wider than the wires you may clean this region using a simple opening The radius here 15 5 should correspond to the minimum size of one ball In both images you see an erroneous segmentation that was created by a rectangular dark region This can be suppressed by a shape segmentation Since in practice a bonding detection would be performed only close to the anticipated positions of bonding balls Figure 7 10 shows the results of the whole segmentation Balls are shown in white color Every radius of a ball you can find in the tuple variable Radius The number of balls within the example you can get with the absolute value of Radius NumBalls Radius Diameter 2 Radius MeanDiameter sum Diameter NumBalls MinDiameter min Diameter Diameter MeanDiameter and MinDiameter are some examples for calculations possible with HDevelop 7 6 Calibration Board File name calib dev This example works with the image of a calibration board It is used to specify the internal 114 CHAPTER 7 PROGRAM EXAMPLES E Ber oo Ls i Figure 7 11 Calibration board and gray_inside result parameters of a CCD camera Therefore you have to extract the circles on the board see left side of figure 7 11 This example describes an interesting operator It is called gray_inside and is a so
193. s In this mode 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 In the fourth mode the same mechanism is used for re gions 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 Finally when the graphics window the image was sent from is cleared the histogram is not reset 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 The radio box in the upper center of the tool lets you select whether to display the his togram with relative or absolute frequencies When you select Rel the frequencies of individual gray values are displayed as percentages when you select Abs they are dis played as the actual number of pixels having a particular gray value See the operator gray histo in the HALCON Reference Manuals for details 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 segmentati
194. s Window Help Bi ndo Giz EE al IE Cut program line s Figure 4 9 Main windows menu item Edit e By clicking Copy keyboard shortcut lt Ctrl gt C you store the selected program lines directly in an internal buffer To insert this buffer in the HDevelop program you place your mouse pointer at the desired position and then click item Paste Menu item Edit gt Delete deletes all selected program lines without storing them in an internal buffer The only way to get the deleted lines back in your program is to use the item Undo Menu item Execute In this menu item you find all necessary functions to execute a HDevelop program in the program window see chapter 4 4 You have the following items to choose from e By selecting Execute gt Run keyboard shortcut F5 HDevelop executes your program depending on the PC s position in the program window The PC indicates the next program line to execute All following program lines are going to be performed until the program end Notice that a breakpoint may interrupt the run of your program During the execution of operators the following special behaviour occurs Although the mouse pointer indicates that HDevelop is not ready to handle user in put clock shape of the mouse pointer you may initiate limited transactions For example if you click variables they will be visualized you may modify output pa rameters for graphics windows you may even modif
195. s for specific tasks In addition a thematically structured op erator list helps you finding an appropriate operator An integrated online help contains information about each HALCON operator such as a detailed description of the functionality typical successor or predecessor operators complexity of the operator costs of computation time error handling examples of ap plication The online help is based on an internet browser such as Netscape Navigator or Microsoft Internet Explorer HDevelop comprises a program interpreter with edit and debug functions It supports programming features such as loops and conditions HDevelop immediately displays the results of operations You can try different operators and or parameters and directly see the effect on the screen Several graphical tools allow the examination of iconic and control data Variables with an automatic garbage collection are used to manage iconic objects or con trol values 10 CHAPTER 2 INTRODUCTION There are three basic ways to process and develop image analysis programs with HDevelop e Rapid prototyping in the interactive environment HDevelop e Development of an application that runs within HDevelop e Use HDevelop to develop an application that can be exported as C source code This program can then be compiled and linked with the HALCON library so it runs as a stand alone console application 2 1 2 Data Structures HALCON distinguishes between two type
196. s of an operator e The last one is a row of buttons to control the parameter display 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 HDevelop displays the operator s parameter data i e name number type and default values in the display e In the first column of the operator window you find the parameter names e The second 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 appropri ate item you set the text field and the list disappears e The third column indicates the parameter s default type in parentheses This is a raw hint for the user what types of data have to be specified for each operator Please refer to the following rules on how parameters obtain their values and how you may specify them Iconic input parameters These are the only parameters that do not have any defaults You have to make sure that there is an input Possible inputs are iconic variables of the
197. s of data iconic and control data e Iconic data are all kinds of image objects images regions or XLD objects describing areas and contours whereas e control data are all kinds of numerical values such as integer floating point numbers and also strings Control data defines input values for operator control parameters and is used to build complex structures like bar charts or arrays of control values Both iconic and control data are pro cessed according to the tuple scheme within HALCON i e they may be a tuple a number of items consisting of several elements HALCON always processes all elements of a tuple simul taneously You can handle tuples just in the same way as single objects values For example to filter several images you may call the filter operator several times on the different images or you can put them into one tuple iconic object and pass it as input to the filter operator HALCON processes the filter operation simultaneously on all tuple elements and returns another tuple containing the resulting images We will now describe iconic data in detail to give you a better understanding how to handle image data Basic types are images regions and XLD objects eXtended Line Description Images are defined as a sub set of pixels of a rectangular index range An image consists of one domain deftermining the image s area of definition and one or more channels containing the gray values of the pixe
198. se operators are not supported for exported C and Visual Basic code dev_update_window dev_update_var dev_update_time dev_update_pc Using these operators you may configure the output at runtime It corresponds to the settings in menu Visualization gt Options see page 36 These operators are not supported for exported C and Visual Basic code 4 3 MAIN WINDOW 53 e 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 to gether with an error dialog if a value not equal to H_MSG_TRUE is returned Using the value gt 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_FAIL An example can be found on page 121 e dev_error_var This operator specifies a variable that contains the return value error code of an oper ator 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 An example how to use dev_error_var in connection with dev_set_check can be found in HALCONROOTY examples hdevelop Graphics Mouse get_mposition dev Please note that operations concerning gr
199. sed by a compactness value close to 1 For this you have to choose the operator select_shape once again Use the combo box of the parameter text field Features to specify the value compactness As a range of values you may specify 20 CHAPTER 3 EXAMPLE SESSION the parameters Min and Max with the values 1 0 and 1 4 respectively The output regions of the first call SelectedRegions are the input regions for the second call of operator select_shape The output parameter s name SelectedRegions is replaced by the name SelectedRegionsDynThresh The last step to make the application stable is to add a selection of regions based on gray value features This is done by using the operator select_gray In this case the mean gray value is used to discriminate the objects Finally we want to obtain some numerical information about the matched marks For example we might want to compute three shape features of the marks They are derived from the regions geometric moments The calculation is done by the operator eccentricity The input param eters are all regions of the variable Marks The computed values Anisometry Bulkiness and StructureFactor are displayed as a list a tuple in HALCON terminology in the variable window Figure 3 5 shows the example session s result Operators Suggestions Window Help aee aele Bl ode Variable Watch Pilz image ageMean 29 29 Iconic Variables ageMean RegionDynThresh 5
200. sed for exported Code C please note the description of set_colored due to the different semantics in C Parameter Y gt NumColors input control ii Ei integer integer Number of output colors Defaultvalue 6 Value List NumColors 3 6 12 151 Example SSS read_image Image monkey threshold Image Region 128 255 dev_set_colored 6 connection Region Regions Result _ dev_set_colored always returns 2 H_MSG_TRUE Possible Predecessor Functions gt _ dev_open_window Possible Successor Functions _ dev_display Alternatives dev_set_color See Also E dev_set_draw dev_set_line_width set_colored Module AAA System operators dev_set_ draw DrawMode Define the region fill mode dev_set_draw defines the region fill mode If DrawMode is set to fill output regions are filled if set to margin only contours are displayed It is used by region output like dev_display disp_region disp_circle disp_rectanglel disp_rectangle2 disp_arrow etc If the mode is margin the contour can be affected by dev_set_line_width set_line_approx and set_line_style SCA tention ap If dev_set_draw should be used for exported Code C please note the description of set_draw due to the different semantics in C Parameter _ gt gt S oo gt DrawMode input control ram tees essa a Bee ees 4S string gt gt string Fill mode for region output Defaultvalue
201. sed vari ables is especially used for parameters that contain data like file framegrabber 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 are able to use multiple values of these types at once This is done by using the tuple type This is an enumeration of values separated by commas and enclosed 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 5 5 Control output parameters These parameters are handled in the same way as output object parameters Their de faults are variables named with 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
202. sents all HALCON and or HDevelop operators containing the first three specified letters Now you are able to select the operator dyn_threshold and to specify its input parameters The value ImageFilled is used for OriginalImage ImageMean is used as the component to compare here ThresholdImage For the output parameter RegionDynThresh the variable name remains unchanged see figure 3 3 File Edit Execute Visualization Operators Suggestions Window Help Osa leed Eee El Mela 0 marks Christof Pointer Type With Height 0 0 With Height black WindowiD 1 magefiled odd imageFilled ImageMean 29 29 mageFiled imageMean RegionDynThresh 5 tight Christof ImageFill ImageMe Control Variables 26076640 byte 768 575 3600 Figure 3 3 The displayed image is the threshold operation result Image pixels touching each other and remaining above the given threshold have to be merged to single regions The computation of these connected components is realized by operator connection menu item Operators gt Regions gt Transformations The input region RegionDynThresh is specified in the text field Region The output variable s default name ConnectedRegions is changed to ConnectedRegionsDynThresh After the operator s exe cution all resulting regions are stored in this output variable This shows a great advantage o
203. sition of the PC If the PC is placed above the insertion position the system computes the program from the PC until the insertion po sition first Then the operator that has been edited in the operator window is executed 64 CHAPTER 4 GRAPHICAL USER INTERFACE Operator of x Operator select_shape v Regions Region region object SelectedRegions SelectedRegions vw region object Features area string Operation and vw string Min 1150 v real Max 99999 vw real Figure 4 34 Operator window with operator select_shape The reason for this is that the parameter values that are used as input values for the new operator have to be calculated In case the PC is placed at or after the insertion position this operator is executed only Before execution the operator is entered into the program window The PC and the insertion cursor are positioned after the new operator The com puted 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 see page 36 Afterwards the operator window is cleared If you did not specify all parameters or 1f you used wrong values an error dialog is raised and execution is canceled In this case the operator window remains open to support appropriate changes By clicking the button Enter the program line is only transferred in the program window There is no o
204. ssing the left mouse button and the lt Ctr1 gt key The program counter resides in the line of the next operator to execute The insertion cursor in dicates the position to insert a new program line The breakpoint shows the program line before which the program is stopped Clicking on the breakpoint again while pressing the lt Ctr1 gt key deletes it A breakpoint is active only if it is visible You may activate only one breakpoint In figure 4 33 you see a program and the column with the PC indicated as an arrow the BP and the insertion cursor The big text area at the right side of the program window contains the program code of the HDe velop program Here the user has the possibility to obtain information about the inserted opera tors A program is built up such that every line contains exactly one operator with its parameters or an assignment An exception are the condition constructs if and ifelse respectively and the loop constructs while and for They contain two in case of ifelse even three program lines which enclose the body Every line starts with an operator name which is indented if necessary to highlight the structure created by the above mentioned control structures After the operator 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 by modifying the text directly Editing the progra
205. sssH ars Bee eee eee ene rre integer integer Condition for the if statement Defaultvalue 1 Result EE if returns 2 H_MSG_TRUE if the evaluation of the expression yields no error endif as operators always returns 2 H_MSG_TRUE 134 APPENDIX A CONTROL Alternatives SSS ifelse See Also_ o o o oo for while Module Basic operators ifelse Condition Condition with alternative ifelse is a condition with an alternative If the condition is true i e not 0 all expressions and calls between the head and operator endif are performed If the condition is false i e 0 the part between else and endif is executed Note that the operator is called ilfelse and it is displayed as if in the program text area Parameter sos gt Condition input Control unters er ra integer integer Condition for the if statement Defaultvalue 1 Result ifelse returns 2 H_MSG_TRUE if the evaluation of the expression yields no error else and endif as operators always return 2 H_MSG_TRUE Alternatives ss if See Also SS for while Module Basic operators insert Input Value Index Result Assignment of a value into a tuple insert assigns a single value into an tuple 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 13
206. st_obj_def dev_set_check reset_obj_db Module zu Basic operators Clear the active graphics window dev_clear_window clears the graphics window content and the history of the active window Parameters assigned to this window e g with dev_set_color dev_set_draw etc remain un modified The operator is equivalent to pressing the Clear button of the active graphics window A graphics window can be activated by calling dev_set_window Attention SSS 139 140 APPENDIX B DEVELOP If dev_clear_window should be used for exported Code C please note the description of clear_window due to the different semantics in C Example 2 read_image Image fabrik regiongrowing Image Regions 3 3 6 100 Number Regions dev_update_window off for i 1 to Number by 1 RegionSelected Regions i dev_clear_window dev_display RegionSelected stop endfor DD a Reuto dev_clear_window always returns 2 H_MSG_TRUE Possible Predecessor Functions dev_set_window dev_open_window dev_display Possible Successor Functions gt gt dev_display See Also O clear_window Module 3 System operators Close an inspect window of a control variable dev_close_inspect_ctrl is the opposite operator to dev_inspect_ctrl and closes the in spect window corresponding to Variable The window can also be closed by pressing the Close button of the dialog Attention SSS This operator
207. t 100 4711 tuple which is displaed 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_old 4711 tuple_new which is displayed as tuple_new gen_tuple_const tuple_old 4711 The second one is a bit tricky and uses arithmetic functions assign tuple_old 0 4711 tuple_new which is displaed as 80 CHAPTER 5 LANGUAGE tuple_new tuple_old 0 4711 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 i 1 to 100 by 1 assign tuple i i tuple which is displaed as tuple for i 1 to 100 by 1 tuple tuple i i In this example we construct a tuple with the square values from 1 to 100 5 5 5 Simple Arithmetic Operations Table 5 9 shows an overview of the available simple arithmetic operations All operations are left associative except the right associative unary minus operator The evalu ation 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 chapter 5 5 14 The arithmetic division multiplication addition and co
208. t of the gray histogram inspection window Gray Histogram Of x Channel i E Rel C Abs M Accept Display none v send Back Static data Grayvalue Pixels number Min Grayvalue Max Grayvalue Dynamic data Pixel number min 0 66 Pixel number max 0 24 Figure 4 15 Online gray histogram inspection Yes only roughly by a factor of 2 since the image is scaled such that the red square that indicates the mouse pointer position is located in the middle of the zooming window Therefore the zoom factor is adjusted to display one pixel more than the power of 2 indicated by the zooming factor The width and height of the zoomed part of the image hence are 28 1 where f is the zooming factor 4 3 MAIN WINDOW 39 When opening the tool the histogram of the image shown in the currently active graphics window is displayed When the tool is already open four modes of sending new image data to the tool are available The simplest mode is to display an image in the active graph ics window Whenever you do so the histogram of this image is computed and drawn and the tool records the graphics window from which the image was sent Another simple method to send new data to the tool is to single click into an image that is displayed in a graphics window The third mode can be used whenever image data is displayed over laid with region data in a graphics window the graphics window does not need to be active for thi
209. tersections with annual rings is counted 112 CHAPTER 7 PROGRAM EXAMPLES along this line This can be done by the following HALCON operators The start and end points represented by their x and y coordinates are transformed into a line gen_region_line This line is intersected intersection with the annual rings SelectedRegions The number of the connected regions count_obj in this intersection is the number of annual rings The complete program looks as follows dev_close_window read_image WoodPiecel woodring get_image_pointeri WoodPiecei Pointer Type Width Height dev_open_window 0 0 Width 2 Height 2 black WindowID mean_image WoodPiece1 ImageMean 9 9 dyn_threshold WoodPiecel ImageMean Regions 5 0 dark threshold WoodPiecei Dark 0 90 dilation_rectanglel Dark DarkDilation 30 7 difference Regions DarkDilation RegionBright connection RegionBright ConnectedRegions select_shape ConnectedRegions SelectedRegions area and 30 10000000 get_mbutton WindowID Rowi Columni Button1 get_mbutton WindowID Row2 Column2 Button2 gen_region_line Line Row1 Columni Row2 Column2 intersection Line SelectedRegions Inters connection Inters ConnectedInters Number ConnectedInters 7 5 Bonding File name ball dev This is the first example in the field of quality inspection The task is to detect bonding balls Figure 7 9 shows two typical microscope
210. th 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 h or greater than or equal to the precision Trailing zeros are removed from the result A radix character appears only if it is followed by a digit 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 specifi cation 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 b Similar to the s conversion specifier except that the string can contain backslash escape sequences which are then converted to the characters they represent 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 pro
211. the program tuple dev empty_obj It count_obj p num t1 t2 concat_obj pi p2 q t il select_obj p q i 1 1 t i j copy_ obj p q i 1 j i 1 Table 5 8 Equivalent tuple operations for control and iconic data Please note that the index of objects e g select_object ranges from 1 to the number of elements 5 5 EXPRESSIONS FOR INPUT CONTROL PARAMETERS 79 5 5 4 Tuple Creation The simplest way to create a tuple as mentioned in section 5 2 is the use of constants together with the assign operator assign empty_tuple assign 4711 one_integer assign 4711 0 815 two_numbers This code is displayed as empty_tuple one_integer 4711 two_numbers 4711 0 815 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 insert function 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 i 1 to 100 by 1 assign tuple 4711 tuple which is transformed to tuple for i 1 to 100 by 1 tuple tuple 4711 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_cons
212. the HDevelop pro gram has to be selected To do this a small dialog appears after pressing Open or double clicking a file For easy handling HDevelop suggests a name derived from the selected file name You may adopt or edit this name If you want to use a name of an already created iconic variable a combo box offers you all iconic variable names To do so you click the button on the right side of the text field Note that the reuse of a variable name deletes the old content and replaces it with the new image e The menu item File gt Cleanup deletes all unused variables iconic and control data These are variables in the variable window that are no longer used in any operator of the program 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 process to reorganize your variable window see also page 65 e Menu item File gt Options opens a control window which you can use to modify output behavior during runtime see figure 4 7 Update PC The first item see page 60 concerns the display of the current position while run 28 CHAPTER 4 GRAPHICAL USER INTERFACE HDevelop Edit Execute Visualization Operators Suggestions Window Help New Ctrl N Selle Pale m E Open Etr O Ell els Insert Save Etrl S Save as lich Read Image C Prog
213. the object is displayed as undefined with a as its icon dev_inspect_ctrl This operator opens an inspection window displaying the values of the variable passed to the operator In most cases a list dialog is opened which shows all values of the variable In the case of a framegrabber handle a description of this framegrabber is opened In addition this dialog allows online grabbing of images This operator is not supported for exported C and Visual Basic code dev_close_inspect_ctrl This is the opposite operator to dev_inspect_ctrl and closes the inspect window This operator is not supported for exported C and Visual Basic code dev_map_par dev_unmap_par These operators open and close the parameter dialog which can also be opened using the menu Visualization gt Set Parameters This operator is not supported for exported C and Visual Basic code dev_map_var dev_unmap_var These operators iconify the variable window dev_unmap_var and retransform the iconi fied 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 vi sualization These operators can be executed with the help of the window manager These operators are not supported for exported C and Visual Basic code dev_map_prog dev_unmap_prog Analogously to dev_map_var and dev_unmap_var these operators iconify or deiconify the program window The
214. 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 5 5 7 String Operations There are several string operations available to modify select and combine strings Furthermore some operations allow to convert numbers real and integer to strings v s string conversion v v concatenation of strings and addition strchr s s search character in string strstr s s search substring strrchr s s search character in string reverse strrstr s s search substring reverse strlen s length of string s i selection of one character s i i selection of substring split s s splitting in substrings Table 5 11 String operations converts numbers to strings or modifies strings The operator has two parameters The first one left of the is the number that has to be converted The second one right of the specifies the conversion This format string consists of the following four parts lt flags gt lt field width gt lt precision gt lt conversion characters gt So a conversion might look like 82 CHAPTER 5 LANGUAGE 1332 4554 6e flags Zero or more flags in any order which modify the meaning of the conversion specifi cation Flags may consist of the following characters The result of the conversion is left justified within the field The result of a signed
215. tight le AN s m m RegionDyni h jonsDynThr electedRe area compactness and 150 1 ele sf ImageFilled Marks 255 5 le Am Christof ImageFil ImageMe RegionDy Con Marks ri ec s es Control Variables Pointer 32322696 Type byte Width 768 Height 575 WindowlD 3600 JAnisometry 1 12702204804 1 11467319487 1 18047551603 1 12294618312 1 42797741283 1 182460 Bulkiness 1 00416718505 1 00426336515 1 00007240412 1 00253432078 1 00587046647 1 0061 StructureFactor 0 131718557464 0 119425453718 0 180560987328 0 125792088964 0 436360306355 0 1 El IEEE Figure 3 5 After calling the operator eccentricity the output parameters are displayed in the vari able window in tuple notation As you can see in figure 3 5 and 3 4 it is possible to combine the two successive calls of select_shape into one call This reduces the length of the program and saves runtime Chapter 4 Graphical User Interface HDevelop is an interactive tool to create image analysis programs It comprises an editor an interpreter with debug functions a management unit for variables iconic and control data and extensive possibilities to visualize iconic data You may use HDevelop for rapid prototyping as well as for developing complete programs You create a program by choosing operators and specifying their parameters To do so you may use default values or system pro
216. to use loops you may look at the example session in section 3 and at the programs in chapters 7 3 7 8 and 7 9 The semantics for loops and conditions are shown in chapter 5 7 The operator assign serves as an assignment operator for control variables numbers and strings Analogously to normal operators the input is made in the operator window by spec ifying both parameters Input and Result i 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 4 3 MAIN WINDOW 49 HDevelop File Edit Execute Visualization Suggestions Window Help sla Jeje a MEN oew sae Develop insert Eele Program Classification if Operator File ifelse Variable Watch Pikar x for g Op Graphics while n Image stop Lines exit Morphology comment Object Regions Segmentation System Tools XLD Clear vvrvvvvvvvvvvrvrr Control structure Figure 4 22 Menu item Control Program Al E dev_open_window 0 0 Width Height black YWindowID dev_set_dravwy fill dev_set_part 0 0 Height 1 Width 1 threshold Image Region 128 255 dev_set_color white connection Region ConnectedRegions select_shape ConnectedRegions CompactRegions compactness and 1 5 1 8 Number CompactRegions gen_empty_obj Eyes for i 1 to Number by 1 SingleSelected CompactRegionsfi area_c
217. tors 161 dev_update pc DisplayMode Specify the behaviour of the PC during program execution dev_update_pc specifies the behaviour of the PC during program execution In the mode on default the PC is always displayed in front of the current operator In addition the program text is scrolled if necessary so that the current operator is visible In the mode off the PC is not visible during program execution and the program text will not be scrolled automatically This option can also be controled by the dialog File gt Options gt Update PC Attention sss This operator is not supported for exported C code Parameter a gt DisplayMode input control mau a ra ca string string Mode for runtime behaviour Defaultvalue off Value List DisplayMode on off ZZ el es dev_update_pc always returns 2 H_MSG_TRUE See Also dev_update_time dev_update_window dev_update_var Module Basic operators dev_update_time DisplayMode Switch time measurement for operators on or off dev_update_time controls if the execution time of an operator has to be measured This option can also be controled by the dialog File gt Options gt Show Processing Time Attention SSS This operator is not supported for exported C code Parameter ee gt DisplayMode input control a anne string string Mode for graphic output Defaultvalue off Value List DisplayM
218. ts selection of an element selection of a part of a tuple Table 5 7 Basic operations on tuples 5 5 3 Basic Tuple Operations A basic tuple operation may be selecting one or more values combining tuples concatenation or reading the number of elements The concatenation accepts one or more variables or constants as input They are all listed be tween the brackets separated by commas The result again is a tuple t t2 is the concatenation of tuple t and tz Example 5 Text 5 9 5 Text 5 9 So even the following holds 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 2 range Tuple V1 V2 V3 V4 for i 0 to Tuple 1 by 1 fwrite_string FileHandle Tuple i n endfor There are no direct operations on parameter position for the handling of iconic variables This means that single iconic objects cannot be directly selected using and their number cannot be directly determined using For this purpose however HALCON operators are offered which carry out the equivalent tasks In table 5 8 you can see tuple operations that work on control data and their counterparts that work on iconic data In the table the symbol t represents a control tuple and the symbols p and q represent iconic tuples Further examples can be found in
219. u press the middle or right mouse button When pressing a mouse button the operator get_mbutton returns the button that was pressed and the position coordinates where 1t was pressed This information is used to select the chosen object In the following you see the corresponding program part dev_clear_window WindowID connection SmallClean SmallSingle Button 1 dev_set_color red 7 4 ANNUAL RINGS 111 while Button 1 get_mbutton WindowID Row Column Button select_region_point SmallSingle OneObject Row Column intensity OneObject Particle MeanGray Deviation endwhile First the window is cleared via dev_clear_window After that connection calculates all con nected components to allow the selection of single regions This also displays the region com ponents in the HDevelop window Then you may set the drawing color here red to visualize the selected regions The loop is initialized by assigning 1 to the variable Button 1 is the code for the left mouse button Within the loop the mouse state is queried and the chosen region is selected As an example the mean gray value and the standard deviation are computed for each selected region As long as you press only the left mouse button within the window the loop continues You can terminate it by pressing any other mouse button 7 4 Annual Rings File name wood dev Everyone knows the task to determine the age of a tree by counting its annual rings This w
220. uggestions are separated into groups as follows Predecessor Many operators require a reasonable or necessary predecessor operator For example before computing junction points in a skeleton junctions_skeleton you have to compute this skeleton itself skeleton To obtain a threshold image you have to 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 4 3 MAIN WINDOW 55 HDevelop File Edit Execute Visualization Operators ENTES Window Help Diele sele setts cee el Elle Predecesor 1 Keywords threshold Operator read_image Y regiongrowing count_channels decompose3 Image image class_ndim_norm gauss_image FileName fabrie fil_interlace zoom_image_size Enter C zoom_image_factor p crop_part write_image rgb1_to_gray X Moegliche Nachfolge Prozedur Figure 4 26 Suggestions to select a successor of HALCON operator read_image Successor 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 Alternatives Since HALCON includes a large
221. user interface These operators offer the same functionality that you have using mouse interaction otherwise They are used to configure the environment without or with little user interaction Using these operators the program performs actions similar to the setting of a color in the parameter window see section 4 7 opening a window in the menu bar see section 4 3 2 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 You can find the complete listing in figure 4 24 The effects of each operator are described as follows e 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 spec ify the window s size and position The operator 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 supported for Visual Basic export because here one HWindowXCtrl is used e dev_set_window_extents With this operator you can set the size and position of the active HDevelop graphics window e dev_set_window This operator activates the graphics window contain
222. ust not be so large that different ICs are merged Thus gaps caused by labels have to be smaller than gaps between ICs Now you can separate the enlarged ICs in their connected components 7 7 DEVICES 117 Unfortunately they have become too large by the dilation Another thresholding for each con nected component will detect the dark pixels of each IC Finally you can specify the enclosing rectangles analogously to the resistors and the capacitors see above threshold Intensity Dark 0 50 dilation_rectanglei Dark DarkDilate 15 15 connection DarkDilate ICLarge add_channels ICLarge Intensity ICLargeGray threshold ICLargeGray ICsDark 0 50 shape_trans ICsDark IC rectangle2 The right side of figure 7 13 shows the resulting ICs We have to mention two aspects about the program segment above Here the operator add_channels has been used instead of reduce_domain This is necessary as several regions have to be supplied with gray values The situation of previous programs was quite different there the number of valid pixels of one image has been restricted From this follows the second point here the operator threshold gets several images as input The thresholding is performed in every image Thus you receive as many regions as input images Finally the segmentation of IC contacts has to be done They are bright and small Thus it is easy to extract them using a dynamic thresholding compare chapter 7 3
223. which error occurred we have to specify the variable in which the return value will be stored This is done by using dev_error_var Now get_mposition can be called independent of the context To check if the coordinates are valid the error variable is compared to one of the constants for standard return values like H_MSG_TRUE or H_MSG_FAIL If the call succeeded this coordinate is used to query the gray value of the corresponding pixel in the image which is then displayed in the window 7 11 Road Scene File name road_signs dev The computing time is a critical factor in many image analysis tasks Thus the system has to offer features to speed up the processing But direct hardware access must be avoided in any case All operators should work on encapsulated data structures To allow optimization for performance data structures have to be used that support transparent and efficient programming The example segmentation of a road scene demonstrates how HALCON helps to achieve this goal Here the task is to find the middle and border road markings of a motorway The program is performed by a normal workstation with a processing time of maximum 20 ms per half image video frequency at a resolution of 512 x 512 pixels In figure 7 18 you see an image of such a road sequence on the left side Assume that there is no specialized operator for this task Thus you have to make use of stan dard methods The data structure used consists of a gray value
224. window operations like open_window close_window and set_window_extents are therefore suppressed If you want to use more than one window you have to modify the Basic code and project accordingly 102 CHAPTER 6 CODE GENERATION Chapter 7 Program Examples This chapter contains examples that illustrate how to program with HDevelop To understand the examples you should have a basic knowledge of image analysis The user interface is described in chapters 3 and 4 Language details are explained in chapter 5 The examples of this chapter are also available as program code in the directory HALCONROOT examples hdevelop Manuals HDevelop for UNIX or 7HALCONROOT examples hdevelop Manuals HDevelop on WindowsNT More detailed information on HALCON operators is available in the reference manuals 7 1 Stamp Segmentation File name stamps dev The first example performs a document analysis task Figure 7 1 shows a part of a stamp catalog page It contains two types of information about stamps a graphical presentation and a textual description of the stamp In this example you have to transform the textual information into a representation that can be processed by a computer with little effort You might use an OCR program for this task but you will soon recognize that most of the available products create many errors due to the graphi cal presentation of the stamps Thus another task has to be preprocessed the elimination of all stamps i e
225. y Balls stop connection Balls SingleBalls select_shape SingleBalls IntermediateBalls circularity and 0 85 1 0 sort_region IntermediateBalls FinalBalls first_point true column dev_display Bond dev_set_colored 12 dev_display FinalBalls stop 133 smallest_circle FinalBalls Row Column Radius NumBalls Radius Diameter 2 Radius meanDiameter sum Diameter NumBalls mimDiameter min Diameter dev_display Bond disp_circle WindowID Row Column Radius dev_set_color white set_font WindowID system26 for i 1 to NumBalls by 1 if fmod i 2 1 set_tposition WindowID Row i 1 1 5 Radius i 1 Column i 1 60 else set_tposition WindowID Row li 1 2 5 Radius i 1 Column i 1 60 endif write_string WindowID Diam Diameter i 1 endfor dev_set_color green dev_update_window on SS Reuto for returns 2 H_MSG_TRUE if the evaluation of the expression yields no error endfor as operator always returns 2 H_MSG_TRUE Alternatives SSS while See Also SS if ifelse Module es Basic operators Conditional statement if is a conditional statement The condition contains a boolean expression If the condition is true the body is executed Otherwise the execution is continued at the first expression or operator call that follows the corresponding endif Parameter sos gt Condition input control uu
226. y the program Note that HDe velop 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 opera tors 4 3 MAIN WINDOW 33 HDevelop dey Visualization Operators Suggestions Window Help in a El eE i Stop Activate Deactivate Reset Program Clear Break Point area and 5000 10000 entraron En PT area_center Selected Area Row Column Execute next program Figure 4 10 Main window s menu item Execute A variable window update during runtime will only be performed if it has not been suppressed see page 36 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 menus Execute gt Run and Execute gt Step and the toolbar buttons Run and Step are grayed out i e you cannot execute them You have the following possibilities to stop your HDevelop program i The program runs until the last operator in this program has been called The PC is positioned behind this operator This is the usual way to terminate a program ii The menu Execute gt Stop or the toolbar button Stop has been pressed iii A breakpoint has been set see chapter 4 4 In this case the last operator that will be executed is situated before the breakpoint iv Menu item File gt Quit has been executed see page 31 v A runtime

HALCON Version 5.2 HDevelop User`s Manual

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