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User Manual PF3DSuite

1. Software Installation This section describes the installation of the required software to accomplish the tasks described in this chapter 1 Install the latest drivers for your GigE network interface card 2 Download the latest eBUS SDK installation file from the Photonfocus server Note You can find the latest version of the eBUS SDK on the support Software Download page at www photonfocus com http www photonfocus com 3 Install the eBUS SDK software by double clicking on the installation file Please follow the instructions of the installation wizard A window might be displayed warning that the software has not passed Windows Logo testing You can safely ignore this warning and click on Continue Installation Procedure Anyway If at the end of the installation you are asked to restart the computer please click on Yes to restart the computer before proceeding 4 After the computer has been restarted open the eBUS Driver Installation tool Start gt All Programs gt eBUS SDK gt Tools gt Driver Installation Tool see Figure 2 2 eBUS Driver Installation Tool If there is more than one Ethernet network card installed then select the network card where your Photonfocus GigE camera is connected In the Action drop down list select Install eBUS Universal Pro Driver and start the installation by clicking on the Install button Close the eBUS Driver Installation Tool after the installation has been completed
2. E A 7 e Visualization of the Laser Profile In the 2D 3D mode the laser can be overlaid on the frame to help the user tune the 3D camera parameters The visualization of the laser profile can be activated or deactivated using the View Peak positions menu or the corresponding toolbar button see Figure 3 1 PF3DSuite Main Window In addition the user can save the peak position of the last frame acquired using the File Save Peak Positions menu option In this case the positions of the peak will be stored as numbers in plain text The application does not allow to save any currently shown peak values while the application 1s acquiring frames Transformation Parameters Estimation The factors for the u v and g coordinates let the user transform a range map representation to a three dimensional proportioned representation These factors can be estimated with a range map of a known object Factor u relates to the length of the object along the range map width Thus the u factor can be calculated by dividing the length of a scanned obect in metric dimension by the number of profiles involved in the measurement Similarly the v factor can be calculated by relating the object width to the range map height Similarly the g factor can be calculated by relating the object height to the grey scale values 31 PF3DSuite Tool SDK The PF3DSuite includes some examples for developers In the SDKlexamples directory you
3. PF3DSuite Tool For the GigE Vision cameras there are 3 different configuration dialogs Device control Communication control and Stream control The user can configure several camera properties in order to set the exposure trigger gain size of the window etc Regarding the 3D adquisition the user must configure the PeakDetector Threshold The raw image data is first processed by the threshold pre filter before being analyzed by the Peak Detector algorithm All grey level values in the raw image data will be set to O if the grey value undergoes a given threshold value Note The raw image data and the threshold values are 12 bit values maximum 4095 Figure 3 3 GEV Device Control Dialog GEV Device Control PeakDetector PeakO Peako Threshold Peako 3D Peako SDH Peako Dy Peaki Peaki_Threshold Peakl SD Peaki 3DH Peakl Dy PeakDetector Mode PeakDetector MrorPeaks POTestimage_ Enable PeakDetector_Mode Peak detector image mode Feature Height and Window H has to be set manually Height depends on value of Feature PeakDebector Mode In Mode Donky Height window H In Mode Dand3D Height Window H 4 In Mode_3Donly Height 4 iF EnStatusLine is enabled Height 5 Feature Mame PeakDetector_Mode Type Enumeration Name Space Custom Visibility Beginner Streamable True Adquisition Modes The following modes can be selected e 2D Mode In the 2D mode laser line detection
4. Please restart the computer 1f the program asks you to do so Figure 2 2 eBUS Driver Installation Tool eBUS Driver Installation Tool File Help Network Adapter MAC Description Current Driver Action 00 19 d1 6d 82 Oc Intel R 8256600 Gigabit Network Connect Manufacturer Driver Do Mothing 00 1b 21 38 8d 99 Intel R PROF 1000 GT Desktop Adapter Manufacturer Driver Install eBUS Universal Pro Driver Learn more about drivers Network Adapter Configuration This section describes recommended network adapter card NIC settings that enhance the performance for GigEVision Additional tool specific settings are described in the tool chapter 1 Open the Network Connections window Control Panel gt Network and Internet Connections gt Network Connections right click on the name of the network adapter where the Photonfocus camera is connected and select Properties from the drop down menu that appears Installation Procedure Figure 2 3 Local Area Connection Properties Local Area Connection 2 Properties General Advanced Connect using Eg Intel R PRO1000 GT Desktop Adar This connection uses the following items m eBUS Unversal Pro Driver File and Printer Sharing for Microsoft Networks JEl DoS Packet Scheduler lt UI Install Uninstall Description eBUS Universal Pro Filter Driver Show icon in notification area when connected Notify me when this connection has limi
5. ScleCHOM od cia 16 Range Mao esteril litio E oca 18 Save dnd Load Conio urinom les a 18 Camera Contour OM acatar da ri lbs 18 Adquisicion MOdes std dorados 19 Setup thie Reclon OrIMerest sanidad acia E alan tania cias 21 Dual Peak MV1 D2048X1088 3D03 only ooooocccccccccoconcnconononcnnoncncononononnnnos 22 Frame Contrast and Live Image Visualization ooooooccoccnconcnncncnnoncononnoncnnonnnnonnonannons 24 h ase Normalzadon aid 25 a O EA aa R 25 ESO OP AIM E AS 25 SID ACQUISICON esta ma tl tos 26 General Overy le Wo uae yaa eto ds ta calidad 26 A O E 28 SDs VISUAL A Ea 29 Visualization or the Teaser Pron erica iii cto tito liada 31 Transformation Parameters Estimation ccccecceceeesceceeseeceeesceceesecceeencees 31 SA A cate eenertarenes se teuteul aout ata waceetadtc ace cetttuteentelsea cages 32 SAL NA A 32 CBUS SDE ctra tara tae 32 HALCON extensi n auna cad data lbs oidos socias 33 O AE EPEE EL TETEE herten ene ett N E ater ene E EEE T ATE 34 W amrant y Tenis E ENS 34 W arrant Si eanna COPE RO ANE 34 IR OO aa S S A SNA 35 Po INCVISION PISTON sta insti a E EE EA a E E A 36 111 List of Figures 2 1 Rear view of the GigE camera MV1 D1312 1E 40 G2 with power supply and I O connector Lhermet jack RIAS and status LED dels 5 22 BUS Driver Instalacion Toninas ela sasd 6 223 LOC Area CONE C LON PEO PEE SE ab 7 O A o E II tome tas ciel iat emet sec eeoe 8 2 5 Advanced Network Adapter Proper
6. OW NICWELR ana a tron NN 31 1V List of Tables IE Photon ocus Contact rasa tetas ee eh erecta vee eae een cian eae ele dae rel ae te cedo LLL Chapter 1 Preface About Photonfocus The Swiss company Photonfocus is one of the leading specialists in the development of CMOS image sensors and corresponding industrial cameras for machine vision security amp surveillance and automotive markets Photonfocus 1s dedicated to making the latest generation of CMOS technology commercially available Active Pixel Sensor APS and global shutter technologies enable high speed and high dynamic range 120 dB applications while avoiding disadvantages like image lag blooming and smear Photonfocus has proven that the image quality of modern CMOS sensors is now appropriate for demanding applications Photonfocus product range is complemented by custom design solutions in the area of camera electronics and CMOS image sensors Photonfocus is ISO 9001 certified All products are produced with the latest techniques in order to ensure the highest degree of quality Contact Photonfocus AG Bahnhofplatz 10 CH 8853 Lachen SZ Switzerland Table 1 1 Photonfocus Contact Phone 41 55 451 07 45 Email sales photonfocus com Support Phone 41 55 451 01 37 Email support photonfocus com Sales Offices Photonfocus products are available through an extensive international distribution network and through our key account managers Details of th
7. The frame can be seen with modified contrast by changing the minimum and maximum intensity values using the sliders on the left side of the main window see Figure 3 1 PF3DSuite Main Window The intensity range defined by the minimum and maximum values is expanded to the maximum range 0 to 255 The image normalization is available only when the camera mode is set to the 2D mode or to the 2D 3D mode The zoom window also uses the image normalization settings in the same way to display the frame with the selected contrast modifications Zooming Live Image In order to see the live frame with zoom in or zoom out tools the user can open the zoom window in the Window gt Zoom menu or activate this function via the corresponding toolbar button see Figure 3 1 PF3DSuite Main Window This will open a new window that allows to zoom and to pan a frame e Zoom Use the window buttons or select a fixed scale factor in the Zoom menu e Pan Use the left mouse button or the scroll bars Histogram It may be necessary to adjust the black level offset of the camera In the histogram of the black reference image ideally there are no grey levels at value 0 DN after adjustment of the black level offset The Histogram Viewer tool allows the user to check the adjustment s performance The histogram provides a graphic representation of the amount of pixels with a given grayscale distribution within an image In the window menu the user c
8. Transformation factors to modify the 3D proportions obtained from a range map see the section called 3D Acquisition Camera selection eo 065 o The PF3DSuite supports a number of pre selected frame grabbers with the specific driver code for the pre selected frame grabbers stored in external files These drivers require the software of the 16 PF3DSuite Tool frame grabber vendor Windows drivers and libraries to be installed prior to the installation of the PF3DSuite The default installation path for the drivers needed in the dialog is C Program Files Photonfocus PF3DSuite bin When using a Cameralink frame grabber the application communicates with the camera delivering the frames and the camera parameters needed for proper acquisition can be set For that you need to select the port from the list of serial ports to which the camera is connected to Select next to Cameralink in the acquisition configuration menu Remember that if you want to modify the configuration of any camera not related to the Region of Interest the program will ask again for the port of that camera see the section called Camera Configuration When using the File Frame Grabber to display stored image files the size of the images must be selected accordingly in order to display the stored images within a top left subimage The width and the height of the images have to be entered in the edit control labeled Use Frame Size I
9. connection of the camera to the PC see in the camera manual for more information 1 Remove the Photonfocus GigE camera from its packaging Please make sure the following items are included with your camera e Power supply connector e Camera body cap If any items are missing or damaged please contact your dealership 2 Connect the camera to the GigE interface of your PC with a GigE cable of Cat 5E or 6 Installation Procedure Figure 2 1 Rear view of the GigE camera MV1 D1312 1E 40 G2 with power supply and I O connector Ethernet jack RJ45 and status LED Ethernet Jack RJ 45 ha Se T I I E i auu ZA iat roo i Y 1 ey Power Supply SPs and VO Connector a a he T Te fy As at i 7 r k p a A ho Se M Status LED N tees i A A Ti DN A pS S m Faki Yy i A E S l m E el i a 3 Connect a suitable power supply to the power plug The pin out of the connector is shown in the camera manual Caution Check the correct supply voltage and polarity Do not exceed the operating voltage range of the camera Note A suitable power supply can be ordered from your Photonfocus dealership 4 Connect the power supply to the camera see Figure 2 1 Rear view of the GigE camera MV1 D1312 1B 40 G2 with power supply and I O connector Ethernet jack RJ45 and status LED
10. is turned off and the camera is sending raw image data to the frame grabber which can then be further processed on the frame grabber or by an image processing software tool No additional 3D information is transferred with the raw image data when using the 2D mode This mode serves as a preview mode in the setup and debugging phase 19 PF3DSuite Tool e 2D and 3D Mode In this mode laser line detection is turned on and the camera sends the raw image data including the necessary 3D information to the frame grabber The raw image containing the laser line 1s analyzed by the Peak Detector in the camera s FPGA This 3D information is then attached to the 2D raw image In the PF3DSuite the detected laser line is shown as a coloured line in the 2D image This mode serves as a preview mode in the setup and debugging phase of the triangulation system e 3D Mode Laser line detection is turned on and only the 3D data calculated by the Peak Detector algorithm in the camera plus an additional image row is transmitted The scan rate of this mode is considerably faster than the 2D amp 3D mode Note The 3Donly mode must be used to achieve the highest scan rate To acquire a range map the user should ensure that the camera is either set to the 2D 3D mode or set to the 3D mode Once all the setup has been done as described above the 3D system is ready for the first 3D measurement task To start the 3D measurement press the toolbar button Grab or select th
11. the SAL3D 12 1 22 Structure of the Installation Directory e bin The main PF3DSuite binary DLLs from the SAL3D and precompiled executables of the examples distributed with the SAL3D SDK This folder also includes Frame Grabber Driver binary files fgd You need these files to use the PF3DSuite in order to grab frame objects easily Each FGD file supports one frame grabber device for 3D cameras with Cameralink interface e configfiles The configuration files for the different frame grabbers in order to set up the window size number of taps pixel depth and other features e SDK doc The SAL3D SDK documentation in html Open the index html to start e SDK examples Visual C example projects using the Photonfocus camera configuration library e SDK include Path to be added to the INCLUDE_PATH parameter of your compiler This directory contains the C declarations in SAL3D the internal declarations for the C functions and structures used in the DLLs and the Photonfocus camera configuration API declarations pflib e SDK lib Path to be added to the LIBRARY_PATH parameter of your linker These files will allow the user to link his program to the SAL3D and Photonfocus DLLs eBUS SDK For more experienced programers or for developers that want to treat the raw data from the camera without using the SAL3D library the PF3DSuite provides also some examples to connect a 3D GigE camera and grab profiles using the eBUS SDK from Ple
12. value in red and the middle values are displayed in green tones Figure 3 13 Example of an acquired range map Although the range map is a representation of the object shape 1t is not a metric representation of the object instead of metric units pixel and displacement encoder units are used to represent the shape However a 3D representation of the object can be built using range map information One way to approximate 3D coordinates from a range map can be assuming a linear proportion between pixel and metric coordinates Three factors are used as shown in Figure 3 14 Metric transformation from range map coordinates to 3D coordinates where u represents the profile index v 1s the index of the point in the profile and g is the depth of that point The user can enter these factors in the grabbing dialog see Figure 3 2 Acquisition configuration menu More information about these transformation factors 1s presented in the section called Transformation Parameters Estimation 2i PF3DSuite Tool Figure 3 14 Metric transformation from range map coordinates to 3D coordinates A fx Xu Y fxv amp fxg Warning This metric transformation is a linear approximation that does not correct for the effects that may get caused by any distortions originating from the optics lens or from projection Accurate metric measurements require a more accurate transformation based on the measurements obtained from a gauge b
13. will find some Visual C projects using the SAL3D library from AQSense The suite also contains an example for HALCON users SAL3D The SDK included with the PF3DSuite is a C software library entitled SAL3D SAL3D 1s an easy to use library that helps the development of powerful industrial applications for quality control based on the processing and analysis of organized 3D data This library offers speed accuracy and reliability that comes only from extensive experience in the field of 3D SAL3D is perfect for OEM s system integrators and volume end users that demand maximum flexibility and customization capabilities in a 3D machine vision system SAL3D allows both existing and new 3D vision algorithms to be incorporated in any SAL3D application Algorithms can be integrated as DLL s that allows developers access to third party components usable side by side with SAL3D resulting in rapid development of highly complex processing tasks The included examples show how to write a simple application for configure the camera grab some frames and store them into a Range map You may find more information about these examples and the SAL3D in C Program Files Photonfocus PF3DSuite2 SDK doc index html In order to compile the examples it is necessary to install the SAL3D library which can be downloaded for free from http www photonfocus com html eng support software php The compatible version with the current PF3DSuite and SDK is
14. Firewall is enabled for the connections selected below To add exceptions for an individual connection select it and then click Settings 1394 Connection Settings Local 4rea Connection Wi Local Area Connection 2 Security Lagging Tou can create a log file for troubleshooting purposes Settings ICMP With Internet Control Message Protocol ICMP the computers on a network can share error and status information Settings Default Settings To restore all Windows Firewall settings to a default state i Restore Default click Restore Defaults Restore C eauls Network Adapter Configuration for Pleora eBUS SDK Open the Network Connections window Control Panel gt Network and Internet Connections gt Network Connections right click on the name of the network adapter where the Photonfocus camera is connected and select Properties from the drop down menu that appears A Properties window will open Check the eBUS Universal Pro Driver see Figure 2 7 Local Area Connection Properties for maximal performance Recommended settings for the Network Adapter Card are described in the section called Network Adapter Configuration 10 Installation Procedure Figure 2 7 Local Area Connection Properties Local Area Connection 2 Properties General Advanced Connect using Eg Intel R PRO1000 GT Desktop Adar This connection uses the following items File and Printer Sharing for Microsoft
15. Networks JEl DoS Packet Scheduler lt WT Install Uninstall Description eBUS Universal Pro Filter Driver Show icon in notification area when connected Notify me when this connection has limited or no conmectvity Camera Link The support information for CamerLink grabbers is coming soon PF3DSuite Installation The PF3DSuite is a graphical application intended to correctly configure and ease the evaluation of the Photonfocus product range of 3D digital cameras The latest release can be downloaded from the support area of http www photonfocus com http www photonfocus com PF3DSuite does not only allow to see the effects of the camera configuration parameters with live image but it is also able to show the 3D information acquired in real time Locate the PF3DSuite installer file in the folder PF3DSuite and start the setup wizard as shown in Figure Setup PF3DSuite 11 Installation Procedure Figure Setup PF3DSuite o Setup PFInstaller Win 32Bit xB6 Welcome to the PFInstaller Win S2Bit x86 Setup Wizard phoan lacus This will install PFInstaller Version 2 33 on your computer L It is recommended that you close all other applications before continuing Click Next to continue or Cancel to exit Setup we phobon Pocus com Next gt j Cancel The PF3DSuite package installs several files into the Microsoft Windows system Although the user may change the installation directory when ru
16. User Manual PF3DSuite Photonfocus AG User Manual PF3DSuite Photonfocus AG Revision 3113 Copyright O 2012 Photonfocus AG All information provided in this manual is believed to be accurate and reliable No responsibility is assumed by Photonfocus AG for its use Photonfocus AG reserves the right to make changes to this information without notice Reproduction of this manual in whole or in part by any means is prohibited without prior permission having been obtained from Photonfocus AG Table of Contents A tutarctoesiat a a tin eteet eee detaaekameatar ea ches l ADO PROON OCUS adas E eii e l CONIC erari N A A A NEESS l Sales OUICES E A E l Farther Monnio ri A A T sas l EE e EEEN E E EA E EE EE E AAN E PA E EEE E E EA 2 2 Installation PrOCCdUie sd ito E OAN 3 FRC GMI ments sira Ae 3 Hardware Requirements ai catre 3 Gie ETAt AAA A nut peaaona et teaeuaaesceea N 4 Hardware Instalado is dera 4 SOL Ware Stalin 5 Network Adapter CONE SURaUON 2er a ai a waht ei tosda 6 Network Adapter Configuration for Pleora eBUS SDK ooooccccccoccncononnoncnnoncononos 10 Camera ink osas ocio e adrian dia ito ia lara ceda en 11 PRO DS tite Installation A AA A tenes 11 Structure of the Installation Dite cto Tus ti 12 SS A its ons pun tacne ema A 13 MNMOGUCHOM PA A PP A ea een euducecetean te aeruan eeeei gd atedadadee gerund 13 Graphical User Initerace ea E E E negra cet bec a Seyler ees 13 Sarons the Live Maso iia E 15 Camera
17. VQS GEVPlayer Quick Start Guide Pleora Technologies Included in eBUS installer MANO37 Manual MV D1024E 3D01 160 3D CMOS Camera Photonfocus MANO51 Manual Photonfocus GigE Quick Start Guide Photonfocus MANOS2 Manual MV 1 D2048x1088 3D03 760 G2 Camera Series Photonfocus PLC PORT Programmable Logic Controller Reference Guide Pleora Technologies Included in GigE software package 35 Appendix A Revision History
18. an switch between linear and logarithmic presentation of the histogram In the logarithmic presentation the logarithm of the number of pixels that exhibit a particular grayscale value is used The user can open the histogram window via selecting the command from the menu bar Window gt Histogram or via the corresponding button see Figure 3 1 PF3DSuite Main Window Figure 3 10 Histogram Viewer Histogram Linear 25 PF3DSuite Tool 3D Acquisition General Overview A frame represents an image taken by the camera In the 3D acquisition system of the Photonfocus http www photonfocus com cameras the images correspond to the projection of the laser on the object to be scanned A common camera laser setup configuration can be seen in Figure 3 11 Example of the projection of a laser over an object Figure 3 11 Example of the projection of a laser over an object The position of the laser line in a frame varies as a function of the height of the object The captured laser profile can be used to extract 3D information A profile contains the information of the laser line position within a frame When the camera is configured in 2D 3D or 3D mode see camera manual the camera sends information about the position of the laser line for each camera row together with sub pixel accuracy A range map is defined as the composition of several consecutive profiles acquired by equally spaced displacements of the ob
19. ata see the section called 3D Settings the timeout parameter defines the maximum time allowed between two consecutive frames If no new frame is delivered by the camera for a time exceeding the defined time out the current range map is ended Any subsequent frames will be displayed in a new range map The time out condition is useful in acquisition systems where the camera is working in trigger mode The camera captures a frame for each pulse of the trigger signal When no pulses are received the camera does not send frames any more and thus the range map grabbing stops properly due to the time out condition Besides the regular frame grabber drivers that come with PF3DSuite see the section called Requirements for a list of frame grabbers drivers PF3DSuite is also equipped with a special driver called File Frame Grabber This driver uses a list of stored image files and simulates an acquisition process The File Frame Grabber driver is useful for debugging purposes The remaining control tools of the Range Map belong to the topic 3D acquisition and will be explained in the section called 3D Acquisition Once all parameters have been set to start the live acquisition of images by the camera press OK If you have selected to use the physical frame grabber you may get asked by the frame grabber to enter the frame grabber configuration file If you have selected to use the File frame grabber the PF3DSuite will ask for the list o
20. be displayed in a new range map The time out condition may help in acquisition systems where the camera is working in trigger mode The camera captures a frame for each pulse of the trigger signal When no pulses are received the camera does not send any frame so the range map grabbing stops properly due to the time out condition The maximum number of profiles Max Profiles defines the maximum size of any captured range map Once the range map 1s composed of the pre selected amount of profiles the application ends the range map grabbing Since both conditions are always used each range map acquired ends if at least one of both conditions is fulfilled In addition to the conditions explained above the grabbing dialog allows the user to specify the Transformation Factors U V and G to get a metric approximation of the surfaces These parameters can also be modified during the visualization of the surface with the command Range Map Change 3D factors from the menu in the 3D Viewer window The user is referred to the the section called Transformation Parameters Estimation called Transformation Parameters Estimation for more information about these factors Save and Load Configuration Files Although the grabbing configuration parameters are stored in the registry the user also can select to save or to load the grabbing configuration in INI files The INI files in addition to the grabbing parameters contain all configuration para
21. dvanced Network Adapter Properties Intel R PRO 1000 GT Desktop Adapter Properties Ed Power Management Boot Options Driver Resources General Link Speed Advanced intel Advanced Adapter Settings Gigabit Master Slave Mode Locally Administered Address Log Link State Evert Performance Options oS Packet Tagging TCPIP Offloading Options Wait for Link hs Use Default Jumbo Framez Enables Jumbo Frame capability for TEPAP packets In situations where large packets make up the majority of traffic and additional latency can be tolerated Jumbo Frames can reduce CPU utilization and improve wire efficiency Jumbo Frames are larger than standard Ethernet frames which are approximately 1 5k in size Note Changing this setting may cause a momentary loss of connectivity w Cancel 4 No firewall should be active on the network adapter where the Photonfocus GigE camera is connected If the Windows Firewall is used then it can be switched off like this Open the Windows Firewall configuration Start gt Control Panel gt Network and Internet Connections gt Windows Firewall andclick on the Advanced tab Uncheck the network where your camera is connected in the Network Connection Settings see Figure 2 6 Windows Firewall Configuration Installation Procedure Figure 2 6 Windows Firewall Configuration Windows Firewall General Exceptions Advanced Network Connection Settings Windows
22. e Grabber Grab command from the menu Figure 3 4 PF3DSuite 2D amp 3D Acquisition mode shows the live image while PF3DSuite is in acquisition mode Please consider that in case the camera is configured in trigger mode a live image will only be visible if the camera receives a suitable external trigger Figure 3 4 PF3DSuite 2D amp 3D Acquisition mode PF 3DSuite File Grabber Camera View Windows Conveyer Help fp gt E mi O W Q L a a 2D 8 3D 1 Peak Normalization Live image Min Max 255 255 andl LastError N A ErrorCount O Lost Frames O 20 PF3DSuite Tool Figure 3 5 PF3DSuite 3Donly Acquisition mode PF 3DSuite File Grabber Camera View Windows Conveyer Help la gt E aew a LAA so Normalization Live image Min Max 255 255 i gt LastError N A ErrorCount O Lost Frames O Set up the Region of Interest Although the ROI of the camera can be modified using the camera dialog the user can also select the ROI using the mouse To do this the user must activate the set up mode by the Camera gt Region of interest menu option or by clicking the corresponding toolbar button Figure 3 1 PF3DSuite Main Window While in this mode the camera ROI is set to the full resolution the trigger is set to Free Running and the acquisition mode is set to 2D 3D in order to make the ROI set up operation comfortable The user can select the ROI by drawing a rectangle over the frame To draw the recta
23. e distributor nearest you and contacts to our key account managers can be found at www photonfocus com http www photonfocus com Further information Note Photonfocus reserves the right to make changes to its products and documentation without notice Photonfocus products are neither intended nor certified for use in life support systems or in other critical systems The use of Photonfocus products in such applications is prohibited Note Photonfocus is a trademark and LinLog is a registered trademark of Photonfocus AG CameraLink and GigE Vision are a registered mark of the Automated Imaging Association Product and company names mentioned herein are trademarks or trade names of their respective companies Note Reproduction of this manual in whole or in part by any means is prohibited without prior permission having been obtained from Photonfocus AG Preface Note Photonfocus can not be held responsible for any technical or typographical errors Legend In this documentation the reader s attention is drawn to the following icons Note Important note Important Alerts and additional information Caution Attention critical warning Tip Notification user guide Chapter 2 Installation Procedure The following software packages have to be installed e GigE installation eBUS SDK_ exe e PF3DSuite installation PFInstaller_ exe Requirements The PF3DSuite GUI is available for Windows operating s
24. en ROI_0 painted in green as well as ROI_1 painted in blue In this case ROI_O has no restrictions and ROI_1 may be modified depending on the size and position of ROI_0 23 PF3DSuite Tool Figure 3 8 PF3DSuite Main Frame with dual peak in 2D and 3D mode S PF3DSuite ROI Setup E File Grabber Camera View Windows Help a MOB waLlLlQge 0 255 L gt 0 0 Zoom 1 2 Grabbing at 42 33 FPS LastError NJA ErrorCount O Lost Frames O To configure the ROI_1 the user should press the button 1 of the Figure 3 7 PF3DSuite Main Frame with dual peak in 2D and 3D mode In this case the same window as for ROI_0 is shown but the user can only set the Y position and height of the ROI_1 painted in blue while the X offset and width are constrained to be the same as for ROL 0 Figure 3 9 PF3DSuite Main Frame with dual peak in 2D and 3D mode br gt ROI Se File Grabber Camera View Windows Help m O Awa LAA Ts 0 255 L gt 0 0 Zoom 1 2 Grabbing at 42 37 FPS LastError NJA ErrorCount O Lost Frames 1 Frame Contrast and Live Image Visualization The live image is displayed in the main window after setting all the acquisition parameters see the section called Starting the Live Image 24 PF3DSuite Tool Note Remember that when the camera is configured in Trigger mode see camera manual the camera will only send frames when trigger signals are sent to the camera Image Normalization
25. f stored images that shall get displayed as frames The user can save the shown frame that was recently acquired To save a selected frame the acquisition must be stopped Select the File Save Frame menu option which opens the file save dialog The user must choose a file name before saving the selected frame to a file in the desired folder A new dialog appears immediately afterwards to ask whether additional peak information shall also be saved This peak information consists of 8 colums with pixel information that describe the peak information of the previously saved frame namely the position the width and the quality of the peak 17 PF3DSuite Tool It is also possible to save only the peak position of the last frame acquired using the File gt Save Peak Positions menu option In this case the positions of the peak will be stored as numbers in plain text Note that the application does not allow to save any currently shown peak values while the application 1s acquiring frames Range Map The range map settings influence how range maps are displayed by the PF3DSuite The size of the displayed range maps can be defined in two ways 1 Time out and 2 Number of profiles The Timeout configured in the previous section defines the maximum time allowed between two consecutive frames If a new frame is delivered by the camera for a time exceeding the defined time out the current range map is ended Subsequent frames will
26. hows the camera ROI so the user is able to see which area of the scene will be acquired once the set up mode is quit and the acquisition mode is activated The user can switch between modes by either using the Camera gt Set up Region of Interest menu option or by applying the corresponding toolbar button for more information about setting up the ROI see the section called Set up the Region of Interest Before working in the set up mode the frame grabber must be configured see the section called Starting the Live Image 14 PF3DSuite Tool Warning While grabbing in acquisition mode the program configures the frame grabber according to the camera ROI found at the start of the image acquisition Modification of the ROI while grabbing can lead to wrong acquisitions Starting the Live Image The acquisition configuration in PF3DSuite allows to select the appropriate frame grabber and to communicate with the camera In order to configure the live image acquisition and to start the acquisition the user must open the Grab Parameters dialog by selecting Grabber Config amp Grab from the menu bar and specify the type of camera being used see the section called Starting the Live Image Three options are available a camera through a Cameralink Grabber a GigE camera or a frame File already stored The application maintains the last accepted values of this dialog and after the first grabbing the user ca
27. ing this option a sub window appears on the left of the range map displaying the selected profile The user should use the slider to change the currently selected profile In addition this window allows the following commands e Zoom Use window buttons or select a fixed scale factor from the Zoom menu e Pan Use the left mouse button or both scroll bars 29 PF3DSuite Tool Figure 3 16 Range Map viewer The Width and Quality maps provide information about the width and height of the laser line The Width and Quality Map windows have the same behaviour and commands as the Range Map window For more information see the section Laser Line Detection of the camera manual In these visualization windows the File gt Save PFMap menu option allows the user to save the Range Width and Quality maps in an unique apm file This file can be later opened with the PF3DSuite using the File gt Open PFMap File menu option 3D Viewer This tool displays a 3D representation of the range map see the section called General Overview The user can move the surface by using the following commands e Zoom Use the mouse wheel or Ctrl left mouse button e Pan Use the left mouse button e Rotate Use the right mouse button In addition menu options let the user reset the surface orientation and change the 3D factors 30 PF3DSuite Tool Figure 3 17 3D Viewer e a Pave a e a oo th ae 7 oe A NE NA SS a aS pa
28. ite Tool Introduction PF3DSuite is a graphical user interface GUI under Window OS intended to configure and ease the evaluation of the Photonfocus http www photonfocus com product range of 3D digital cameras PF3DSuite provides the tools to see the effects of the camera configuration parameters within the live image and displays the 3D information acquired in real time With PF3DSuite you will be able to e Acquire and display live images e Configure the parameters of the 3D camera e View live images captured from the camera e View the results of the 3D acquisition settings Graphical User Interface PF3DSuite consists of a main window several secondary windows and some configuration dialogs The main window displays the frame acquired by the camera Additional windows display further information of the PF3DSuite the histogram window of the captured frame the range map window the surface window and the zoom window The configuration dialogs let the user change the acquisition see the section called Starting the Live Image and camera parameters see the section called Camera Configuration The status bar displays the frame rate number of frames successfully acquired per second This is the real number of frames processed although the user may notice a slower image refresh in the main window The main window displays a recently acquired camera frame A toolbar contains buttons for the most common actio
29. ject under the laser which together define the scanned surface Equivalently instead of the object being moved the setup can be arranged vice versa the object can be kept static while the combination of camera and laser is being moved over the object The following figures describe the process of building a range map For each frame from the camera a profile contains the pixel coordinates of the laser line The accumulation of different profiles while moving the scanned object under the laser results in a range map containing 3D information from the surface of the scanned object 26 PF3DSuite Tool Figure 3 12 Generation of the range map from profiles a Coordinates of the peak position in the current frame b Current profile in u v g coordinates and c Set of consecutive profiles olpixels a 7 dl ol pixels g pixels 25 e 7 e y Ji e K oN g A a k A nX gt AE Tube aX yanti v pixels S _ l ea Ne A e f r a u profiles J Eha Sii u profiles a A a b Cc Any range map can be represented as a two dimensional image encoding the g coordinate as gray level or color values see Figure 3 13 Example of an acquired range map Each column of the image represents data from a single profile The color of each range map pixel is related to the object s height at those coordinates The minimum value of the range map 1s represented in blue the maximum
30. lock The following figure shows an example of the result of the simple 3D transformation Figure 3 15 Example of the 3D representation of the range map 3D Settings In order to acquire a range map the user should ensure that the camera is working in the 2D 3D mode or in the 3D mode Please refer to the camera manual for a description of the working modes In addition the user should tune the threshold for a correct detection of the laser profile This threshold should be high enough to neglect the detection of any peaks in background areas but low enough to detect the peak along all of the laser line During the acquisition configuration see the section called Starting the Live Image the user must define the end grabbing condition There exists two alternative ways to finish the range map grabbing a Time out and b Number of profiles 28 PF3DSuite Tool The time out defines the maximum time allowed between two consecutive frames If a new frame is delivered by the camera for a time exceeding the defined time out the current range map is ended Subsequent frames will be displayed in a new range map The time out condition may help in acquisition systems where the camera is working in trigger mode The camera captures a frame for each pulse of the trigger signal When no pulses are received the camera does not send any frame so the range map grabbing stops properly due to the time out condition The maximum number of
31. meters of the camera In order to save the current configuration select the File gt Save Configuration menu option Note that this option is not available when the set up mode is selected In order to get the camera parameters of interest PF3DSuite will present a list of serial ports to select to which port the camera is connected to After selecting the corresponding port PF3DSuite will open a new dialog asking for the INI file path To load an INI configuration file the user has to select the File gt Load Configuration menu option Note that this option is not available when the set up mode is selected In order to set the camera parameters to the correct camera PF3DSuite will present a list of serial ports to select to which port the camera is connected to After selecting the corresponding port PF3DSuite will open a new dialog asking for the INI file Camera Configuration In order to change the configuration parameters of the camera you must select inside the Camera menu which camera grabber you are using CameraLink or GigE Vision For the Cameralink grabber PF3DSuite will present a list of serial ports for choosing the camera similar to the Grab Parameters dialog see Figure 3 2 Acquisition configuration menu Double click on the serial port in order to configure the camera Please consult your camera manual for more information about the configuration parameters that can be selected in this dialog 18
32. n directly start the acquisition without any dialog using the Grabber gt Grab menu option or the corresponding toolbar button The acquisition can be stopped with the Grabber Freeze menu option or via the corresponding toolbar button 15 PF3DSuite Tool Figure 3 2 Acquisition configuration menu Grab Parameters Camera selection 11 Height File Width O Cameralink 2 GigE Camera configuration o For a CameraLink camera choose a proper config File For a GigE camera choose a config File or use an IP or MAC address or leave it blank if you want to select the camera manually E g ip 192 168 1 200 or mac 00 11 1c F5 30 d3 Timeout ms 1000 Range Map Max Profiles Factor U Factor W Factor ts To analyze a frame File already stored The user must specify the size of the frame When using a Cameralink frame grabber the user must select the serial port where the camera is connected in the list of serial ports next to the checkbox Cameralink To select a GigE Camera Path of the frame grabber configuration file specific for each frame grabber The user has to generate this configuration file since it will be required for the follow up steps of the setup process If no new frame is delivered by the camera within a time intervall that exceeds the specified time out the current range map is ended Limit of profiles per range map see the section called 3D Acquisition
33. n the case of a Cameralink frame grabber you must also enter the path for a frame grabber configuration file by clicking on the Choose config file button This file is specific for each frame grabber and the user has to create it using the proper software delivered by the frame grabber vendor This file provides the information for the acquisition system of the user namely the port the size of the grabbed frames the pixel data format and other configuration parameters In order to connect a GigE camera you can select a configuration file for the camera by clicking on the Choose config file button This file can be created for instance with the GEVPlayer You only need to connect the camera set the desired properties and store the configuration into a PureGev Configuration File with pvcfg extension You can also use a txt file like the one provided in the PF3DSuite2 configfiles folder If the camera it is already configured or you want to configure it using the PF3DSutie it can be connected also specifiying the IP or MAC address directly In the Driver config textbox you must enter the addresses in the following way for instance 1p 192 168 1 203 or mac 00 11 1c f5 a0 d3 But the camera can be also selected manualy by leaving the Driver config textbox blank In that case once you click in the OK button a new window will appear allowing you to select any camera connected in your network During the acquisition of the 3D d
34. ngle the user must drag the mouse diagonally and release the mouse button to set the rectangle After the ROI selection the user has to deactivate the Set up mode in order to get the selected ROI applied Leaving the set up mode the camera is programmed according to the previously used dialog settings 21 PF3DSuite Tool Figure 3 6 PF3DSuite Setup Mode Selected ROT is displayed within the green rectangle PF 3DSuite ROI Setup File Grabber Camera View Windows Help Mi MOBwaLlLlag Normalization Live image Zoom 1 2 Grabbing at 46 10 FPS LastError N A ErrorCount O Lost Frames O Note For the width and the x value of the ROI a few restrictions exist see camera manual for more details on ROI restrictions When deactivating the set up mode the GUI automatically reconfigures the selected values nearest to the allowed values of the camera The rectangle is redrawn to show the final setting of the ROI and the user is notified if applicable about the changed ROI values via a popup message box Dual Peak MV1 D2048X1088 3D03 only The MV 1 D2048X1088 3D03 camera allows to detect two laser peaks at the same time This is very useful when using different lasers to perform 3D analysis of objects made of different materials i e with different reflections or in order to avoid vibrations produced by the conveyor belt that moves the pieces through the measurement system These two peaks are named as Peak_O and Peak_1 The use
35. nning the MSI installer by default 1t proposes the recommended path C Program Files Photonfocus PF3DSuite2 It is also recommended to use the default settings during installation Structure of the Installation Directory The SDK included with the PF3DSuite is a C software library entitled SAL3D bin The main PF3DSuite binary DLLs from the SAL3D and precompiled executables of the examples distributed with the SAL3D SDK This folder also includes Frame Grabber Driver binary files fgd You need these files to use the PF3DSuite in order to grab frame objects easily Each FGD file supports one frame grabber device for 3D cameras with Cameralink interface configfiles The configuration files for the different frame grabbers in order to set up the window size number of taps pixel depth and other features SDK doc The SAL3D SDK documentation in html Open the index html to start SDK examples Visual C example projects using the Photonfocus camera configuration library SDK include Path to be added to the INCLUDE_PATH parameter of your compiler This directory contains the C declarations in SAL3D the internal declarations for the C functions and structures used in the DLLs and the Photonfocus camera configuration API declarations pflib SDK lib Path to be added to the LIBRAR Y_PATH parameter of your linker These files will allow the user to link his program to the SAL3D and Photonfocus DLLs 12 Chapter 3 PF3DSu
36. ns regarding visualization and acquisition These buttons are described in the following figure In addition to the toolbar two vertical sliders to the left of the main window allow to modify the contrast of the frame displayed in the main window and in the zoom window see the section called Image Normalization for more information 13 PF3DSuite Tool Figure 3 1 PF3DSuite Main Window PF3DSuite File Grabber Camera View Windows Help O 0 0 0 0 8 PESO IMSS Mormalization Live image Min Max 55 55 i gt ww e LastError MA ErrorCount 0 Lost Frames Ma Open the grabbing configuration dialog see the section called Starting the Live Image Start grabbing with the current configuration Stop grabbing Activate deactivate the ROI set up mode Open the histogram window Open the range map window Open the 3D viewer window Open the width map window Open the quality map window Open the line scan window Zoom in button Zoom out button Select the visualization mode see the section called Adquisition Modes Select the number of laser peaks Sliders for the normalization of the frame Seooeooeoceeaoqcqeedeoeo In addition to the acquisition mode PF3DSuite GUI provides the set up mode This mode allows to configure the camera parameters before starting the acquisition the main window displays the camera frame in full resolution and a rectangular area s
37. operties are modified like TriggerMode ExposureTime FrameCombine_Enable etc In the C Program Files MVTec HALCON 11 0 PhotonfocusPackage folder the user may find the libraries header files and some documentation of the Photonfocus extension package 33 Chapter 4 Warranty The manufacturer alone reserves the right to recognize warranty claims Warranty Terms The manufacturer warrants to distributor and end customer that for a period of two years from the date of the shipment from manufacturer or distributor to end customer the Warranty Period that e the product will substantially conform to the specifications set forth in the applicable documentation published by the manufacturer and accompanying said product and e the product shall be free from defects in materials and workmanship under normal use The distributor shall not make or pass on to any party any warranty or representation on behalf of the manufacturer other than or inconsistent with the above limited warranty set Warranty Claim Warning The above warranty does not apply to any product that has been modified or altered by any party other than manufacturer or for any defects caused by any use of the product in a manner for which it was not designed or by the negligence of any party other than manufacturer 34 Chapter 5 References All referenced documents can be downloaded from our website at www photonfocus com http www photonfocus com GE
38. ora These examples for the 3D02 and 32 PF3DSuite Tool 3D03 cameras are located In the C Program Files Photonfocus GigE_Tools eBUS_SDK_examples folder The examples show how to capture the raw data coming from the camera 2D and 3D and how to store them This data contains not only the laser peak coordinates the laser line width and height but also some status information specific for each frame image counter real time counter in microsec time stamp encoder position missed trigger counter etc The user may use this raw data for his own purposes for instance in order to identify frames to count the lost frames or to sinchronize two cameras The FrameCombine examples put more emphasis on the FrameCombine feature available only in the 3Donly mode that allows to send several 3D profiles in the same frame in order to reduce the computer interrupts and increase efficiency HALCON extension The PHFInstaller includes also some examples for the HALCON v11 By selecting this option an example for using the 3D02 and 3D03 with HALCON is installed in C Program Files MVTec HALCON 11 0 examples PhotonfocusPackage The example called gigevision_photonfocus3d_objectmodel3d hdev allows the user to connect a Photonfocus 3D GigEVision camera configure the camera and generate a 3D model The user can configure more properties by modifying the photonfocus_camera_configuration procedure In this procedure is shown how different pr
39. profiles defines the maximum size of any captured range map Once the range map is composed of the pre selected amout of profiles the application ends the range map grabbing Since both conditions are always used each range map acquired ends if at least one of both conditions 1s fulfilled In addition to the conditions explained above the grabbing dialog allows the user to specify the transformation factors to get a metric approximation of the surfaces These parameters can also be modified during the visualization of the surface with the command Range Map gt Change 3D factors from the menu in the surface window The user is referred to the section called Transformation Parameters Estimation for more information about these factors 3D Visualization After the 3D acquisition four visualizations are available Range map and 3D Viewer plus the Width and Quality maps These representations have a window each The user can open these windows in the Window menu or by using the main window tool bar see Figure 3 1 PF3DSuite Main Window Range Width and Quality Map windows The Range Map window allows the user to see the Range map and save it as an arm file File Save menu option The programming library distributed with PF3DSuite can load this format Figure 3 16 Range Map viewer shows the GUI of the Range Map viewer Additionally the user can visualize the profiles of the Range map View Profile After select
40. r may configure two different ROIs with the same width and apply different thresholds to each one The user can select the number of peaks in the drop down list number 14 of the Figure 3 1 PF3DSuite Main Window or by changing the PeakDetector_NrOfPeaks property through the Device Control dialog 22 PF3DSuite Tool Figure 3 7 PF3DSuite Main Frame with dual peak in 2D and 3D mode PF3DSuite File Grabber Camera View Windows Windows Peaki Conveyer Help la gt E Ml OBwacl QQ wan 2 as Normalization Live image Pawa LAA f LastError N A ErrorCount O Lost Frames O As seen in the previous image a new toolbar is shown up when using the dual peak In it the user will find the buttons to access the ROI configuration mode for the second peak the histogram of the second ROI and the viewers for the range width and quality maps and 3D representation There are also independent zoom buttons for this ROI The ROI placement has some restrictions when using the dual peak Both ROIs must have the same width the ROIs cannot overlap and the ROI of Peak_1 must be always beyond the ROI of the Peak_0 In practice this means that ROL 0 rules over the ROI_1 Therefore the user must configure ROI_O first before setting the ROI_1 In order to configure the ROI of the Peak_0 the user should proceed as in the section called Set up the Region of Interest The only difference is that the user will observe in the scre
41. ted or no connectivity 2 By default Photonfocus GigE Vision cameras are configured to obtain an IP address automatically For this quick start guide it is recommended to configure the network adapter to obtain an IP address automatically To do this select Internet Protocol TCP IP see Figure 2 3 Local Area Connection Properties click the Properties button and select Obtain an IP address automatically see Figure 2 4 TCP IP Properties Installation Procedure Figure 2 4 TCP IP Properties Internet Protocol TCP IP Properties General Alternate Configuration You can get IF settings assigned automatically if your network supports this capability Otherwise You need to ask your network administrator for the appropriate IP settings 2 Obtain ONS server address automatically Use the following DNS server addresses aaa Es eal Open again the Local Area Connection Properties window see Figure 2 3 Local Area Connection Properties and click on the Configure button In the window that appears click on the Advanced tab and click on Jumbo Frames in the Settings list see Figure 2 5 Advanced Network Adapter Properties The highest number gives the best performance Some tools however don t support the value 16128 For this guide it is recommended to select 9014 Bytes in the Value list Installation Procedure Figure 2 5 A
42. ties ci a 9 2 6 Windows Firewall Connie uration sl td ias 10 Ze Local Area COMMECUON PIOMEIUleS A A A A 11 Setup PES SUS srt it ca 12 Sl PES DS unite Min Wide A pease 14 3 2 ACQUISICION COMM CUTAN ON MENU si dd cie 16 30 GEN Device Control DialoOS A 19 SA PESDSuite 2c 3D ACQUISIMONs MOGs cdas dsd 20 55 EP SD Suite Don Acquisition mode a aaa 21 3 6 PF3DSuite Setup Mode Selected ROI is displayed within the green rectangle 22 3 7 PF3DSuite Main Frame with dual peak in 2D and 3D mode oooooccccccnconcnnoncnncnnoncnnons 23 3 8 PF3DSuite Main Frame with dual peak in 2D and 3D mode oooooccccccnnoncnnoncnncnnoncnnons 24 3 9 PF3DSuite Main Frame with dual peak in 2D and 3D mode oooooccccccnnoncnncncnncnnoncnnons 24 LO Sto Cram VW ia ia ino eos 25 3 11 Example of the projection of a laser Over an Object ccc eee cee e eens eeeeeeeeeeeeseneeaeneees 26 3 12 Generation of the range map from profiles a Coordinates of the peak position in the current frame b Current profile in u v g coordinates and c Set of consecutive profiles 2 13 Bxramplezot a sacquited Tange Mii id 2 3 14 Metric transformation from range map coordinates to 3D coordinates c0ceeeeee 28 3 15 Example of the 3D representation of the range map oooocccconcnnoncnnoncnnonnoncnnoncnnonnononnns 28 SOs Rane SE MaD Ville WEF acts tn swuna nace auass a dae barge entarsaaeama ian 30 Sidi
43. uctsGb amp db_FID products nsf amp T_ OpenForm amp L_FID Gb e BitFlow Frame Grabbers http www bitflow com index php e File Frame Grabber Please contact the Support at Photonfocus or check the Photonfocus website http www photonfocus com for more recent versions of the PF3DSuite and about the latest list of compatible frame grabbers Installation Procedure GigE Installation The installation procedure goes as follows first of all it is necessary to install the hardware then the software and finally to configure the network adapters After that the user can install the PFRemote and the PF3DSuite see the section called PF3DSuite Installation Hardware Installation The hardware installation that is required for this guide is described in this section The following hardware 1s required e PC with Microsoft Windows OS XP Vista Windows 7 e A Gigabit Ethernet network interface card NIC must be installed in the PC The NIC should support jumbo frames of at least 9014 bytes In this guide the Intel PRO 1000 GT desktop adapter is used The descriptions in the following chapters assume that such a network interface card NIC is installed The latest drivers for this NIC must be installed e Photonfocus GigE camera e Suitable power supply for the camera see in the camera manual for specification which can be ordered from your Photonfocus dealership e GigE cable of Cat 5E or 6 The following list describes the