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Introduction

For more information about the software Halcon from MVTec we refere to threir office websideHALCON by MVtec, we refer to the product owner´s online presence: https://www.mvtec.com/products/halcon/

Info
Halcon HALCON can be preinstalled pre-installed on the camera under the location via `/opt/halcon` and can be acceses via the path variable `$HALCONROOT` . If not preinstalled , please contact you our sales.

PDF

name	arm_based_platforms.pdf

HALCON for

Arm

ARM-based Platforms

The offical MVTec document "HALCON for ArmARM-based Platforms" describes the process of "compiling/cross-compiling" of halcon application HALCON applications and is linked below.

https://www.mvtec.com/fileadmin/Redaktion/mvtec.com/documentation/manuals/arm_based_platforms.pdf

The document is divided into chapterchapters. For a better orientation we give a short overview:

Chapter 1 Using HALCON on

Arm

ARM-based

platforms

Platforms

Gives a general overview of using Halcon on armbased plattformsHALCON on ARM-based Platforms.

Chapter 2 Getting

started

Started

Discribes the process of installing halcon HALCON to an armbased plattform ARM-based Platform and can be skipped since the halcon HALCON tools are preinstalled pre-installed both on the iam -camera and the virtual machine.

Chapter 3 Creating Applications

Discribes Describes the process of of "compiling/cross-compiling" of an halcon HALCON application.

Halcon Examples on iam camera

You need to open

HALCON installation on iam

In order to aquire live frames, the halcon-runtime and halcon-GenICamTL interface has to be installed on the camera.
Halcon environment variables must be set in order for HALCON to work.
Edit halcon.sh (<directory you installed HALCON in, e.g., /opt/halcon>) accordingly to your installation and copy it to /etc/profile.d

halcon.sh:

Code Block

HALCONARCH=aarch64-linux; export HALCONARCH
HALCONROOT=<directory you installed HALCON in, e.g., /opt/halcon>; export HALCONROOT
HALCONEXAMPLES=${HALCONROOT}/examples; export HALCONEXAMPLES
HALCONIMAGES=${HALCONROOT}/examples/images; export HALCONIMAGES
PATH=${HALCONROOT}/bin/${HALCONARCH}:${PATH}
export PATH
if [ ${LD_LIBRARY_PATH} ] ; then
  LD_LIBRARY_PATH=${HALCONROOT}/lib/${HALCONARCH}:${LD_LIBRARY_PATH}
  export LD_LIBRARY_PATH
else
  LD_LIBRARY_PATH=${HALCONROOT}/lib/${HALCONARCH}; export LD_LIBRARY_PATH
fi
export XILINX_XRT=/usr
GENICAM_GENTL64_PATH=/opt/synview/cti64

Use HALCON on iam

Info
Be sure that the iAMGigEServer is stopped, before you execute halcon-framegrabber-apps.

HALCON Examples on iam

Open an SSH Shell connection to the camera. For some example you also need to have In some cases X-Server support is required.

Code Block

language	bash

ssh -Y root@192.168.1.10

There are some examples preinstalled pre-installed to the iam camera. They can be found under the locationhere:

Code Block
cd /home/root/040530_test_halcon

On top of the filesystem the file system see for README.md can be found.

There is detalied detailed information about the provided samples.

structure

Structure of the test_

halcon

HALCON folder:

The folder contains the file system below. On can see that the The three examples do have a similar file structure.

Code Block

.
|-- README.md			
|-- cpp
|   |-- Makefile
|   |-- test_halcon_aniso_test
|   |   |-- bin
|   |   |   |-- aarch64-linux
|   |   |       |-- find_aniso_shape_model
|   |   |-- makefiles
|   |   |   |-- macros.mak
|   |   |   |-- makefile
|   |   |   |-- rules.mak
|   |   |-- source
|   |   |   |-- find_aniso_shape_model.cpp
|   |   |-- vs2010
|   |       |-- test_halcon_aniso.sln
|   |       |-- test_halcon_aniso.suo
|   |       |-- test_halcon_aniso.vcxproj
|   |       |-- test_halcon_aniso.vcxproj.filters
|   |       |-- test_halcon_aniso.vcxproj.user
|   |       |-- x64
|   |           |-- Release
|   |               |-- test_halcon_aniso.exe
|   |-- test_halcon_live_view
|   |   |-- bin
|   |   |   |-- aarch64-linux
|   |   |       |-- test_halcon_live_view
|   |   |-- makefiles
|   |   |   |-- macros.mak
|   |   |   |-- makefile
|   |   |   |-- rules.mak
|   |   |-- source
|   |   |   |-- test_halcon_live_view.cpp
|   |   |-- vs2010
|   |       |-- test_halcon_live_view.sln
|   |       |-- test_halcon_live_view.suo
|   |       |-- test_halcon_live_view.vcxproj
|   |       |-- test_halcon_live_view.vcxproj.filters
|   |       |-- test_halcon_live_view.vcxproj.user
|   |       |-- x64
|   |           |-- Release
|   |               |-- test_halcon_live_view.exe
|   |-- /test_halcon_sw_trigger
|       |-- bin
|       |   |-- aarch64-linux
|       |       |-- test_halcon_sw_trigger
|       |-- makefiles
|       |   |-- macros.mak
|       |   |-- makefile
|       |   |-- rules.mak
|       |-- source
|       |   |-- test_halcon_sw_trigger.cpp
|       |-- vs2010
|           |-- test_halcon_sw_trigger.sln
|           |-- test_halcon_sw_trigger.suo
|           |-- test_halcon_sw_trigger.vcxproj
|           |-- test_halcon_sw_trigger.vcxproj.filters
|           |-- test_halcon_sw_trigger.vcxproj.user
|           |-- x64
|               |-- Release
|                   |-- test_halcon_sw_trigger.exe
|-- profile_halcon

Description of samples:

test_halcon_aniso_test:

This sample is derived from find_aniso_shape_model.hdev (MVTec Software GmbH).
This sample is designed for testing the performance of the FindAnisoShapeModel() function.
With 50 loops a mean value of the consumed time of FindAnisoShapeModel() is evaluated.

OPTIONS:

NO_WINDOWS ; if defined no windows are shownno windows are shown

Info
For executing this sample make sure that smd*.png files are inside <directory you installed HALCON>/examples/images/smd

test_halcon_live_view:

This sample is derived from error_handling_timeout.cpp (MVTec Software GmbH).
This sample is designed for testing the live view of the iam platform.

OPTIONS:

SAVE_IMAGE ; if defined, a image is saved at the end of program
SET_EXPOSURE_TIME ; if defined, a exposure time is set

test_halcon_sw_trigger:

This sample is derived from error_handling_timeout.cpp (MVTec Software GmbH).
This sample is designed to show the software trigger functionality.
This sample aquires 100 software triggered frames.
No live view is implemented.

OPTIONS:

NONE

Execute

Execution of one of the provided

Halcon

HALCON examples

The binarys binaries of the brebuild prebuild examples can be found in the ../bin directory of each example project. The test_halcon_live_view can be executed by applying the commands below. The other two others examples can be executet executed in the same way.

Code Block

language	bash

cd /home/root/040530_test_halcon/cpp/test_halcon_live_view/bin/aarch64-linux/
./test_halcon_live_view

Tip
The `test_halcon_live_view` example opens a figure showing the camera live image. Therefor Therefore it is nessasary necessary that the OpenSSH connecton connection allows x11 forwarding!

Info
The two other examples `test_halcon_aniso_test` and `test_halcon_sw_trigger` do not need the x11 forwarding.

Compiling the provided

Halcon

HALCON examples

It is possible to compile the examples on a Linux Host system (e.g. by using the provided virtual machine image) or native on the camera (over OpenSSH) both using makefiles.

Info
For native

on the camera (over OpenSSH) both unsing makefiles.

compiling on the camera, make sure that halcon include files are inside <directory you installed HALCON>/include

Tip

For cross - compiling, you have to source profile_halcon:
source .profile_halcon

You can test Test successful sourcing with:
echo $HALCONARCH

You should seeSee then for:
aarch64-linux

The next section described describes the process of building the software trigger project as an example.

Build e.g. the software trigger example

Info
The steps discribed described below are both similar in the same on native and the cross compile enviromentenvironment.

navigate Navigate into the makfile makefile directory

Code Block
cd /home/root/040530_test_halcon/cpp/test_halcon_sw_trigger/makefiles

Remove the prebuild binary by execute executing the command make make clean and build it from source by make .

Info
For more details: The exact behavior behaviour of both commands are is defined in the `makefile`.

Code Block
make clean make

The compiled binary can be found in the ../bin directory and can be executed as follow

Code Block
cd ../bin/aarch64-linux/ ./test_halcon_sw_trigger

Info
The other examples `test_halcon_live_view` and `test_halcon_aniso_test` or your own project as discribed described in the next section can be build from the source in the same wayaccordingly.

Building your own

Halcon

HALCON examples:

Prepare Makefiles

Possibly the easiest way is to copy the complete folder of one of the examples and rename it to your project name.:

Code Block
cd /home/root/040530_test_halcon/cpp/ mkdir your_project_name cp -vr test_halcon_sw_trigger/* your_project_name

Now you can edit and rename the given source file from the director your_project_name/source/ or simply replace it by your own cpp file.

Info
On will get a well-arranged file structure if you use the `make clean` command before futher edithing further editing your project director. On can achive this by executing the commands below.

Code Block
cd /home/root/040530_test_halcon/cpp/your_project_name/makefiles/ make clean

Code Block
cd /home/root/040530_test_halcon/cpp/your_project_name/source/ mv test_halcon_sw_trigger.cpp your_source_file_name.cpp

Tip
Since you are analysing an For analysis of a monochrome image sensor it is important to use a monochrome pixel fomat. Therfore Therefore the given examples do all show how to configrure configure the pixel format in source code. Like the listening from With reference to `test_halcon_sw_trigger.cpp` below.:

Code Block

try
{
	acqdevice.SetFramegrabberParam("PixelFormat", "Mono8");
}
catch (HException &except)
{
	cout << "---> PixelFormat failed!\n";
	cout << "---> Cause: " << except.ErrorMessage() << "(HALCON error " << except.ErrorCode() << ")\n";
	cout << "---> CloseFramegrabber!\n";
	acqdevice.CloseFramegrabber();
	return except.ErrorCode();
}

You also need to edit Edit the makefile as discribed shown below at in line 38 by with regard to the name naming of your cpp source file.

Code Block

#------------------------------------------------------------------------------
# makefile
#------------------------------------------------------------------------------
# HALCON/C++ examples
#
# ATTENTION:
#
#   This makefile uses gmake syntax and works only with gmake, therefore.
#   On Windows systems you can use nmake with the file makefile.win 
#   which is also provided in this directory
#   The executables are created in the directory 
#   $(HALCONEXAMPLES)/cpp/console/bin$(CONF_SUFFIX)/$(HALCONARCH)
#
# Copyright (c) 1996-2019 by MVTec Software GmbH
#                            www.mvtec.com
#------------------------------------------------------------------------------
# The makefile can be used in the following way:
#    gmake all
#    gmake all XL=1
#    gmake allxl
#    gmake clean
#    gmake <program>
#    gmake <program> XL=1
#    gmake PROG=<program>
#    gmake PROG=<program> XL=1
#    gmake PROG=<program> clean
# Optionally the STATE variable can be set to release or debug, e.g.
#    gmake STATE=debug all
#------------------------------------------------------------------------------
#
#  Make sure that the following environment variables are set correctly:
#    - HALCONROOT
#    - HALCONARCH 
#------------------------------------------------------------------------------

# -- common stuff -------------------------------------------------------------

PROG           = your_source_file_name

ifndef BASE_DIR
BASE_DIR       = ../
endif
ifndef MAKE_DIR
MAKE_DIR       = $(BASE_DIR)makefiles/
endif
ifndef MAKE_FILE
MAKE_FILE      = makefile
endif

ifndef SRC_DIR
SRC_DIR        = $(BASE_DIR)source/
endif

Using make command

navigate Navigate into the makfile makefile directory and exexute execute the make command.

Code Block
cd /home/root/040530_test_halcon/cpp/your_project_name/makefiles make

Info
You may need to remove your binaries which were builed built before by execute when executing the command `make clean` before.

The binary can be found now in the ../bin directory and can be executed by the commands below.

Code Block
cd ../bin/aarch64-linux/ ./your_source_file_name

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Key

Introduction

HALCON for

ARM-based Platforms

Chapter 1 Using HALCON on

ARM-based

Platforms

Chapter 2 Getting

Started

Chapter 3 Creating Applications

Halcon Examples on iam camera

HALCON installation on iam

Use HALCON on iam

HALCON Examples on iam

Structure of the test_

HALCON folder:

Description of samples:

test_halcon_aniso_test:

test_halcon_live_view:

test_halcon_sw_trigger:

Execution of one of the provided

HALCON examples

Compiling the provided

HALCON examples

Build e.g. the software trigger example

Building your own

HALCON examples:

Prepare Makefiles

Using make command

Attachments