Introduction
System Requirements
Software Installation
Manual Installation of Halcon Interface and Procedures
Connect and Open a Camera
Camera Setup Considerations
Parameter Adjustment in NxView
Software Components
NxLib API
Overview
Json Types
C Interface
C API Types
Item Paths
API Return Codes
Read Access
nxLibGetBinary
nxLibGetBinaryInfo
nxLibGetBool
nxLibGetCount
nxLibGetDouble
nxLibGetInt
nxLibGetJson
nxLibGetJsonMeta
nxLibGetName
nxLibGetString
nxLibGetType
Write Access
nxLibErase
nxLibSetBinary
nxLibSetBool
nxLibSetDouble
nxLibSetInt
nxLibSetJson
nxLibSetNull
nxLibSetString
Waiting
nxLibWaitForChange
nxLibWaitForType
nxLibWaitForStringValue
nxLibWaitForIntValue
nxLibWaitForDoubleValue
nxLibWaitForBoolValue
Other
nxLibTranslateReturnCode
nxLibWriteDebugMessage
nxLibGetDebugMessages
NxLib
nxLibInitialize
nxLibFinalize
nxLibOpenTcpPort
nxLibCloseTcpPort
NxLibRemote
nxLibConnect
nxLibDisconnect
C++ Interface
NxLibItem
operator[]
operator<<
operator=
operator==,!=,>,<,>=,<=
compare
set
setJson
setNull
as
asInt
asBool
asDouble
asString
asJson
isNull
isString
isNumber
isBool
isArray
isObject
type
exists
erase
name
count
getBinaryDataInfo
getBinaryData
setBinaryData
waitForChange
waitForType
waitForValue
NxLibException
getErrorCode
getErrorText
getItemPath
NxLibCommand
parameters
result
execute
finished
successful
C# Interface / CLI
Basic Access
Read Access
GetBinary
GetBinaryInfo
GetBool
GetCount
GetDouble
GetInt
GetJson
GetJsonMeta
GetName
GetString
GetType
Write Access
Erase
SetBinary
SetBool
SetDouble
SetInt
SetJson
SetNull
SetString
Waiting
WaitForChange
WaitForType
WaitForStringValue
WaitForIntValue
WaitForDoubleValue
WaitForBoolValue
Other
TranslateReturnCode
WriteDebugMessage
GetDebugMessages
Initialize
Finalize
OpenTcpPort
CloseTcpPort
NxLibItem
property[]
Compare
Set
SetJson
SetNull
AsInt
AsBool
AsDouble
AsString
AsJson
IsNull
IsString
IsNumber
IsBool
IsArray
IsObject
Type
Exists
Erase
Name
Count
GetBinaryDataInfo
GetBinaryData
SetBinaryData
WaitForChange
WaitForType
WaitForValue
NxLibException
GetErrorCode
GetErrorText
GetItemPath
NxLibCommand
Parameters
Result
Execute
Finished
Successful
Common Tree Elements
Vector
Matrix
Transformation
Primitive
Plane
Sphere
Cylinder
Tree
Cameras
ByEepromId
0
1
...
BySerialNo
120001 (a stereo camera)
Calibration
Dynamic
Stereo
Left
Camera
Rotation
Reprojection
Right
Camera
Rotation
Angle
Epipolar
Vergence
Monocular
Left
Camera
Distortion
Right
Camera
Distortion
Stereo
Angle
Epipolar
OpticalAxis
Vergence
Baseline
Left
Camera
Rotation
Reprojection
Right
Camera
Rotation
EepromId
Images
DisparityMap
PointMap
Raw
Left
Right
Raw (with FlexView enabled)
0
Left
Right
1
Left
Right
...
Rectified
Left
Right
Rectified (with FlexView enabled)
0
Left
Right
1
Left
Right
...
WithOverlay
Left
Right
Link
Target
ModelName
Parameters
Capture
AbsoluteBlackLevelOffset
AutoBlackLevel
AutoExposure
AutoGain
Binning
BlackLevelOffset
Exposure
FlexView
FrontLight
Gain
GainBoost
HardwareGamma
Hdr
MaxFlashTime
MaxGain
PixelClock
Projector
TargetBrightness
Triggered
TriggerMode
UseDisparityMapAreaOfInterest
DisparityMap
AreaOfInterest
LeftTop
RightBottom
MeasurementVolume
Far
DisparityStep
LeftBottom
LeftTop
PixelSize
RightBottom
RightTop
Near
DisparityStep
LeftBottom
LeftTop
PixelSize
RightBottom
RightTop
PostProcessing
Filling
BorderSpread
RegionSize
MedianFilterRadius
SpeckleRemoval
ComponentThreshold
RegionSize
UniquenessRatio
Scaling
StereoMatching
CostScale
DepthChangeCost
DepthStepCost
MinimumDisparity
NumberOfDisparities
OptimizationProfile
ScaledMinimumDisparity
ScaledNumberOfDisparities
ShadowingThreshold
ValidRegion
LeftTop
RightBottom
IO
Input
Output
Overlay
Text
Angle
Color
Mirror
Horizontal
Vertical
Port
Bandwidth
Type
Sensor
Size
SerialNumber
Status
Temperature
Type
4002900001 (a monocular camera)
Calibration
Camera
Distortion
EepromId
Images
Raw
Rectified
WithOverlay
Link
Target
ModelName
Parameters
Capture
AutoBlackLevel
AutoExposure
AutoFocus
AutoGain
Binning
BlackLevelOffset
Exposure
Focus
Gain
GainBoost
HardwareGamma
PixelClock
TargetBrightness
Triggered
TriggerMode
IO
Input
Output
Overlay
Font
Angle
Color
Mirror
Horizontal
Vertical
SerialNumber
Status
Temperature
Type
Sensor
Size
Debug
Destination
Modules
Calibration
Camera
Commands
Locking
Matching
Rendering
StereoCamera
Execute
Command
Parameters
Result
ErrorSymbol
ErrorText
Execute
Command
Parameters
Images
RenderPointMap
RenderPointMapTexture
RenderView
Links
Hand
Target
Parameters
MonocularPatternCount
Pattern
GridSize
GridSpacing
PatternCount
RenderPointMap
Scaling
Texture
UseOpenGL
PixelSize
Size
ViewPose
RenderView
ShowSurface
Size
ViewPose
SurfaceConnectivity
Threads
Version
Build
Day
Major
Minor
Month
Year
Hash
uEye
Build
Major
Minor
Commands
AdjustExposureAndGain
Parameters
AdjustExposure
AdjustGain
Exposure
Gain
Brightness
Cameras
Break
Calibrate
Parameters
Cameras
PatternCount
Result
Progress
MonocularCalibration
StereoCalibration
CalibrateHandEye
Parameters
Link
PatternPose
Setup
Target
Transformations
0
1
...
Result
Progress
Iterations
ReprojectionError
PatternPose
Iterations
ReprojectionError
CalibrateWorkspace
Parameters
Cameras
Type
PatternPose
DefinedPose
Offset
Target
AlignAxis
Capture
Parameters
Cameras
FinalTrigger
InitialTrigger
Timeout
WaitFor
Operation
Result
120001
InitialTrigger
Retrieved
FinalTrigger
ChainTransformations
Parameters
Transformations
Result
Transformation
ClearOverlay
Parameters
Cameras
ShowRectifiedArea
Close
Parameters
Cameras
CollectPattern
Parameters
Cameras
DecodeData
MarkOnly
Buffer
Result
Stereo
0
Thickness
GridSpacing
GridSize
Offset
Left
Transformation
Contrast
Brightness
Right
Transformation
Contrast
Brightness
1
...
Monocular
Left
0
Brightness
Contrast
Offset
Transformation
Thickness
GridSpacing
GridSize
1
...
Right
0
Brightness
Contrast
Offset
Transformation
Thickness
GridSpacing
GridSize
1
...
ComputeDisparityMap
Parameters
Cameras
MarkFilterRegions
ComputeImageContrast
Parameters
Cameras
Region
Left
Right
Result
120001
Contrast
Left
0
1
...
Right
0
1
...
ComputePointMap
Parameters
Cameras
ConvertTransformation
Parameters
Transformation
SplitRotation
Result
Transformation
Transformations
DiscardPatterns
EstimateDisparitySettings
Parameters
Cameras
Result
120001
MinimumDisparity
NumberOfDisparities
EstimatePatternPose
Parameters
ReprojectionErrorScale
Average
Recalibrate
EstimateGridSpacing
Result
Patterns
0
EpipolarError
GridSpacing
PatternPose
ReprojectionError
1
EpipolarError
GridSpacing
PatternPose
ReprojectionError
...
EthernetConfiguration
Parameters
Cameras
FitPrimitive
Primitive Search Parameters
Parameters
Primitive
0 (Plane example)
Type
1 (Sphere example)
Type
Radius
Min
Max
Count
2 (Cylinder example)
Type
Radius
Min
Max
...
Cameras
Normal
Radius
BoundingBox
Min
Max
FailureProbability
InlierFraction
InlierThreshold
Scaling
Iterations
Result
Primitive
0
1
2
...
GenerateCalibrationPattern
Parameters
Filename
Encoding
Patterns
0
GridSpacing
Thickness
Text
Offset
0
1
...
GetModelInfo
Parameters
Cameras
ModelName
Disparity
Distance
MinimumDisparity
NumberOfDisparities
WorldCoordinates
Result
Blur
Disparity
Distance
FocalLength
Focus
LeftBottom
LeftTop
Pattern
OuterSize
GridSpacing
GridSize
Thickness
PixelPitch
PixelSize
RightBottom
RightTop
Vergence
DisparityAccuracy
GetPatternBuffers
Result
Stereo
0
Pattern
GridSize
GridSpacing
Points
0
0
1
...
1
1
...
Monocular
0
Pattern
GridSize
GridSpacing
Points
0
1
...
1
...
SerialNumber
0
1
GetRawCalibrationData
Parameters
Cameras
Result
Calibration
LoadCalibration
Parameters
Cameras
Calibration
GenerateEmptyCalibration
Result
EepromFormat
LoadImage
Parameters
Filename
ForceGrayscale
Node
LoadUEyeParameterSet
Parameters
Cameras
Filename
MeasureCalibration
Result
ReprojectionError
Open
Parameters
AllowFirmwareUpload
Cameras
LoadCalibration
ProjectPattern
Parameters
PatternPose
Rectified
Cameras
Result
Stereo
0
GridSize
GridSpacing
Points
0
0
1
...
1
0
1
...
1
GridSize
GridSpacing
Points
0
0
1
...
1
0
1
...
RectifyImages
Parameters
Cameras
ReducePatterns
Parameters
DrawOnly
PatternCount
RenderPointMap
Parameters
Cameras
Camera
Far
FillXYCoordinates
Near
ZBufferOnly
RenderView
Parameters
Cameras
ColorOffset
ColorRepetitionDistance
PatternPose
UseStereoTextures
Primitive
Retrieve
Parameters
Cameras
Timeout
Operation
Result
120001
Retrieved
SaveImage
Parameters
Filename
Node
SaveModel
Parameters
Cameras
Filename
Texture
SetPatternBuffers
Parameters
Stereo
Monocular
SerialNumber
StoreCalibration
Parameters
Cameras
Force
Trigger
Parameters
Cameras
Subset
Result
120001
Triggered
Multi Camera Setups
Examples
HowTo's
Reading/Writing Camera Parameter Files
Opening a Camera and Setting Parameters
Grabbing 3D Data
Set Z-Range
Capturing Images with Hardware Trigger
Deferred 3D Processing
Optimize Settings for Performance/Quality
Using the Digital Input and Output
Running Cameras Hardware Synchronized
API and Command Error Handling
Hardware Specification
Ambient Conditions (all models)
Electronics / GPIO
N10 GPIO Port
N20 GPIO Port
N20 Power Supply
N30/N35 GPIO Port
N30/N35 Power Supply
Wiring Examples
Cables
M8 Power Cord
M8 Y-Adapter
M8-Hirose Adapter (6 pin)
M8-Hirose Adapter (8 pin)
M8-Binder 712-Series Adapter (7 pin)
M8 Extension Cable
M8 Cable (open endings)
Illumination
N10
N20/N30/N35
Eye Safety
Mechanics
N10
N20
N30/N35
Vibration / Shock
Halcon Interface
Operators
open_framegrabber
close_framegrabber
set_framegrabber_param
get_framegrabber_param
grab_image
grab_data
Acquisition Handle
Executing Commands
Storing JSON structures in files
About
Changelog
Upgrade Notes
License
Third Party Licenses