Introduction
System Requirements
Software Installation
Manual Installation of Halcon Interface and Procedures
Installation on Nvidia Jetson
Connect and Open a Camera
Network Wizard
Setting Up a Stereo System with an X30/X36 Projector
Camera Setup Considerations
Parameter Adjustment in NxView
Software Components
Networking performance with GigE cameras
NxLib API
Overview
Binary Nodes and Commands
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
nxLibGetDebugMessages
nxLibGetDebugBuffer
NxLib
nxLibInitialize
nxLibFinalize
nxLibOpenTcpPort
nxLibCloseTcpPort
nxLibWriteDebugMessage
nxLibOpenDebugBlock
nxLibCloseDebugBlock
nxLibSetDebugThreadName
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
cancel
parameters
result
execute
finished
slot
successful
NxLibDebugBlock
Pre-C++11 Compatibility
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
Filter
Cameras
Invert
Or
0
Invert
And
0
Invert
Type
Value
...
...
Reduce
UseModel
Tree
CUDA
Available
Device
Devices
0
ClockRate
ComputeCapability
Cores
Integrated
Memory
Name
...
Enabled
ErrorText
StaticBuffers
UseFloat16
Calibration
AssemblyCalibration
0
GridSpacing
Pose
...
Pattern
GridSpacing
PatternBuffer
All
Filter
PatternCount
Patterns
0
120001 (a stereo camera)
Left
0
...
Right
0
...
4002900001 (a monocular camera)
0
Pattern
AssemblyCalibration
AssemblyPattern
GridSize
GridSpacing
Offset
Polarity
Thickness
Type
Contrast
Brightness
Points
0
...
...
...
ShowPatternPoints
ShowPatterns
StereoPatternCount
Thickness
Type
Cameras
120001 (a stereo camera)
Calibration
Dynamic
Stereo
Angle
Epipolar
OpticalAxis
Vergence
DisparityMapOffset
Left
Camera
Rotation
Reprojection
Right
Camera
Rotation
CalibrationHistory
0
Epipolar
Time
...
Monocular
Left
Camera
Distortion
K1
K2
K3
Rx
Ry
T1
T2
Right
Camera
Distortion
K1
K2
K3
Rx
Ry
T1
T2
Stereo
Angle
Epipolar
OpticalAxis
Vergence
Baseline
Left
Camera
Rotation
Reprojection
Right
Camera
Rotation
EepromId
FirmwareVersion
Application
Bootloader
ImageFolder
Images
DisparityMap
PointMap
Normals
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
Aperture
AutoBlackLevel
AutoExposure
AutoGain
Binning
BlackLevelOffset
DownloadImages
Exposure
FlexView
FocusDistance
FrontLight
Gain
GainBoost
HardwareGamma
Hdr
ImageBuffer
Count
OverflowPolicy
Size
ImageDownloadLimit
ImageName
Left
Right
ImageSet
MaxFlashTime
MaxGain
Mode
MultiExposureFactor
NoiseLevel
NumberOfImageSets
PixelClock
PatternType
Projector
ProjectorPower
TargetBrightness
TriggerDelay
Triggered
TriggerMode
UseDisparityMapAreaOfInterest
UseRecalibrator
WaitForRecalibrator
Vignetting
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
ScaledMeasurementVolume
ScaledAreaOfInterest
Scaling
StereoMatching
CostScale
DepthChangeCost
DepthStepCost
Method
MinimumDisparity
NumberOfDisparities
Padding
ScaledMinimumDisparity
ScaledNumberOfDisparities
ShadowingThreshold
WindowRadius
ValidRegion
LeftTop
RightBottom
IO
Input
Output
Driver
Sink
Source
Duration
DutyCycle
Frequency
Mode
Overlay
Text
Angle
Color
Mirror
Horizontal
Vertical
TransportLayer
BandwidthLimit
SurfaceConnectivity
Port
DHCP
Gateway
IpAddress
IpSubnetMask
NetworkAdapter
Gateway
IpAddress
IpSubnetMask
DHCP
MAC
Name
Type
Sensor
Left
FirmwareVersion
GlobalShutter
ModelName
PixelSize
Port
Bandwidth
IpAddress
IpSubnetMask
MaximumTransmissionUnit
NetworkAdapter
IpAddress
IpSubnetMask
Type
SerialNumber
Temperature
Right
FirmwareVersion
GlobalShutter
ModelName
PixelSize
Port
Bandwidth
IpAddress
IpSubnetMask
MaximumTransmissionUnit
NetworkAdapter
IpAddress
IpSubnetMask
Type
SerialNumber
Temperature
Size
Sensor (for an N20/N30/N35 camera)
FirmwareVersion
GlobalShutter
ModelName
PixelSize
Port
Bandwidth
IpAddress
IpSubnetMask
NetworkAdapter
IpAddress
IpSubnetMask
Type
SerialNumber
Size
Temperature
SerialNumber
Status
Available
Calibrated
DynamicCalibrationLimitReached
MinimumVoltage
Open
Overtemperature
Paired
ValidCameraFirmware
ValidIpAddress
ValidProjectorFirmware
LowBandwidth
LocalEepromFile
Temperature
Board
LED
CPU
Type
4002900001 (a monocular camera)
Calibration
Camera
Distortion
K1
K2
K3
Rx
Ry
T1
T2
EepromId
FirmwareVersion
ImageFolder
Images
Raw
Rectified
WithOverlay
Link
Target
ModelName
Parameters
Capture
Aperture
AutoBlackLevel
AutoExposure
AutoFocus
AutoGain
Binning
BlackLevelOffset
Exposure
Focus
FocusDistance
Gain
GainBoost
HardwareGamma
ImageBuffer
OverflowPolicy
Size
ImageName
ImageSet
NoiseLevel
NumberOfImageSets
PixelClock
TargetBrightness
TriggerDelay
Triggered
TriggerMode
Vignetting
IO
Input
Output
Overlay
Font
Angle
Color
Mirror
Horizontal
Vertical
Sensor
GlobalShutter
PixelSize
Port
Bandwidth
IpAddress
IpSubnetmask
MaximumTransmissionUnit
NetworkAdapter
IpAddress
IpSubnetmask
Type
Size
Temperature
SerialNumber
Status
Available
Calibrated
Open
Overtemperature
Paired
ValidCameraFirmware
ValidIpAddress
Type
160001 (a projector)
EepromId
FirmwareVersion
Application
Bootloader
ModelName
Port
DefaultGateway
DHCP
IpAddress
IpSubnetmask
NetworkAdapter
IpAddress
IpSubnetmask
Type
SerialNumber
Status
Available
Calibrated
Open
Overtemperature
Paired
ValidIpAddress
ValidProjectorFirmware
Temperature
Board
LED
Type
ByEepromId
0
1
...
Debug
BufferSize
FileOutput
Enabled
FilePrefix
FolderPath
MaxFileSize
MaxTotalSize
WriteFrequency
InfoTimeout
Level
StaticBufferCount
DefaultParameters
All
Threads
ComputeDisparityMap
StaticBuffers
RenderPointMap
PixelSize
Scaling
Size
Texture
UseOpenGL
ViewPose
RenderView
ShowCameras
ShowGrid
ShowSurface
ShowUserDefinedModels
Size
ViewPose
Execute
Default
Command
Parameters
PersistentParameters
Result
ErrorSymbol
ErrorText
Execute
Command
Parameters
Time
...
Images
RenderPointMap
RenderPointMapTexture
RenderView
Interface
Ethernet
Adapters
0
Active
DHCP
Gateway
IpAddress
IpSubnetMask
Name
MAC
Status
Connected
CableConnected
ReversePathFiltering
ValidIpAddress
...
Links
Hand
Target
Objects
0
Depth
Filename
Fixed
GridSpacing
Height
Lighting
Color
Ambient
MaterialBlur
Shininess
Diffuse
Specular
Link
Target
Mass
Radius
Type
Width
...
Physics
Gravity
GroundPlane
UEye
OpenMP
Version
CodeMeter
Build
Major
Minor
Status
Enabled
NxLib
Build
Day
Hash
Major
Minor
Month
Year
uEye
Build
Major
Minor
Commands
AddPatternBufferView
Parameters
Name
Filter
AdjustExposureAndGain
Parameters
AdjustExposure
AdjustGain
Brightness
Cameras
Exposure
Gain
Apply
Result
Exposure
Gain
Break
Calibrate
Parameters
Cameras
PatternCount
StereoCalibrationOnly
Threads
Result
Progress
MonocularCalibration
StereoCalibration
CalibrateHandEye
Parameters
Angles
0
0
1
...
1
0
1
...
...
Iterations
Link
Links
0
1
...
MeasureCalibration
PatternPose
Setup
Target
Threads
Tolerance
Transformations
0
1
...
Fixed
Link
Rotation
Translation
PatternPose
Rotation
Translation
Result
Angles
Iterations
Link
PatternPose
PoseError
Progress
Iterations
Residual
Residual
CalibrateWorkspace
Parameters
Cameras
Type
PatternPose
DefinedPose
Offset
Target
AlignAxis
Capture
Parameters
Cameras
FinalTrigger
InitialTrigger
Operation
Threads
Timeout
WaitFor
ClearImageBufferOnTrigger
WaitForProjector
ImageSet
Result
120001
PacketsResent
InitialTrigger
Retrieved
FinalTrigger
CaptureEvents
0
Timestamp
Symbol
Message
...
ChainTransformations
Parameters
Transformations
Result
Transformation
ClearImageBuffer
Parameters
Cameras
ClearOverlay
Parameters
Cameras
ShowRectifiedArea
Close
Parameters
Cameras
Threads
CollectPattern
Parameters
Blur
Buffer
Cameras
DecodeData
Direction
Downsample
DrawAxes
Filter
MarkOnly
Projector
Refinement
ReturnAllPattern
Threads
UpdateGlobalPatternData
Result
Stereo
0
GridSize
GridSpacing
Offset
Thickness
Type
Left
Transformation
Contrast
Brightness
Right
Transformation
Contrast
Brightness
1
...
Patterns
GlobalPatternDataUpdated
ComputeDisparityMap
Parameters
Cameras
CUDA
Device
Enabled
UseFloat16
MarkFilterRegions
Threads
ComputeImageContrast
Parameters
Cameras
Region
Left
Right
Threads
Result
120001
Contrast
Left
0
1
...
Right
0
1
...
ComputeNormals
Parameters
Cameras
CUDA
Device
Enabled
Radius
Threads
ComputePointMap
Parameters
Cameras
Threads
ConvertTransformation
Parameters
Transformation
SplitRotation
Result
Transformation
Transformations
CreateCamera
Parameters
Baseline
CalibrationFile
FolderPath
Lens
PatternType
ProjectorPower
Sensor
SerialNumber
HalfVergence
DeleteCamera
Parameters
Cameras
DiscardPatterns
Parameters
Cameras
EstimateDisparitySettings
Parameters
Cameras
Threads
Result
120001
MinimumDisparity
NumberOfDisparities
EstimatePatternPose
Parameters
Average
EstimateGridSpacing
Filter
Relative
Threads
Type
Result
Patterns
0
EpipolarError
GridSize
GridSpacing
PatternPose
PoseError
RayDistanceError
ReprojectionError
TriangulationError
Type
Left
ReprojectionError
Right
ReprojectionError
...
EthernetConfiguration
Parameters
Blind
Cameras
Configuration
0
Left
Gateway
IpAddress
IpSubnetmask
Method
Right
DefaultGateway
IpAddress
IpSubnetmask
Method
Projector
DefaultGateway
IpAddress
IpSubnetmask
Method
Gateway
IpAddress
IpSubnetmask
Method
1
Left
DefaultGateway
IpAddress
IpSubnetmask
Method
Right
DefaultGateway
IpAddress
IpSubnetmask
Method
Projector
DefaultGateway
IpAddress
IpSubnetmask
Method
DefaultGateway
IpAddress
IpSubnetmask
Method
...
MacAddresses
FilterPatternBuffer
Parameters
Filter
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
Threads
Result
Primitive
0
Index
1
2
...
GenerateCalibrationPattern
Parameters
Encoding
Filename
ImageSize
Patterns
0
GridSpacing
Thickness
Text
Offset
0
1
...
Result
0
...
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
GetPatternBuffer
Parameters
Filter
Result
Patterns
GetRawCalibrationData
Parameters
Cameras
Result
Calibration
LoadCalibration
Parameters
Cameras
Calibration
GenerateEmptyCalibration
Result
EepromFormat
LoadImage
Parameters
Filename
ForceGrayscale
Node
LoadUEyeParameterSet
Parameters
Cameras
Filename
Open
Parameters
Cameras
FirmwareUpload
Camera
Projector
LoadCalibration
Threads
WiringTest
PatternBufferInfo
Parameters
Filter
Result
Count
ProjectPattern
Parameters
Cameras
GridSize
GridSpacing
PatternPose
Rectified
Threads
Result
Stereo
0
Pattern
GridSize
GridSpacing
Points
0
0
1
...
1
0
1
...
1
Pattern
GridSize
GridSpacing
Points
0
0
1
...
1
0
1
...
Recalibrate
Parameters
Cameras
Filter
Result
Offset
Epipolar
Vergence
RectifyImages
Parameters
Cameras
CUDA
Device
Enabled
Threads
ReducePatternBuffer
Parameters
Count
Mode
Result
Reduced
RemovePatternBufferView
Parameters
Name
RenderPointMap
Parameters
Camera
Cameras
Far
FillXYCoordinates
Near
PixelSize
Scaling
Size
SurfaceConnectivity
Texture
Threads
UseOpenGL
ViewPose
ZBufferOnly
RenderView
Parameters
Cameras
ColorOffset
ColorRepetitionDistance
PatternPose
Threads
UseStereoTextures
Primitive
ShowCameras
ShowGrid
ShowSurface
ShowUserDefinedModels
Size
SurfaceConnectivity
ViewPose
Retrieve
Parameters
Cameras
Timeout
Operation
Threads
Result
120001
Retrieved
PacketsResent
CaptureEvents
0
Message
Symbol
Timestamp
...
SaveImage
Parameters
Filename
Node
SaveModel
Parameters
Cameras
Filename
Texture
Threads
SetPatternBuffer
Parameters
Patterns
SimulatePhysics
Parameters
ResetClock
Time
StoreCalibration
Parameters
Cameras
Force
Calibration
DynamicOffsets
Link
Synchronize
Parameters
Cameras
Nodes
Trigger
Parameters
Cameras
Subset
Threads
ClearImageBufferOnTrigger
WaitForProjector
ImageSet
Result
120001
Triggered
UpdateFirmware
Parameters
Camera
Cameras
Filename
Projector
VisualizePatternBuffer
Parameters
Cameras
Filter
Examples
3rd Party Interfaces
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
ROS Interface
Python Interface
HowTo's
Basic Camera Operations
Opening a Camera and Setting Parameters
Reading/Writing Camera Parameter Files
Capturing Images with Hardware Trigger
Using the Digital Input and Output
Running Cameras Hardware Synchronized
Calibration
Calibration Patterns
Collecting Calibration Patterns
Calibrating a Camera
Checking Camera Calibration
EEPROM Calibration Formats
Restore Factory Calibration
Getting 3D Data
Grabbing 3D Data
Set Z-Range
Optimize Settings for Performance/Quality
Deferred 3D Processing
Multi Camera Setups and Calibrations
Multi Camera Setups
Texturing Point Clouds
Workspace Calibration
Hand-Eye Calibration
Multithreading
Parallel Capturing and Processing
Parallel Usage of Multiple Cameras
Debugging and Simulation
Exporting Debug Information
Using File Cameras
Using Virtual Cameras
API and Command Error Handling
CUDA
Operation of XR Series Cameras
Hardware Specification
Ambient Conditions (all models)
Electronics / GPIO
N10 GPIO Port
N20 GPIO Port
N20 Power Supply
N30/N35 GPIO Port
X30/X36 GPIO Port
XR30/XR36 GPIO Port
N30/N35 Power Supply
X30/X36 Power Supply
XR30/XR36 Power Supply
Wiring Examples
Cables
N-Series
M8 3-Pin Power Cord
M8 3-Pin Y-Adapter
M8 3-Pin - Hirose Adapter (6 pin)
M8 3-Pin - Hirose Adapter (8 pin)
M8 3-Pin - Binder 712-Series Adapter (7 pin)
M8 3-Pin Extension Cable
M8 3-Pin Cable (open endings)
X-Series
M8 4-Pin Power Cord
M8 4-Pin to 3-Pin Adapter
M8 4-Pin Extension Cable
M8 4-Pin Cable (open endings)
Sync Cable: M8 4-Pin - Binder 712-Series Adapter (8 pin)
Sync Cable: M8 4-Pin - Hirose Adapter (8 pin)
Sync Cable: M8 4-Pin - Hirose Adapter (6 pin)
Illumination
N10
N20/N30/N35
X30/X36
XR30/XR36
Eye Safety
Mechanics
N10
N20
N30/N35
X30/X36
XR30/XR36
Vibration / Shock
Calibration Plates
Cleaning
Disposal
About
Changelog
Upgrade Notes
License
Third Party Licenses