Update samples to SDK 2.12

Update to latest Zivid SDK 2.12. This commit adds the following: * Update for SDK 2.12.0 * Remove features out of experimental * General formatting
zivid · Apr 19, 2024 · adaf06b · adaf06b
1 parent b103973
commit adaf06b
Show file tree

Hide file tree

Showing 11 changed files with 113 additions and 136 deletions.
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # HDevelop samples
 
-This repository contains halcon code samples for Zivid SDK v2.11.1. For
+This repository contains halcon code samples for Zivid SDK v2.12.0. For
 tested compatibility with earlier SDK versions, please check out
 [accompanying
 releases](https://github.com/zivid/zivid-halcon-samples/tree/master/../../releases).
@@ -74,7 +74,8 @@ from the camera can be used.
 If you want to use Zivid in HALCON, we provide a GenICam GenTL producer
 that comes with the [Zivid Software](http://www.zivid.com/downloads).
 
-Zivid and HALCON are compatible with Windows 10 and Ubuntu 20.04, 22.04.
+Zivid and HALCON are compatible with Windows 10 and 11, and Ubuntu
+20.04, 22.04.
 
 -----
 

diff --git a/source/Applications/Advanced/ObjectMatching/SurfaceMatchingCreateModel.hdev b/source/Applications/Advanced/ObjectMatching/SurfaceMatchingCreateModel.hdev
@@ -9,8 +9,8 @@
             <c>* It should be used together with the SurfaceMatchingFindModel.hdev where the model created by this program is utilized for surface-based 3D matching algorithm.</c>
             <c>* This example comes with HDR settings and other parameters which were used to create models of the following three objects:</c>
             <c>* Twinings tea box</c>
-            <c>* Pringles can (190 g)</c>
-            <c>* plastic Coca-Cola bottle (0.5 l)</c>
+            <c>* Pepsi can (0.3 l)</c>
+            <c>* plastic Coca-Cola bottle (2 l)</c>
             <c>*</c>
             <c>* Please note that you first need to install Zivid Software and correctly set the environment variables. After this, you can access the camera with the HALCON</c>
             <c>* GenICamTL interface.</c>
@@ -37,34 +37,33 @@
             <c>* Resetting any previous HDR settings</c>
             <l>set_framegrabber_param (AcqHandle, 'ResetAcquisitions', 1)</l>
             <c/>
-            <c>* Configuring HDR settings (Twinings tea box)</c>
-            <l>*set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'Aperture', 5.65)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'Aperture', 4.0)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <c/>
-            <c>* Configuring HDR settings (Pringles can)</c>
-            <l>*set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'Aperture', 4.36)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'Aperture', 2.0)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <c/>
-            <c>* Configuring HDR settings (Coca-Cola bottle)</c>
-            <l>*set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'Aperture', 6.16)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'Aperture', 3.08)</l>
-            <l>*set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <c/>
-            <c>* Configuring HDR settings (Your own object)</c>
+            <c>* Setting global settings</c>
+            <l>set_framegrabber_param (AcqHandle, 'Engine', 'omni')</l>
+            <l>set_framegrabber_param (AcqHandle, 'SamplingColor', 'rgb')</l>
+            <l>set_framegrabber_param (AcqHandle, 'SamplingPixel', 'blueSubsample2x2')</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersSmoothingGaussianEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersSmoothingGaussianSigma', 2.0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersNoiseRemovalEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersNoiseRemovalThreshold', 2.0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersNoiseSuppressionEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersNoiseRepairEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersOutlierRemovalEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersOutlierRemovalThreshold', 10.0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersReflectionRemovalEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersClusterRemovalEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersClusterRemovalMaxNeighborDistance', 6)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersClusterRemovalMinArea', 600)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersExperimentalContrastDistortionCorrectionEnabled', 0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersExperimentalContrastDistortionRemovalEnabled', 0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersHoleRepairEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersHoleRepairHoleSize', 0.7)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersHoleRepairStrictness', 1)</l>
+            <c/>
+            <c>* Configuring HDR settings</c>
             <l>set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
-            <l>set_framegrabber_param (AcqHandle, 'Aperture', 10.37)</l>
+            <l>set_framegrabber_param (AcqHandle, 'Aperture', 2.64)</l>
             <l>set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>set_framegrabber_param (AcqHandle, 'Aperture', 5.50)</l>
-            <l>set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>set_framegrabber_param (AcqHandle, 'Aperture', 2.37)</l>
+            <l>set_framegrabber_param (AcqHandle, 'Aperture', 2.64)</l>
             <l>set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
             <c/>
             <c>* Capturing frame (HDR)</c>

diff --git a/source/Applications/Advanced/ObjectMatching/SurfaceMatchingCreateModelFromFile.hdev b/source/Applications/Advanced/ObjectMatching/SurfaceMatchingCreateModelFromFile.hdev
@@ -9,8 +9,8 @@
             <c>* It should be used together with the SurfaceMatchingFindModelFromFile.hdev where the model created by this program is utilized for surface-based 3D matching algorithm.</c>
             <c>* This example comes with models of three following objects:</c>
             <c>* Twinings tea box</c>
-            <c>* Pringles can (190 g)</c>
-            <c>* plastic Coca-Cola bottle (0.5 l)</c>
+            <c>* Pepsi can (0.3 l)</c>
+            <c>* plastic Coca-Cola bottle (2 l)</c>
             <c>*</c>
             <c>* Please note that you first need to install Zivid Software and correctly set the environment variables. After this, you can access the camera with the HALCON</c>
             <c>* GenICamTL interface.</c>
@@ -25,18 +25,18 @@
             <c>* Reading a 3D point cloud of the scene</c>
             <c>* Twinings tea box</c>
             <l>SurfaceModelFile:= 'TwiningsTeaBox'</l>
-            <c>* Pringles can</c>
-            <l>* SurfaceModelFile:= 'PringlesCan'</l>
+            <c>* Pepsi can</c>
+            <l>* SurfaceModelFile:= 'PepsiCan'</l>
             <c>* Coca-Cola bottle</c>
             <l>* SurfaceModelFile:= 'CocaColaBottle'</l>
             <c/>
             <l>import './../../../Procedures'</l>
             <l>get_zivid_sample_data_dir(ZividDataDir)</l>
             <l>ScenePath := ZividDataDir + '/ObjectMatching/' + SurfaceModelFile + '/Im1.ply'</l>
-            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid One+', 'Zivid 2', and 'Zivid 2+'.</c>
-            <l>Camera := 'Zivid One+'</l>
+            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid 2' and 'Zivid 2+'.</c>
+            <l>Camera := 'Zivid 2+'</l>
             <c>* Specify SamplingPixel that point cloud was taken with; options are: 'all', 'blueSubsample2x2', and 'redSubsample2x2'</c>
-            <l>SamplingPixel := 'all'</l>
+            <l>SamplingPixel := 'blueSubsample2x2'</l>
             <l>get_zivid_camera_width (Camera, SamplingPixel, MapWidth)</l>
             <l>read_object_model_3d (ScenePath, 'm', ['xyz_map_width'], MapWidth, ObjectModel3D_Scene, Status)</l>
             <c/>

diff --git a/source/Applications/Advanced/ObjectMatching/SurfaceMatchingFindModel.hdev b/source/Applications/Advanced/ObjectMatching/SurfaceMatchingFindModel.hdev
@@ -9,8 +9,8 @@
             <c>* The model used for matching is created from a reference view of the object, see SurfaceMatchingCreateModel.hdev or SurfaceMatchingCreateModel.hdevFromFile.</c>
             <c>* The model is then searched for in a newly captured 3D point cloud. This example comes with models for the three following objects:</c>
             <c>* Twinings tea box</c>
-            <c>* Pringles can (190 g)</c>
-            <c>* plastic Coca-Cola bottle (0.5 l)</c>
+            <c>* Pepsi can (0.3 l)</c>
+            <c>* plastic Coca-Cola bottle (2 l)</c>
             <c>*</c>
             <c>* Please note that you first need to install Zivid Software and correctly set the environment variables. After this, you can access the camera with the HALCON</c>
             <c>* GenICamTL interface.</c>
@@ -23,8 +23,8 @@
             <c>* Specify the HALCON model for surface-based 3D matching</c>
             <c>* Existing Twinings tea box model</c>
             <l>SurfaceModelFile := 'TwiningsTeaBox'</l>
-            <c>* Existing Pringles can model</c>
-            <l>* SurfaceModelFile := 'PringlesCan'</l>
+            <c>* Existing Pepsi can model</c>
+            <l>* SurfaceModelFile := 'PepsiCan'</l>
             <c>* Existing Coca-Cola bottle model</c>
             <l>* SurfaceModelFile := 'CocaColaBottle'</l>
             <c>* Your own model created with the SurfaceMatchingCreateModel.hdev</c>
@@ -54,41 +54,34 @@
             <c>* Reseting any previous HDR settings</c>
             <l>set_framegrabber_param (AcqHandle, 'ResetAcquisitions', 1)</l>
             <c/>
+            <c>* Setting global settings</c>
+            <l>set_framegrabber_param (AcqHandle, 'Engine', 'omni')</l>
+            <l>set_framegrabber_param (AcqHandle, 'SamplingColor', 'rgb')</l>
+            <l>set_framegrabber_param (AcqHandle, 'SamplingPixel', 'blueSubsample2x2')</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersSmoothingGaussianEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersSmoothingGaussianSigma', 2.0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersNoiseRemovalEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersNoiseRemovalThreshold', 2.0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersNoiseSuppressionEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersNoiseRepairEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersOutlierRemovalEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersOutlierRemovalThreshold', 10.0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersReflectionRemovalEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersClusterRemovalEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersClusterRemovalMaxNeighborDistance', 6)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersClusterRemovalMinArea', 600)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersExperimentalContrastDistortionCorrectionEnabled', 0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersExperimentalContrastDistortionRemovalEnabled', 0)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersHoleRepairEnabled', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersHoleRepairHoleSize', 0.7)</l>
+            <l>set_framegrabber_param (AcqHandle, 'ProcessingFiltersHoleRepairStrictness', 1)</l>
+            <c/>
             <c>* Configuring HDR settings</c>
-            <c>* Twinings tea box</c>
-            <l>if (SurfaceModelFile = 'TwiningsTeaBox')</l>
-            <l>    set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 5.50)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 4.00)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>endif</l>
-            <c>* Pringles can</c>
-            <l>if (SurfaceModelFile = 'PringlesCan')</l>
-            <l>    set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 4.36)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 2.37)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>endif</l>
-            <c>* Coca-Cola bottle</c>
-            <l>if (SurfaceModelFile = 'CocaColaBottle')</l>
-            <l>    set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 6.16)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 3.08)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>endif</l>
-            <c>* Your own model created with the SurfaceMatchingCreateModel.hdev</c>
-            <l>if (SurfaceModelFile = '')</l>
-            <l>    set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 16.00)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 5.50)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'Aperture', 2.37)</l>
-            <l>    set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
-            <l>endif</l>
+            <l>set_framegrabber_param (AcqHandle, 'ExposureTime', 10000)</l>
+            <l>set_framegrabber_param (AcqHandle, 'Aperture', 2.64)</l>
+            <l>set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
+            <l>set_framegrabber_param (AcqHandle, 'Aperture', 2.64)</l>
+            <l>set_framegrabber_param (AcqHandle, 'AddAcquisition', 1)</l>
             <c/>
             <c>* Loading the HALCON model for surface-based 3D matching</c>
             <l>if (MySurfaceModelFile)</l>
@@ -139,15 +132,15 @@
             <c>    * RelSamplingDistance - point cloud downsampling (0 = no downsampling)</c>
             <c>    * Twinings tea box</c>
             <l>    if (SurfaceModelFile = 'TwiningsTeaBox')</l>
-            <l>        RelSamplingDistance := 0.01</l>
-            <l>    endif</l>
-            <c>    * Pringles can</c>
-            <l>    if (SurfaceModelFile = 'PringlesCan')</l>
             <l>        RelSamplingDistance := 0.03</l>
             <l>    endif</l>
+            <c>    * Pepsi can</c>
+            <l>    if (SurfaceModelFile = 'PepsiCan')</l>
+            <l>        RelSamplingDistance := 0.01</l>
+            <l>    endif</l>
             <c>    * Coca-Cola bottle</c>
             <l>    if (SurfaceModelFile = 'CocaColaBottle')</l>
-            <l>        RelSamplingDistance := 0.003</l>
+            <l>        RelSamplingDistance := 0.02</l>
             <l>    endif</l>
             <c>    * Your own model created with the SurfaceMatchingCreateModel.hdev</c>
             <l>    if (SurfaceModelFile = '')</l>

diff --git a/source/Applications/Advanced/ObjectMatching/SurfaceMatchingFindModelFromFile.hdev b/source/Applications/Advanced/ObjectMatching/SurfaceMatchingFindModelFromFile.hdev
@@ -9,8 +9,8 @@
             <c>* The model used for matching is created from a reference view of the object, see SurfaceMatchingCreateModelFromFile.hdev. The model is then searched for in a newly</c>
             <c>* captured 3D point cloud. This example comes with models for the three following objects:</c>
             <c>* Twinings tea box</c>
-            <c>* Pringles can (190 g)</c>
-            <c>* plastic Coca-Cola bottle (0.5 l)</c>
+            <c>* Pepsi can (0.3 l)</c>
+            <c>* plastic Coca-Cola bottle (2 l)</c>
             <c>*</c>
             <c>* Please note that you first need to install Zivid Software and correctly set the environment variables. After this, you can access the camera with the HALCON</c>
             <c>* GenICamTL interface.</c>
@@ -24,19 +24,19 @@
             <c/>
             <c>* Specify the object for surface-based 3D matching</c>
             <c>* Existing Twinings tea box model</c>
-            <l>SurfaceModelFile := 'TwiningsTeaBox'</l>
-            <c>* Existing Pringles can model</c>
-            <l>* SurfaceModelFile := 'PringlesCan'</l>
+            <l>* SurfaceModelFile := 'TwiningsTeaBox'</l>
+            <c>* Existing Pepsi can model</c>
+            <l>* SurfaceModelFile := 'PepsiCan'</l>
             <c>* Existing Coca-Cola bottle model</c>
-            <l>* SurfaceModelFile := 'CocaColaBottle'</l>
+            <l>SurfaceModelFile := 'CocaColaBottle'</l>
             <c/>
             <l>import './../../../Procedures'</l>
             <l>get_zivid_sample_data_dir(ZividDataDir)</l>
             <l>ScenePath := ZividDataDir + '/ObjectMatching/' + SurfaceModelFile</l>
-            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid One+', 'Zivid 2', and 'Zivid 2+'.</c>
-            <l>Camera := 'Zivid One+'</l>
+            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid 2' and 'Zivid 2+'.</c>
+            <l>Camera := 'Zivid 2+'</l>
             <c>* Specify SamplingPixel that point cloud was taken with; options are: 'all', 'blueSubsample2x2', and 'redSubsample2x2'</c>
-            <l>SamplingPixel := 'all'</l>
+            <l>SamplingPixel := 'blueSubsample2x2'</l>
             <l>get_zivid_camera_width (Camera, SamplingPixel, MapWidth)</l>
             <c/>
             <c>* Specify whether you want to use your own model created with the SurfaceMatchingCreateModelFromFile.hdev</c>
@@ -100,15 +100,15 @@
             <c>    * RelSamplingDistance - point cloud downsampling (0 = no downsampling)</c>
             <c>    * Twinings tea box</c>
             <l>    if (SurfaceModelFile = 'TwiningsTeaBox')</l>
-            <l>        RelSamplingDistance := 0.01</l>
-            <l>    endif</l>
-            <c>    * Pringles can</c>
-            <l>    if (SurfaceModelFile = 'PringlesCan')</l>
             <l>        RelSamplingDistance := 0.03</l>
             <l>    endif</l>
+            <c>    * Pepsi can</c>
+            <l>    if (SurfaceModelFile = 'PepsiCan')</l>
+            <l>        RelSamplingDistance := 0.01</l>
+            <l>    endif</l>
             <c>    * Coca-Cola bottle</c>
             <l>    if (SurfaceModelFile = 'CocaColaBottle')</l>
-            <l>        RelSamplingDistance := 0.003</l>
+            <l>        RelSamplingDistance := 0.02</l>
             <l>    endif</l>
             <c>    * KeyPointFraction - additional downsampling for the detection (1 = all points used)</c>
             <l>    KeyPointFraction := 1</l>

diff --git a/source/Applications/Basic/FileFormats/ReadPLY.hdev b/source/Applications/Basic/FileFormats/ReadPLY.hdev
@@ -20,10 +20,10 @@
             <l>import './../../../Procedures'</l>
             <l>get_zivid_sample_data_dir(ZividDataDir)</l>
             <l>PointCloudFile := ZividDataDir + '/Zivid3D.ply'</l>
-            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid One+', 'Zivid 2', and 'Zivid 2+'.</c>
-            <l>Camera := 'Zivid One+'</l>
+            <c>* Specify the camera that point cloud was taken with; options are: 'Zivid 2' and 'Zivid 2+'.</c>
+            <l>Camera := 'Zivid 2+'</l>
             <c>* Specify SamplingPixel that point cloud was taken with; options are: 'all', 'blueSubsample2x2', and 'redSubsample2x2'</c>
-            <l>SamplingPixel := 'all'</l>
+            <l>SamplingPixel := 'blueSubsample2x2'</l>
             <l>get_zivid_camera_width (Camera, SamplingPixel, MapWidth)</l>
             <l>read_object_model_3d (PointCloudFile, 'mm', ['xyz_map_width'], MapWidth, ObjectModel3D, Status)</l>
             <c/>