Automation Technology CXExplorer Quickstart Guide

Automation Technology CXExplorer Quickstart Guide
Automation Technology
CXExplorer Quickstart
Guide
Issued
date: 14.12.2010
by: AT
Page 1 of 31
Rev. 1.4
CXExplorer Quickstart Guide
Table of contents
CXExplorer Quickstart Guide........................................................................................... 1
Table of contents............................................................................................................ 1
Requirements ................................................................................................................. 2
Getting started ............................................................................................................... 3
How to configure the camera by using example configuration files...................................... 5
Step by step camera configuration and image acquisition .................................................. 5
Adjusting the integration time of the image acquisition..................................................... 19
Validating the COG results ........................................................................................... 20
Camera trigger modes.................................................................................................. 21
Description of Profile Trigger Modes .............................................................................. 22
Description of Modes for Triggering of Sequencer/Frame and Profile Acquisition ............... 23
Saving image data ....................................................................................................... 26
Calibrating .................................................................................................................. 26
Preferences .................................................................................................................. 29
Automation Technology
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Rev. 1.4
Requirements
•
•
•
Windows XP
GenICam with GigE-Vision Transport Layer (preferably Stemmer Imaging Common Vision
Blox version 10.01.001 or higher)
The firewall should be turned off
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Getting started
Connect the camera both to the C4-I/O-Panel and the GigE Network Interface Card of the host
PC. Be sure that the power supply unit of C4-I/O-Panel is connected to the mains. Start the CXExplorer by double clicking the shortcut icon on the Windows desktop. The program starts and
detects all cameras connected to the host PC. The dialog “Device Selection“ appears showing the
results of the start-up enumeration. Choose the camera you want to connect over Filter Driver “FD”
or Socket Driver “SD” and then press “Open Device.
“Discover”: performs camera enumeration
“Ignore Subnet”: detects cameras with IP address outside the host subnet
Automation Technology
CXExplorer Quickstart
Guide
“Set Persistent IP”: sets the persistent IP address of the camera
“Force IP”: configures the camera with a temporary IP address
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The CX-Explorer user interface
Snapshot
Start/Stop live
image
Image Mode
Configuration
Wizard
3D Mode
Configuration
Wizard
Image View
Pane
Info View Pane
Register Access
over XML
2D LinePlot
View Pane
The different panes can by moved freely inside the GUI container by drag and drop.
How to configure the camera by using example configuration files
You can use example configuration files (.cXc –files) for configuring the camera. Use menu “File”
and select “Load camera configuration”, choose the appropriate configuration file from folder
“<installation folder>\CXExplorer\examples\cXc”. Now the camera registers are automatically
updated with the values from the configuration file.
Step by step camera configuration and image acquisition
The easiest way to configure the camera manually is by using the configuration wizards.
Set camera to 2D greyscale image mode
In order to set the camera to 2D greyscale image mode, click at the symbol
located on the CX
explorer toolbar. The Image Mode Wizard appears. Select the image format and set the integration
time, then click “Next“.
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Depending on the camera model you may set the “Reduction of Sensor Integration Time” or enable
the “Short Integration Mode”, in order to reduce the image intensity. Press “Finish” to close the
wizard.
Start live image acquisition by clicking at the symbol
located on the CX explorer toolbar. The
Image View shows the live image. Timing information appears in the Info View pane. Adjust the
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focus and iris of the camera objective lens in order to get a sharp laser line image without
reflections.
Description of the Image View Toolbars:
Select line or
rectangle to
move
Draw line
Set AOI to max
size
Pixel coordinates at
current position of
mouse pointer
Scale image to fit
(keep aspect ratio)
Draw
Load color
rectangle Define AOI
palette
min. value of
shown data
Pixel coordinates of
mouse pointer shown in
mm (requires calibration)
Data scale for min and max
move → adjust limits
Select Data
Channel to show
Scale image to fit
(allow deformation)
Max. value of
shown data
Automatic
scaling to min.
and max. data
Scale 1:1
Lock min. and
max. values
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Define the Area Of Interest (AOI)
located on the CX explorer toolbar. Click
Stop live image acquisition by clicking at the symbol
at the symbol
located on the Image View toolbar and define the AOI by drawing a rectangle in
the Image View pane.
Click at the symbol
drawn rectangle.
located on the Image View toolbar to enable the AOI definition from the
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Start live image acquisition by clicking at the symbol
located on the CX explorer toolbar. The
Image View shows the live image of the newly defined AOI.
The AOI can be easily set to the maximum size by first stopping the image acquisition
then clicking at the symbol
.
and
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Set camera to 3D mode
In order to set the camera to 3D mode, click first at the symbol
to stop live image acquisition
and then click at the symbol
located on the CX explorer toolbar. The 3D Mode Wizard
appears. Set the number of profiles to be acquired as well as the sensor integration time, then click
“Next“.
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If needed, select additional data channels to be output according to the following table:
Algorithm
DC0
DC1
DC2
„Image“
Grey scale values
Not used
Not used
„Maximum
Pos.+Intensity“
Maximum intensity
Left edge of laser line
(PosL) or line width
(PosR-PosL)
Right edge of laser line
(PosR) or line position with
1/2 pixel accuracy
(PosL+PosR)
„Threshold Position“
Maximum intensity
Left edge of laser line
(PosL)
Position of maximum
intensity (PosM)
„COG“
Sum of intensity values Is
Left edge of laser line
(PosL) or laser line
width (PosR-PosL)
Line position with 1/X pixel
resolution, where
X=1, 2, 4, 8, 16, 32, 64
(=subpixel bits 1, 2, 3, 4,
5, 6)
Click “Next“ to proceed to the next wizard step.
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On the next page appears the configuration of camera trigger mode. The mode for frame and
profile triggering can be selected here. Click “Next“ and “Finish” to complete the configuration.
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Acquire a height image
Start image acquisition by clicking at the symbol
located on the CX explorer toolbar. The Image
View shows the grabbed height image. The height values are rendered using a colour palette
shown at the right of the pane. Click
to load a different palette.
Depending on camera model, it should be necessary to invert the height image (Select “Image
Format Controls” → ”ReverseY”=True)
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Create a profile plot
In order to visualise a height profile, click at the symbol and draw a line over the height image.
By holding down the SHIFT-key while dragging, the line is drawn only horizontally. In addition, by
holding down the CTRL-Key, the line is extended automatically to the whole width of the view. After
finishing the line draw, click the right mouse button to call the context menu.
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From the context menu, select “Attach to existing view” and “LinePlot 1” to attach the defined
profile to the 2D graph appearing at the bottom of the GUI.
-
Description of Line Plot Toolbar:
Connect plot values
with line segments
Show height values
in mm (calibrated systems)
The graph can be zoomed in by
dragging a window over the plot
The value of a specific point of the plot
can be inquired by left-clicking the
mouse
Reset view
Keep aspect
ratio of plot
Do not display
zero values
Axis
Autoscaling
Automatic plot
update during
image grab
Show source
line in
ImageView
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Create a 3D plot
In order to create a 3D plot of the height profile, click at the symbol
and draw a rectangle over
the height image. Then click the right mouse button to call the context menu.
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From the context menu, select “New 3D view” to create the 3D plot.
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The new 3D plot appears in the GUI.
Description of 3D Plot Toolbar:
The 3D plot can be controlled similar to a standard OpenGL view. Moving the mouse with pressed
left button moves the 3D-Plot. Pressing the right button while moving the mouse rotates the 3D-Plot
around its centre. The mouse wheel scales the plot.
Global scale
of 3D-Plot
Show Axes
Z-Scale of 3D-Plot
Automatic
update during
image grab
Adjust plot
resolution
Shows the 3D-Plot
with Points, Lines or (smaller values
= faster plot)
Shaded.
Reset view
Show source
rectangle in
ImageView
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Adjusting the integration time of the image acquisition
The integration time of the camera can be adjusted by using the XML view pane. Select node
“Camera Controls” → ”Sensor Controls”
•
Enter the desired integration time in the text field “Sensor Integration Tim in µs“.
The “Info View” shows information about the acquisition timing.
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Validating the COG results
When using the COG algorithm, the camera offers the ability to validate the resulting height data.
Using criteria related to the Gauss distribution area (sum of intensity values) and Gauss distribution
width, it is possible to suppress invalid height values.
In XML view pane select the “Camera
Controls”→ ”Mode and Algorithm Controls”.
By setting the option “Position Validation at
the End of Gauss Scan" to “true”, the camera
firmware validates the result of the COG
calculation along a column of the line image.
The validation is performed using tolerances
for minimum Gauss width (“Valid Minimum
Width"), maximum Gauss width (“Valid
Maximum Width"), minimum Gauss area
(“Valid Minimum Sum of Intensity”) and
maximum Gauss area (“Valid Maximum Sum
of Intensity"). If the parameter “First Falling
Edge" is “false”, then the COG calculation
takes into account multiple detected curves
along the column. This can be useful when the laser line is distorted due to speckle effect.
In addition, by setting the parameters “Position Validation During Gauss Scan” and “First Falling
Edge" to “true”, the firmware validates every Gauss curve and stops the COG calculation after the
first valid Gauss curve is detected.
Furthermore, the COG search direction can be inverted by selecting the node “Image Format
Controls” and setting “ReverseY” to “true”.
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Camera trigger modes
Apart from using the 3D mode wizard, the camera trigger mode can be configured using the XML
view pane. Select node “Trigger Controls”. The mode for sequencer and trigger can be here
selected.
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CXExplorer Quickstart
Guide
Description of Profile Trigger Modes
No.
Profile Trigger Mode (PTM)
0
Free-run (PTM0)
1
Camera input 1 (PTM1)
IN1
Profile
Acquisition 1
Profile
Acquisition 2
Profile
Acquisition 3
Profile
Acquisition 4
t
2
Camera input 2 (PTM2)
IN2
Profile
Acquisition 1
Profile
Acquisition 2
Profile
Acquisition 3
Profile
Acquisition 4
t
3
Encoder/Resolver Interface (PTM3)
RS422
A
B
Example: Trigger after number of steps = 4
Counter
Profile
Acquisition 1
Profile
Acquisition 2
Profile
Acquisition 3
Internal
Trigger
t
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Description of Modes for Triggering of Sequencer/Frame and Profile
Acquisition
No.
Sequencer/Frame Trigger Mode
Profile Trigger Mode (PTM)
0
Free-run
PTM0 (free-run)
PTM1(IN1)
PTM2 (IN2)
PTM3 (RS422)
1
Start/stop over camera input 1 / 2
PTM0 (free-run)
Continuous frame acquisition is started with the rising edge
of camera input 1 (IN1) and stopped with rising edge of
PTM3 (RS422)
camera input 2 (IN2)
trigger start of sequencer
(frame trigger)
trigger stop of sequencer
t
When “stop” occurs, the frame is not transmitted
immediately over the GigE interface but the camera
continues to acquire profile data, until the predefined frame
height is reached.
2
Start over camera input 1
PTM0 (free-run)
Single frame acquisition is triggered over the rising edge of
camera input 1 (IN1)
PTM2 (IN2)
PTM3 (RS422)
IN1
trigger start of sequencer
(frame trigger)
t
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No.
Sequencer/Frame Trigger Mode
Profile Trigger Mode (PTM)
3
Gate over camera input 1
PTM0 (free-run)
Continuous frame acquisition is performed as long as the
camera input 1 is on high state
IN1
PTM2 (IN2)
Gate Function
start trigger of sequencer
PTM3 (RS422)
stop trigger of sequencer
t
4
Start/stop with instant transmission over camera input 1 / 2
PTM0 (free-run)
Continuous frame acquisition is started with rising edge of
camera input 1 (IN1) and stopped with rising edge of
PTM3 (RS422)
camera input 2 (IN2)
trigger start of sequencer
(frame trigger)
trigger stop of sequencer
t
When “stop” occurs, the frame is transmitted immediately
over the GigE interface. Using the Chunk Data mode of C4
camera, it is possible to determine how many rows of the
frame contain valid data (see C4 camera manual for
details).
Remarks:
The above table applies also to acquisition in image mode. In this case the camera delivers a gray
scale sensor image for every profile trigger.
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Triggering the profile acquisition with an external encoder signal (RS422)
The profile acquisition can be synchronized to the motion of the scanned object by using an
external encoder signal (RS422 profile trigger).
The camera features an integrated two-channel RS422 interface. Connect the encoder signal to
the terminal A+, A-, B+ and B- of the C4-I/O-Panel (see C4 camera manual for details).
Set parameter “Trigger Controls” → ”Trigger Mode” to “Encoder/Resolver Interface RS422”
Once this mode is set, the camera will await the encoder signal to trigger a profile scan. As soon
as a rising or falling edge of the RS422 signal is detected, the camera acquires a single profile and
waits for the next edge.
Select the node “Trigger Controls” → “RS422 Resolver” to access the specific parameters for this
mode. For example, the trigger frequency can be scaled down by adjusting the parameter “Trigger
Controls” → “RS422 Resolver” → “Trigger Divider” and the trigger direction mode (unidirectional
or bidirectional) can be set with “Trigger Controls” → “RS422 Resolver” → “Count Bidirectional”.
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Saving image data
Click at the symbol
located at the CX explorer toolbar, in order to save the current image data
as TIFF bitmap. A dialogue box appears. Enter the filename of the 3D image, e.g. “3DImage“.
Depending on which data channels were enabled during the 3D image acquisition, the following
files are produced:
o “3DImage_0.tif“ contains the data of the first enabled Data Channel
o “3DImage_1.tif“ contains the data of the second enabled Data Channel
o “3DImage_2.tif“ contains the data of the third enabled Data Channel
Example: if only DC2 was enabled then a single file will be saved (“3Dimage_0.tif”) containing the
data of DC2.
The above mentioned numbering scheme of data files applies also to configurations with multiple
AOIs or multiple frames (NDR mode).
The pixel depth of saved data depends on the selected mode, which is 8-bit/16-bit for image
mode and 16-bit for 3D mode. Using an external image or data processing software (like ImageJ
or Matlab), which can import TIFF bitmap files, you can process and evaluate the data.
Calibrating
The CX-Explorer contains an integrated function for calibrating a triangulation system and
correcting the perspective distortion, which is essential in order to convert the camera data in real
world units (e.g. mm or inches). The calibration function requires the scan of a calibration pattern
with known geometry (see C4 camera documentation for details). Therefore it is necessary to scan
the height image of the calibration pattern before starting the calibration.
In order to perform the calibration easily, the CX-Explorer provides a calibration wizard. Click at
located on the CX explorer toolbar to start the calibration wizard:
the symbol
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Select the type of calibration:
“Linear Calibration Pattern” for calibrating all 3 dimensions (X, Y, Z)
“Static Calibration Pattern” for calibrating 2 dimensions (X and Z). It requires that the
laser line is projected perpendicular to the direction of motion (Y).
Depending on calibration type, the appropriate “Calibration Pattern File” containing geometrical
information must be selected.
In case of “Static Calibration”, the “AcquisitionStep in mm” along the Y direction must be entered.
Usually this value depends on an external trigger source like encoder signal.
The fields for “Left Pixel”, “Right Pixel”, “Top Pixel” and “Bottom Pixel” define the area of the
calibration pattern scan to be evaluated in the calibration process.
By pressing “Calibrate>” the calibration function matches the coordinates of the calibration
pattern to the camera coordinates of the height image. This procedure may last several seconds:
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After successful calibration the next page of calibration wizard prompts to save the extracted
calibration parameters (calibration metric):
Enter the path to save the calibration metric file permanently. If needed, the calibration metric file
can be later imported from menu “Device” → “Open Calibration Metric...” at any time.
Press “Finish” to finish the calibration procedure and close the wizard. The ImageView pane shows
the pixel coordinates of the mouse pointer in mm. Furthermore, the “mm”-button in the
LinePlotView is enabled as well.
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Preferences
“Acquisition Timeout” sets the maximum waiting time for getting data from the device.
“Show Device Selection at Startup” enables the automatic camera detection and enumeration at
program start. If this option is unchecked, the CX-Explorer tries to connect to the last connected
device. In case of failure, e.g. the device is not available, the device selection dialog appears
again.
“GigEVision Packetsize” sets the GigE Vision data packet size
“Maximize GigEVision Packetsize at Startup” During start-up of CX-Explorer the GigE Vision data
packet size (8192) is automatically set to maximum
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The Shape Processor is an example application (located in the installation directory of
CXExplorer.exe including source code examples) for the shape processor library, which features 3D
pattern matching functions.
“Shape Processor Location” is the path to the ShapeProcessor.exe. “Model Raw File” is a reference
image, which can be created with the “File/Export Image…” menu command. The menu “File/Call
Shape Processor” saves the actual image in the directory “Scan File Directory” and sends it
together with the reference image to the Shape Processor application.
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If required, it is possible to set the default path for the calibration pattern geometry file both for the
linear and the static calibration.
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