SICK IVC-2D Reference Manual

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Application Programming

IVC-2D

R EFERENCE M ANUAL

ISM Radio Frequency Classification - EN55011 –

Group1, Class A

Warning:Class A equipment is intended for use in an industrial environment. There may be potential difficulties in ensuring electromagnetic compatibility in other environments, due to conducted as well as radiated disturbances.

Explanations:

Group1 – ISM equipment (ISM = Industrial, Scientific and Medical)

Group 1 contains all ISM equipment in which there is intentionally generated and/or used conductively coupled radio-frequency energy which is necessary for the internal functioning of the equipment itself.

Class A equipment connected to a low voltage power supply network which supplies buildings used for domestic purposes.

Class A equipment

Note: may allow, with whatever additional measures are necessary, the installation and use of class A ISM equipment in a domestic establishment or in an establishment connected directly to domestic electricity power supplies.

German versions of the Operating Instructions and Reference manual are available on the CD.

Eine deutsche Version der Bedienungsanleitung und des Referenzhandbuchs finden Sie auf der beigelegten CD.

is equipment suitable for use in all establishments other than domestic and those directly

shall meet class A limits.

Although class A limits have been derived for industrial and commercial establishments, administrations

Subject to change without prior notice.

Reference Manual

IVC-2D

Contents

1 Functional Overview.......................................................................................................................................7

The Camera ..........................................................................................................................................................7

1.1

1.2 IVC Studio ..............................................................................................................................................................8

1.3 Handling Multiple Products .......................................................................................................................... 10

Getting Started ............................................................................................................................................. 11

2.1

Creating a product...........................................................................................................................................11

2.2 About Writing Programs ................................................................................................................................14

2.3 Adding Program Steps................................................................................................................................... 16

2.4 Setting Parameter Values ............................................................................................................................17

2.5 Testing and Running the Program.............................................................................................................23

2.6 Saving the Program ........................................................................................................................................24

2.7 What’s Next?.....................................................................................................................................................25

Using IVC Studio ..........................................................................................................................................27

Handling Devices.............................................................................................................................................27

3.1

3.2 Handling the Emulator ...................................................................................................................................30

3.3 Handling Products ...........................................................................................................................................33

3.4 Handling Programs.......................................................................................................................................... 35

3.5 Handling Tables................................................................................................................................................ 37

3.6 Handling Images ..............................................................................................................................................38

3.7 IVC Studio Settings .........................................................................................................................................39

3.8 Programming ..................................................................................................................................................... 39

3.9 Efficient Programming....................................................................................................................................45

Tools ................................................................................................................................................................. 47

4.1

Image....................................................................................................................................................................48

Grab Setup .................................................................................................................................................48

Start Snapshot .......................................................................................................................................... 49

Grab...............................................................................................................................................................50

Ping-Pong Grab .........................................................................................................................................51

Copy Image Bank.....................................................................................................................................52

Image Bank Operation ........................................................................................................................... 53

Add Text.......................................................................................................................................................55

Draw Line ....................................................................................................................................................56

Draw ROI......................................................................................................................................................57

Reset Image Banks.................................................................................................................................58

Display..........................................................................................................................................................59

Mirror Image...............................................................................................................................................60

Rotate Image ............................................................................................................................................. 61

4.2 Region of Interest (ROI).................................................................................................................................62

ROI Rectangle............................................................................................................................................62

ROI Rotated Rectangle...........................................................................................................................63

ROI Circle.....................................................................................................................................................65

ROI Ellipse ...................................................................................................................................................66

ROI Perimeter ............................................................................................................................................67

ROI Union.....................................................................................................................................................68

ROI Intersection ........................................................................................................................................69

ROI Difference ........................................................................................................................................... 70

4.3 Filter ......................................................................................................................................................................71

Contents

Dilate.............................................................................................................................................................71

Erode.............................................................................................................................................................72

Filter............................................................................................................................................................... 73

Stretch Gray ...............................................................................................................................................74

Detail Extraction........................................................................................................................................76

Binarize.........................................................................................................................................................78

4.4 Edge......................................................................................................................................................................79

Find Row Edge...........................................................................................................................................79

Find Column Edge....................................................................................................................................80

Find Row ......................................................................................................................................................81

Find Column ...............................................................................................................................................83

Find Line Edge...........................................................................................................................................85

Find Subpixel Edge ..................................................................................................................................88

Find Multiple Edges .................................................................................................................................89

Find Mean of Edges................................................................................................................................92

Find Circle Edges......................................................................................................................................94

4.5 Measure ..............................................................................................................................................................97

Centroid .......................................................................................................................................................97

Area ............................................................................................................................................................... 98

Single Blob Analysis ................................................................................................................................99

Perimeter..................................................................................................................................................100

Mean Intensity........................................................................................................................................ 101

Line Intersection....................................................................................................................................102

Distance and Angle ..............................................................................................................................103

Blob Finder...............................................................................................................................................104

Blob Analyzer ..........................................................................................................................................106

4.6 Matching...........................................................................................................................................................109

Shape Locator........................................................................................................................................109

Add Shape Runtime .............................................................................................................................112

Get Shape................................................................................................................................................113

Transform Image...................................................................................................................................114

Transform ROI.........................................................................................................................................116

Teach Rotation.......................................................................................................................................118

Match Rotation....................................................................................................................................... 119

Teach Pattern .........................................................................................................................................120

Inspect Pattern....................................................................................................................................... 122

4.7 Circular..............................................................................................................................................................128

External Perimeter ................................................................................................................................128

Internal Perimeter .................................................................................................................................130

Circular Perimeter ROI.........................................................................................................................132

Circular Analysis..................................................................................................................................... 133

Check Circular Surface........................................................................................................................134

Check Circular Shape..........................................................................................................................135

4.8 Calculation.......................................................................................................................................................136

Mathematical Operation.....................................................................................................................136

Mathematical Expression...................................................................................................................137

In Range.................................................................................................................................................... 138

Polar to Cartesian Coordinates........................................................................................................139

Fit Circle ....................................................................................................................................................140

Fit Ellipse...................................................................................................................................................141

Sort .............................................................................................................................................................142

Update Statistics ................................................................................................................................... 143

Reference Manual

IVC-2D

Reference Manual

Contents

IVC-2D

Reset Statistics...................................................................................................................................... 144

Coordinate Alignment..........................................................................................................................145

Get Calibrated Point.............................................................................................................................146

4.9 Program............................................................................................................................................................147

Goto............................................................................................................................................................147

If Then Goto.............................................................................................................................................148

If Error Goto............................................................................................................................................. 149

If in Range Goto.....................................................................................................................................150

If All in Range Goto............................................................................................................................... 151

If................................................................................................................................................................... 152

Else............................................................................................................................................................. 153

For...............................................................................................................................................................154

While...........................................................................................................................................................155

Subroutine Start ....................................................................................................................................156

End.............................................................................................................................................................. 157

Run Flash Program ............................................................................................................................... 158

Program Protection...............................................................................................................................159

4.10 System..............................................................................................................................................................160

Get Timer..................................................................................................................................................160

Wait............................................................................................................................................................. 161

Read from Table.................................................................................................................................... 162

Write to Table .........................................................................................................................................163

Fill Table....................................................................................................................................................164

Load Data Block from Flash .............................................................................................................165

Save Data Block to Flash...................................................................................................................166

Load Image from Flash....................................................................................................................... 167

Save Image to Flash............................................................................................................................ 168

Write Table To Flash ............................................................................................................................170

Read Table From Flash....................................................................................................................... 171

Web Status Page ..................................................................................................................................172

4.11 Communication .............................................................................................................................................174

Setup RS485.......................................................................................................................................... 174

Read RS485 Values ............................................................................................................................175

Write RS485 Values ............................................................................................................................176

Read RS485 String ..............................................................................................................................177

Write RS485 String ..............................................................................................................................178

Enable Ethernet ..................................................................................................................................... 179

Open Ethernet Raw .............................................................................................................................. 180

Close Ethernet Raw.............................................................................................................................. 182

Read Ethernet Bytes............................................................................................................................ 183

Read Ethernet Bytes Formatted .....................................................................................................184

Read Ethernet String ........................................................................................................................... 186

Write Ethernet Bytes............................................................................................................................ 187

Write Ethernet Bytes Formatted .....................................................................................................188

Write Ethernet String............................................................................................................................190

Communication Setup.........................................................................................................................191

Communication Read/Write..............................................................................................................192

Send to FTP............................................................................................................................................. 193

Get from FTP........................................................................................................................................... 196

Get SNTP Time.......................................................................................................................................198

4.12 Input/Output ................................................................................................................................................... 199

Read Input ...............................................................................................................................................199

Reference Manual

Contents

IVC-2D

Set Output................................................................................................................................................ 200

Set All Outputs........................................................................................................................................201

Set Timed Output..................................................................................................................................202

Set LED .....................................................................................................................................................204

4.13 Reader...............................................................................................................................................................205

Read Barcode.........................................................................................................................................205

2D Code ...................................................................................................................................................207

5 Interactive Setups .....................................................................................................................................209

Shape Locator Interactive Setup........................................................................................................................209

Add/Edit Shape Interactive Setup...................................................................................................................... 212

Locating Shapes (tips and tricks).......................................................................................................................214

Find Line Edge............................................................................................................................................................218

Coordinate Alignment..............................................................................................................................................220

Communication Setup ............................................................................................................................................223

2D Code .......................................................................................................................................................................228

Detail Extraction Setup ........................................................................................................................................... 232

Binarize Setup ............................................................................................................................................................ 234

Blob Finder Setup .....................................................................................................................................................235

Blob Analyzer Setup................................................................................................................................................. 238

6 Troubleshooting .........................................................................................................................................240

6.1 Connecting to Devices................................................................................................................................240

6.2 Saving to Flash ..............................................................................................................................................242

6.3 Running IVC Studio.......................................................................................................................................243

6.4 Debugging Step Programs........................................................................................................................243

6.5 IVC Emulator...................................................................................................................................................243

6.6 Trouble report ................................................................................................................................................244

Appendix ................................................................................................................................................................245

A Mathematical Expressions........................................................................................................................245

B Setting Device Parameters....................................................................................................................... 249

Reference Manual Chapter 1

The Camera

IVC-2D

1 Functional Overview

1.1 The Camera

The camera contains a powerful microprocessor that is tailored for image analysis. The processor can perform a number of commands – or tools – that are used for example for capturing an image, finding an edge in an image or setting one of the camera’s output signals.

Working Memory

x1=1.273 y1=9.742 z1=6.37 ...

Active

Program

Active

Table

Image

Banks

Data

Blocks

Flash Memory

...

Program

Banks

...

Saved

Images

...

Saved

Data Blocks

The camera also has a working memory, which contains the following:  Active program, which is a sequence of commands that are used for analyzing the

images.

 Active table, which is used for reading and storing values that are used during the

analysis.

 A number of image banks, which each contains an image captured and processed by

the camera.

 Data blocks, which are used by some tools for storing or reading additional data. For

example, some pattern recognition tools (Teach tools) create and save data in a data block, which can later be used by other tools (Match tools).

In addition, the camera has a flash memory, which is used for additional storage. The flash memory contains the following:

 Program banks, which are used for storing programs and tables that can be loaded into

the camera’s working memory. A program bank always contains both one program and one table.

 Saved images, which can be used for example as a basis when teaching the camera

patterns to recognize.

 Saved data blocks, containing for example pattern recognition data to be used by

Match tools, so that the pattern does not have to be taught before running a program.

Chapter 1 Reference Manual

Functional Overview

IVC-2D

1.2 IVC Studio

IVC Studio is used for developing the programs that are used by the cameras when performing inspections – that is, analyzing images. IVC Studio can handle both 2D and 3D cameras.

When you develop a program in IVC Studio, you work with a product. A product in IVC Studio is a great help for handling all the devices (usually cameras), programs and tables that are needed for a certain inspection.

The product contains a list of the used devices, and copies of all programs and tables that are used by the devices. Normally, each device has one program and one table associated to it, which is also the program and table that are currently in the working memory.

To be able to work with a program in IVC Studio, it must be associated with a device. The device can be either a hardware camera or the Emulator, see below. A program is always executed on a device – and never on the computer. The computer is mainly used for building and modifying the programs on the devices, and to display the results sent from the devices.

Product

Devices

Camera1

Programs Tables

Camera2 Emulator

<< uses >>

Label LabelTable

FillLevel FillTable

1.2.1 IVC Emulator

The Emulator is a software behaving like an IVC camera, and can be used instead of an IVC camera. The Emulator is available in the IVC Studio development environment, and it makes it possible to develop programs when there is no IVC camera available. The Emulator can emulate both 2D and 3D cameras. The main difference between the Emulator and a camera is that the former uses a pre-recorded set of images stored in an image folder on the PC, whereas the latter views live images.

1.2.2 Programs in Development and Production

During development, you build the program in IVC Studio but the program is automatically downloaded to the associated device.

When a program (or program step) is executed it is executed in the camera, and the results are sent back to IVC Studio where they are displayed.

Program steps

Table values

Images

Result values

Reference Manual Chapter 1

IVC Studio

IVC-2D

When the development of a program is finished and it is ready to be used, the program (and table) is downloaded to the device and started.

After this it is not necessary to use IVC Studio any more. It may be used to display the results from the program, for example to signal when faults occur. But the device can also be used as a stand-alone unit, where other equipment is used for controlling the device and displaying the output. For example, you could set up a web page on the camera and then monitor the camera from a web browser on any computer on the network.

Programs

Tables

Input

Output

1.2.3 Saving Programs

When you save a product in IVC Studio, the included programs and tables are saved with the product on the computer. Nothing is saved on the device when you save the product. This is not a problem since the program associated with the device is automatically loaded into the device as soon as the program is started or edited in IVC Studio.

Product

Devices

Camera 1

Camera 2

Associated

Program

Associated

Table

Copied

automatically

Copy values

manually

Working

Memory

Active

Program

Active

Table

Save in

lash

Flash

Memory

...

Program

Banks

The programs and tables may be stored manually on the device as well. The flash memory in the device contains a number of program banks, each of which can contain a program and a table.

When you store a program in the flash memory, you always store the active program and table, which are currently in the working memory of the device.

A program stored in program bank 0 will automatically be started when the device is powered up.

Chapter 1 Reference Manual

Functional Overview

IVC-2D

1.3 Handling Multiple Products

A device may be used in several products, using different programs and tables depending on the product. This makes it easy to use the same camera for performing different inspections. Just create one product for each inspection, and in each product associate the program and table to be used for the specific inspection.

For example, there are three cameras set up by a production line, and we are producing two different items on this production line – a transparent bottle and an opaque jar. For the bottle we can use IVC-2D cameras to inspect both the label on the front and the fill level, but for the jar we need to use an IVC-3D camera to inspect the fill level.

Device 3

Device 2

Device 1

Product: Bottle

Dev Program Table

1 Label Bottle_Label_Table 2 Bottle_FillLevel Bottle_FillLevel_Table

Device 1

Product: Jar

Dev Program Table

1 Label Jar_Label_Table

3 Jar_FillLevel Jar_FillLevel_Table

To achieve this we create two products in IVC Studio with the following contents:

Product: Bottle

Device Program Table

1 Label Bottle_Label_Table 2 Bottle_FillLevel Bottle_FillLevel_Table

Product: Jar

Device Program Table

1 Label Jar_Label_Table 3 Jar_FillLevel Jar_FillLevel_Table

When switching between producing the two products, we can simply open the product in IVC Studio to load the corresponding programs and tables into the devices. If we would change the design of the label for the bottle, we can just change the values in the table Bottle_Label_Table to suit the new design. If necessary we could also make a copy of the program Label, modify it, and associate the modified program with device 1.

Reference Manual Chapter 2

IVC-2D

Creating a product

2 Getting Started

In this chapter we will introduce the basics in IVC Studio, and learn how to:

 Set up IVC Studio to write a program  How to write the program - that is adding program steps and setting parameters  How to test and debug the program

As an example we will build a simple program that checks whether or not a label has been placed correctly on a bottle, that is if it is tilted or not.

OK Fail

A simple way of checking this is to:

 Capture an image of the bottle  Search the image along two lines to find the edge of the label in two locations  Calculate the angle between the two locations

If this angle is too large then the label is tilted, and the program changes the state of an output. In a real application this output could for example control a lever that pushes the faulty bottle to the side.

When writing a program in IVC Studio you can use either a hardware camera or, if no such is available, the Emulator.

In the following sections it is assumed that a hardware camera is used, and that both the camera and IVC Studio are installed and are working properly. How to install the camera and IVC Studio is described in the installation instruction.

How to use the Emulator is described in section Using IVC Studio in the IVC-2D Reference Manual.

2.1 Creating a product

Before starting to write the program that performs the inspection, you need the following:

 A product to work in  A device to use in the product (in this case a camera)  A program written for the device

Chapter 2 Reference Manual

Getting Started

IVC-2D

 A table used for the program in the device A product in IVC Studio is a collection of devices (usually cameras) that are used for per-

forming an inspection, for example of bottles on a production line. Each device contains one or more programs that instruct the device how to perform the inspection.

A program is a list of commands, or tools, that the device executes one by one, in order to capture images, analyze them and draw conclusions from. To its help, the program has a table that it can read values from and store results to.

Product

Devices

2.1.1 Create a

Camera1

Programs Tables

Product

Camera2 Emulator

uses

Label LabelTable

FillLevel FillTable

The first step is to create the product to work in:

1. Start IVC Studio and log in.

If you just installed IVC Studio, the default user and password can be found in the installation instruction.

2. Choose File

Æ New Product from the IVC Studio menu bar.

A new empty product named New Product is opened.

The main window shows the contents of the currently open product. The left pane shows the different types of objects that the product may contain, that is; devices, programs and tables.

Clicking on one of the categories will display the objects contained in the product. Since the product was just created, all the categories are empty, with the exception of Devices, which displays all available devices.

Left pane Right pane

Reference Manual Chapter 2

IVC-2D

Creating a product

There is also a fourth type that we haven’t mentioned yet - macros. Macros are basically small programs that you can call from within regular programs. They can be useful for reusing blocks of program steps when writing advanced programs.

2.1.2 Select a Device

The next step is to select the device used for the inspection:

3. Click Devices in the left pane of the main window.

The camera is displayed in the right pane. If there are more devices that can be used by IVC Studio in your network, those will also be displayed in the right pane.

4. Select a device by clicking in the checkbox in front of it in the right pane.

You should always select the devices that you intend to use in your product. IVC Studio periodically updates the information in the device list by polling the devices that are selected in the list.

If no device is selected in the list, IVC Studio will poll every device it can find for information. This slows down IVC Studio may affect the performance of devices used by other users.

2.1.3 Create a Program

Now we are ready to create the program that we intend to build and associate it with a device.

The reason for associating the program with a device before building it is that the program is always run in a device and not on the computer. What you see in IVC Studio when running a program are just the results, which are sent from the device. If you didn’t associate the program with a device, you would not be able to see any result of the program or even test the program.

5. Right-click Programs in the left pane in the main window, and choose New Program

from the pop-up menu.

6. Fill in a name for the program in the dialog box, and click OK.

7. Click Devices in the left pane of the main window.

8. Right-click the device in the right pane that is selected for the product, and choose

Select Program from the pop-up menu.

9. Select the program in the list in the dialog box, and click OK.

2.1.4 Create a Table

There must also be a table associated with the device, so before starting to build the program we must create a table and associate it with the device:

10. Right-click Tables in the left pane in the main window, and choose New Table from the

pop-up menu

11. Fill in a name for the table in the dialog box, and click OK.

12. Click Devices in the left pane of the main window.

13. Right-click the device in the right pane that is selected for the product and chose

Select Table from the pop-up menu.

14. Select the table in the list in the dialog box, and click OK.

15. Finally, save your changes to the product on the PC by choosing File

Æ Save Product.

Chapter 2 Reference Manual

Getting Started

IVC-2D

2.2 About Writing Programs

Before starting to write the program, we will take a look at what a program consists of and the programming environment.

2.2.1 Tools

A program is a list of commands – or tools – that are performed by the camera. When the program runs, the commands are carried out one by one in the order that they appear in the program list. So when you build a program in IVC Studio, you work with this list of commands.

Most of the tools have a number of input parameters that can be set. For example when starting to take a snapshot from a camera, you may specify the exposure time and which input that should trigger the capture.

0. Retrieve an image

  

1. Find edge (left)

      

Y coordinate of edge 220

2. Find edge (right)

      

Y coordinate of edge 340

3. Calculate angle

    

Angle

4. Measurement OK?

     ! 

Result

5. Measurement OK

(  ) 

  

  

"  #



 

45¡

$%&

'%&

. (-



*

Table

Row

   

Value

#/ %

6. Measurement not OK

(  ) 

+,



Many tools also produce results that are available as output parameters. These parameters can be stored in the table or be used directly by other steps in your program.

Reference Manual Chapter 2

About Writing Programs

IVC-2D

2.2.2 Programming Window

When you write a program, the main window contains a few additional parts:

 Toolbar – contains the tools that can be used with the device.  Program List – shows the tools used in the program and the parameters for each tool.  Table – shows the contents of the device’s table  Image Banks – shows thumbnails of the images currently in the image banks of the

device (if any)

 Preview – shows the result of the program step when applied to an image.

ToolbarTree View

Image Banks

PreviewTable Program Steps

The toolbar actually contains several toolbars on which the tools are grouped into categories. You switch between the categories by clicking the tabs at the bottom of the toolbar.

The program list shows each step in the programs as a table. Each step contains:

 The input parameters that can be set for the tool  The execution time for the tool when executed  The result (return values) from the tool

There are four columns in the program list, which are used for specifying parameter values;

Value, Table, Step and Result. Which column to use depends on what type of parameter

value you want to use; constant values, values stored in the table, or results from previous steps.

Image banks are used for storing images, just like the table is used for storing values. This can be very useful, for example if you want to modify the image, but need to use the original image later on in the program. Note that the images are stored in the camera, and that the images in the image banks remain there until they are removed or overwritten by other images.

The preview window is used by some tools to visualize the result of the tool. This preview is useful when you develop your program, but is not generated when the program is running. The preview window may also be used for setting parameters for certain tools. This is further described later on in this chapter.

Chapter 2 Reference Manual

Getting Started

IVC-2D

2.3 Adding Program Steps

Now we are ready to start writing our program for inspecting the label on the bottles. Start by adding the first program step to the program, which should grab an image from

the camera:

1. Click on the name of your program in the left pane in the main window.

A toolbar is displayed at the top of the window, which contains a number of tools that can be used with the device. Below the toolbar there is a row of tabs, which are used for switching between different categories.

2. Click the Grab tool in the Image category on the toolbar to add the first step to the

program.

The Grab tool is added to the program’s folder in the left pane, and the Image Banks, Program List and Previews are displayed in the right pane.

3. Double-click the blue field at the top of the program step, and type a description for the step, for example “Retrieve an image”.

Description Value Table

Retrieve an image

0 - Grab

01 - Destination bank 0 ------ ------ ------

Time of execution (µs) 0

Previous result

Step Result

The command is now added to our program, but in order to see the effect of the command, it has to be executed by the camera.

4. Click the Grab step in the program list to select the step.

5. Press F1 to open up the Reference manual for the Grab step.

6. Close the manual again and remember to use the F1 button whenever you want to learn more about a tool.

7. Choose Debug

Æ Execute Step from the IVC Studio menu, or press the F5 key on the

keyboard.

An image is now retrieved from the camera and stored in image bank 0.

Reference Manual Chapter 2

Setting Parameter Values

IVC-2D

To search the image for the edge we need two tools:

 A ROI Rectangle that creates a Region of Interest, which defines where in the image we

expect to find the edge of the label.

 A Find Column Edge that looks for the upper edge of the label on the left side of the

image.

Scan line

Left point

Region of interest

(ROI)

We also need a step that finds the upper edge on the right side, but we will add that step after we have set the necessary parameters.

8. Click the ROI rectangle tool on the ROI toolbar.

9. In the dialog box that is displayed, choose ...after current step and click OK.

The ROI Rectangle step is added to the program list.

10. Add a description to the step, such as “Set ROI to the top of the label”

11. In a similar manner, add a Find column edge tool (from the Edge toolbar) to the

program and give it the description “Find left edge”.

2.4 Setting Parameter Values

The input parameters can be set in a number of different ways:

 By manually entering a constant value  By using interactive setup to set constant values  By retrieving a value from the table  By using the result from a previous step  By writing an expression that may combine the methods above

In this section we will look at different ways of setting constant parameter values. Using tables, results from previous steps and expressions will be shown in the following sections.

One important thing when specifying coordinates in images – coordinates are always measured from the top, left corner of the image.

X coordinate

Y coordinate

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2.4.1 Setting Constant Parameter Values

Both the ROI rectangle and the Find column edge tools need a number of parameters to be

set:

ROI rectangle • The rectangle that is our region of interest. Find column edge • An image bank containing the image to scan.

• A Region of Interest (ROI), which is specified by entering the number

of the program step in which we defined the ROI that we want to use.

• The line along which the image should be scanned and the direction

to scan in. Since this tool always scans along vertical lines, the line can be specified by entering the x coordinate for the line.

• The range of grayscale values in which we expect to find the edge

that we are searching for.

To set a constant value manually is really straight-forward – just enter the value in the Value

column for the parameter:

12. Select the Find column edge step.

13. Double-click the Value column for the parameter 06=ROI definition step, and enter the

program step in which you specified the ROI.

14. Set the scan direction by double-clicking the Value column for the parameter 03=Analysis direction, and choose Up

ÆDown from the menu.

Interactive setup windows are also used for entering constant values, but in this case captured images are used to provide feedback for the settings. Parameters can be set interactively in three different ways:

 In the Preview window

 By clicking the button with three dots (

double-clicked

 By double-clicking the Setup field that is displayed at the bottom left corner of certain

program steps

For example, when defining a ROI it is usually much easier to mark it directly in the image in a preview window than entering coordinates for the rectangle in the Value column:

15. Select the ROI rectangle step.

A rectangle is shown in the upper preview window. This is the default ROI that is set for a new ROI rectangle.

), that is displayed when a parameter is

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16. Move and resize the rectangle in the preview, so that it marks the area where you can see a part of the upper edge of the label.

17. Select the Find column edge step

18. Set the line to scan along by moving it in the preview window.

The line must be inside the ROI, which is also displayed in the preview window. By default, the line is placed at the left edge of the preview window.

If you need a larger window to work in, you can double-click a preview to open it in a separate window. In this window you can fine-tune the parameters settings, for example if there are small details in the image.

Some parameters can be set in special interactive setup windows. These windows are similar to the preview windows, but contain additional controls that are used for setting the parameter values.

19. Double-click the Value column for the parameter 04=Gray low, and click the button with

the three dots.

A preview of the image is displayed in a separate window, which also shows the ROI, the line along which the image is searched (yellow), and the edge that is detected using the current parameter values (red/green).

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20. Click on the H (Gray High) or L (Gray Low) button, and adjust the upper or lower gray

value with the slider, so that the edge of the label is clearly visible within the ROI.

Certain tools have interactive setup windows in which you can set all parameters. These

tools have a Setup field in the bottom left corner of the program step in the program list. To open the setup window, double-click the Setup field.

When all parameters have been set for the Find Column Edge step, we can duplicate the step and use the copy to find the edge on the right side – just change the line to search along.

21. Select the Find column edge and choose Edit Æ Copy from the main menu.

22. Choose Edit

23. Set the line to scan along in the new Find column edge step by moving it in the preview

window.

24. Change the description of the program step to “Find right edge”.

2.4.2 Using Tables and Results from Other Steps

We will need the x coordinates for the lines when we calculate the angle of the top edge of the label. Therefore it is useful to store these values in the table instead of having to set them manually for each step in which they are used:

Æ Paste.

25. Select the “Find left edge” step, and copy the value of the parameter 02=Column.

This value is the x coordinate for the left point of the label.

26. Paste the value into an empty row in the Value on Device column in the table.

The row is now highlighted in the table, indicating that the value on the device differs from the value in the database.

You may also enter a description for the row, describing what the value is used for.

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27. In the table, right-click the value in the Value on Device column, and choose Copy Device Value to DB to synchronize the value on the PC with the value in the device.

28. Select the “Find left edge” step again, and double-click in the Table column for the parameter 02=Column.

29. Fill in the number of the table row in which you pasted the value of the x coordinate.

30. In a similar way, copy the value of the parameter 02=Column in the “Find right edge”

step to the table, and replace the value in the program step with a reference to the table row.

Now we are ready to add a step that calculates the angle of the top edge of the label. The tool we are going to add takes the x and y coordinates of two points as parameters.

We just stored the x coordinates in the table, and the y coordinates are the results (output parameters) of the two Find Column Edge steps in the program.

31. Add a Distance and angle tool (from the Measure toolbar) to the program.

32. Set the parameters 01=Start point X and 03=End point X to refer to the table rows

where you stored the x coordinates of the left and the right point on the label edge.

33. Double-click the Step column of the parameter 02=Start point Y. A Previous result dialog box is displayed, in which you can select which result from

which program step number to use as parameter value.

34. Choose the step number of the first Find column edge step and then the first result

from that step (there is only one result to choose from), and click OK. The numbers of the step and the result are entered in the Step and Result columns of

the 02=Start point Y parameter and the current value is displayed in the Value column.

35. In a similar way, set the parameter 04=End point Y to the result of the second Find

Column Edge step.

2.4.3 Using Conditions and Jumps

The angle of the label should now be tested to see whether or not it falls within the valid range of angles, and accept or reject the bottle according to the result. This is done by adding the following steps:

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 In range, which tests if a value lies within a range specified by the upper and lower limit

of the range, and returns 1 if the value is within the range or 0 if it is not within the range.

 If then goto, which jumps to a specified program step if a value is not zero.

The Distance and angle tool returns an angle between 0 and 360 degrees, but we would like to specify an angle between for example -5 to +5 degrees as being a valid angle. One way to get around this is to state that angles between 5 and 355 degrees are not accepted, and any other angle is accepted.

90°

Angle Out of Range

Angle In Range

90°

0°

180°

0°

270°

• Angle is not OK

• The test if the angle is within “Out of Range” returns 1, and the program jumps

180°

270°

• Angle of the label is OK

• The test if the angle is within “Out of Range” returns 0, and no jump is made

To make it even more flexible, we will store the highest angle that is accepted in the table, and calculate the range directly in the program step.

36. Add an In range tool (from the Calculation toolbar).

37. Set the parameter 01=Value to the angle that was calculated by the previous step by

referring to the result of that step.

38. Enter the highest acceptable angle, for example 5 degrees, in a row in the table.

39. Set the parameter 02=Min value allowed to refer to the table row in which the angle is

stored.

40. Set the parameter 03=Max value allowed to the following value:

=360-V<table row>

where <table row> is replaced with the number of the row where the angle is stored.

41. Add an If then goto tool (from the Program toolbar).

42. Set the parameter 01=Control expression to the result of the In range step. Do not set the parameter 02=Goto step yet, since we are going to jump to a program

step that we have not added to the program.

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Testing and Running the Program

The value of the parameter 03=Max value allowed is an expression that calculates a value

each time this step is performed. An expression always begins with an equal sign (=), and may contain:

 Constant values 360, 4/7, etc.  Table values Vn for the value in row n  Results from other steps SmRn for result n of step m  Parameters (arguments) in other steps SmAn input parameter n of step m  Functions sin(), abs(), etc.

Instead of writing an expression, we could have used a Ma the matical oper ation tool. Which

to choose depends on the complexity of the calculation – the more complex a calculation the more efficient is the Mathematical Expression.

Finally, we add program steps that set one of the outputs of the camera to high or low, depending on the result of the analysis. This can be used for example to control a lever that pushes the faulty bottle to the side.

43. Add a Set output tool (from the Communication toolbar), and set the following

parameters:

01=0utput number 0 02=Signal value Low

Name the step “Angle within range”

44. Add a Goto tool (from the Program toolbar) and set the parameters so that this step

jumps to step 0.

45. Add another Set output tool, and set the following parameters:

01=0utput number 0 02= Signal value High

Name the step “Angle out of range”

46. Add a Goto tool and make sure that this step jumps to step 0.

47. Select the If then goto step, and set the parameter 02=Goto step to the step number of

the “Angle out of range” step.

It is not necessary to add the last Goto step, since the program automatically jumps to step 0 when it comes to the end. It is however a good practice to make sure that the program jumps to the right place at the end. For example, you may add steps at the beginning of the program that initialize the program, and that we only intend to run when the program starts.

2.5 Testing and Running the Program

Now the program is written, but how do we know that it is working properly?

One way is to step through the program using Debug Step. The result of each step is shown in the preview window and the Value column of each

parameter.

48. Use Debug Æ Execute Step and Debug Æ Step by Step to step through the program and

make sure that it gives the correct result. Move the bottle (or what you are using) to get both accepted and rejected labels.

Another way is to add some program steps that show the result of the analysis, and run the program.

49. Add a Copy image bank tool after the first Grab step.

Æ Execute Step and Debug Æ Step by

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We add this step in order to have a copy of the image to draw in. If we draw in the original image the analysis is affected by our drawings.

50. Add a Draw ROI tool after the ROI rectangle step.

This step draws the region of interest in the image. Make sure to draw in the image bank with the copy of the image.

51. Add a Add text tool after the “Angle within range” step. Set the following parameters:

04=String ‘OK 06=String color Choose a green color 08=Size 2

You should also specify the location of the text to be displayed with the parameters

01=X origin and 02=Y origin. Make sure to draw in the correct image bank.

52. Add a Display tool after the Add text step, and set the parameter so that it displays

image bank 1.

53. Copy the Add text and the Display steps to after the “Angle within range” step. Change

the text to be displayed to ”Failed” and coloured red.

54. Choose Debug

Æ Run and watch the result in the Display window.

2.6 Saving the Program

To save the program we have written, use File Æ Save Product. This will save the program

on the PC (along with all other programs and tables in the product), but not on the device. The program is present on the device as well, since it is downloaded to the device as you build it.

But if the power to the device is cut, your program will be lost from the device and has to be downloaded again from the PC. To prevent this from happening, you may save the program in the flash memory on the device.

IVC Studio Device

Product

Devices

Camera 1

Camera 2

Associated

Program

Associated

Table

Copied

automatically

Copy values

manually

Working

Memory

Active

Program

Active

Table

Save in

lash

To download a program to a device without saving it in the flash memory:

Flash

Memory

...

Program

Banks

1. Open the product containing the program.

2. Make sure the program is associated with the device, and that a table is associated as well.

3. Right-click the device in the list of devices, and choose Start Program from the pop-up

menu.

The program is downloaded to the device and started. The status of the device is changed from STOP to RUN.

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What’s Next?

When you save the program in the flash memory on the device, you choose the program bank in which the program is saved. You always save the program that is currently in the working memory of the device, and the table that is active is also saved with the program.

To save the program on the flash memory of the device:

4. Right-click the device in the list of devices and choose Flash Æ Write Program in Flash.

5. Select the program bank in which to save the program, and click OK.

The program is now saved in the selected program bank.

If you save a program in program bank 0, this program will start when the device is powered up. If you want the device to run a different program, you can load that program using a PC, either by using an existing product (containing the program to be used), or by downloading the program from the device’s flash memory.

2.7 What’s Next?

In this chapter we have looked at the basics of how to handle IVC Studio, such as setting up a product and writing a simple program. However, there are many features in IVC Studio and the camera that we have not looked at, and that makes it possible to write advanced programs for inspections and automation of production. Some of the features are:

 Using the camera as a stand-alone unit  Using several devices in a product  Using several programs on a single device

Using Cameras Stand-alone

Once the program is developed it can be downloaded to the device and started. Now the program will run in the device until it is stopped, and it is no longer necessary to use IVC Studio. If the program is also saved in program bank 0 on the flash memory, the program will be started when the device is powered up.

If you want to interact with the device, you can write a program that for example communicates with other equipment via the RS485 port, or uses the inputs and outputs of the device to communicate with a simple control panel.

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Using Several Devices

A product may use several devices that each performs a certain inspection. It is also possible to use the same device in several products, and running different programs in the device depending on in which products it is used.

Device 3

Device 2

Device 1

Product: Bottle

Dev Program Table

1 Label Bottle_Label_Table 2 Bottle_FillLevel Bottle_FillLevel_Table

Device 1

Product: Jar

Dev Program Table

1 Label Jar_Label_Table

3 Jar_FillLevel Jar_FillLevel_Table

To use several devices in the product, simply select the devices by clicking the checkbox in front of them in the main window.

When the development is finished you can easily download the programs and tables to all included devices at once by right-clicking Devices in the left pane of the main window and

choosing Product Transmission. This will also start the programs in the devices.

Using Several Programs

While there can be only one program in the working memory, additional programs can be stored in the flash memory of the device. These programs can either be loaded manually into the working memory, or they can be called from the active program.

 To load a program manually, use IVC Studio to associate the program with the device

and then start the program. This requires that the program is available in the product that is open in IVC Studio.

If the program is not available on the PC, you can retrieve it from the device by right-

clicking the device in the list of devices, and choosing Flash

Æ Import Program from Flash.

 To call a program stored in flash from the active program, please refer to the Tools

section of this manual for information on which tool to use.

Note that calling a program stored in flash will load both a program and a table into the

working memory of the device, replacing the previous program and table there.

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Handling Devices

3 Using IVC Studio

3.1 Handling Devices

Note: Do not connect to, configure or view live images from a camera that is already

used through another PC. A camera can only be connected to one PC at a time. IVC Studio will only detect an Emulator running on the same PC.

3.1.1 Installing and Configuring

Configuring Ethernet

The Ethernet configuration depends on how the device (camera) is connected to the PC.

To configure a device

Viewing Live Image

To view a camera image for IVC-2D

To view a camera image for IVC-3D

Setting Number of Image Banks

Choose Options

A window containing a tree view is displayed.

Select Ethernet Devices in the tree view.

The Ethernet devices dialog is displayed in the right pane in the window.

Click the Ethernet Device Configuration button.

The Ethernet Device Settings window is displayed, containing a list of available devices.

Select a device from the list. The current settings of that device are displayed in the right pane.

Double-click the IP number parameter value and change it.

Click Update.

Click Devices in the left pane.

The available cameras, devices, are listed in the right pane.

Double-click the device or right-click the device and choose Live Device from the pop-up menu.

A live image is displayed in a pop-up window. Clicking the handle of the drawer on the right of the image window

displays sliders for Shutter, Gain, and Strobe.

Select the program currently associated with the device, or create a new program and associate it with the device.

Add a Grab Setup tool to the program by clicking on the Grab Setup icon in the Image toolbar.

Double-click the Setup button at the bottom left corner of the

program step.

The Grab Setup window is displayed. A live image of the profile is

shown in side the white box in the right pane in the window.

Æ Configuration from the IVC Studio menu bar.

To change the number of Image Banks used by the device

Choose Options

A window containing a tree view is displayed.

Select Ethernet Devices in the tree view.

Ethernet devices are displayed in the right pane in the window.

Click the Ethernet Device Configuration button.

The Ethernet Device Settings window is displayed containing a list of available devices.

Select a device from the list. The current settings of that device are displayed in the right pane.

Change the value of the parameter Image Banks. For IVC-3D, change the value of the parameter Profile Banks.

Click Update.

Æ Configuration from the IVC Studio menu bar.

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Loading Device Firmware

Firmware contains information on the available tools and how they perform. You load new firmware to upgrade IVC Studio with new tools.

To load device firmware

Choose File

Note:

Æ Load Device Firmware.

Do not interrupt the loading of firmware once it has started. Do not disconnect the power or the network connection to the device until the device is shown again in the list of devices in the IVC Studio main window (that is listed with the status RUNNING or STOP)

3.1.2 Starting, Stopping, and Resetting Devices

The device can be in one of three states:

 run  stop  error

Resetting the device restarts the processor in the camera. This may be necessary if the device is stalled.

To start running a program in a device

Right-click the device and choose Start Program from the popup menu, or press F6. The program keeps running until it is

stopped. To view the result when using an IVC-2D, right-click the

device and choose Live Device from the pop-up menu.

To stop a program

Right-click the device and choose Stop Program from the pop-

up menu.

To reset a device

Choose Options

Æ Configuration from the IVC Studio menu

bar. A pop-up window containing a tree view appears.

Select Ethernet Devices in the tree view.

Ethernet devices appear in the right panel of the pop-up window.

Click the Ethernet Device Configuration button.

The Ethernet Device Settings window appears containing available devices.

Right-click the device and choose Reset Device from the pop-

up menu.

3.1.3 Handling Memory in Camera

Saving camera memory is useful for backup purposes. The camera contains image banks, a data block memory and a Flash memory. For more information on the Flash memory see section Handling Programs on the Camera.

Image banks and data block memory are used for storage during program execution. When starting to develop a new program, it may be useful to refresh the memory in order to make sure that no old data affects the new program. The contents of the image banks can also be saved to disk.

To save the data block memory from the

Right-click the device and choose Device Management Save Data Block to File from the pop-up menu.

camera to a PC file

To save an image bank to disk

Right-click image bank in the active program window and

choose Save Image Bank to Disk from the pop-up menu. See

section Handling Images for more information on handling image banks.

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To reset data block memory

To reset image banks

Right-click the device and choose Device Management Data Block from the pop-up menu.

Right-click the device and choose Device Management

Æ Reset

Reset Banks from the pop-up menu. It is also possible to

reset the image banks one by one when a program is open. See chapter Handling Images for more information.

To restore data block memory from a PC file

Right-click the device and choose Device Management Load Data Block from File from the pop-up menu.

3.1.4 Viewing Device Information

Information is available on the status of devices and errors that have occurred. The information can be refreshed on one or all devices.

To view device information

Right-click the device and choose Device management Information from the pop-up menu.

Æ Device

This window contains detailed information about the device, such as hardware and software versions, Ethernet information and the status of the device.

To view the status of running program, inputs and outputs

Right-click the device and choose Device management Status from the pop-up menu.

This window shows the status of inputs and outputs of the

Æ Signal

device. If a program is running you can also see which program steps that are performed at the moment

To refresh displayed information on a checked device

To refresh and display information on all devices

Choose Options press F5.

Choose Options press Ctrl F5.

Æ Refresh from the IVC Studio menu bar or

Æ Update All from the IVC Studio menu bar or

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3.2 Handling the Emulator

The Emulator is a software program in IVC Studio that behaves like a hardware camera. It makes it possible to write or update programs when there is no hardware camera available. The Emulator can behave as (emulate) both 2D and 3D cameras. Each product in IVC Studio can contain several devices, but only one emulated camera.

The main difference between the Emulator and a camera is that the former uses a predefined set of images stored in a dedicated image folder on the PC, whereas the latter views

live images. Not all tools are emulated by the Emulator; these tools are marked with [Not emulated] in the user interface. Interactive setups are not available for non-emulated tools.

The Grab tool functions differently when the Emulator is used. This is described in section Using the Grab and the Grab Setup Tools below.

The execution time of a tool when using the emulator depends on the performance of the PC. This time is not the same as the execution time when the tool is executed on a hardware camera. This means that the field “Time of execution (us)” in the step program view cannot be used in a calculation of the expected cycle time for the application when the emulator is used.

From the Emulator menu in the menu bar you can enable and disable the Emulator, and

change its settings. In the Emulator settings dialog you can choose which camera type to emulate, select which folder to capture pre-recorded images from, and choose to enable the Emulator automatically when starting IVC Studio.

3.2.1 Preparing images for the Emulator

Instead of viewing live images, the Emulator captures pre-recorded images. Before starting the Emulator it is thus necessary to prepare images. This is done by recording images that are captured by a real camera. The images must be saved in the raw format (.raw or .img) for IVC-3D and IVC-2D, or bitmap (.bmp) for IVC-2D, in a version of IVC Studio that supports the Emulator. When saving an image, the Grab Setup parameters are stored in the image file and can be read by the Emulator.

To record images

To use recorded images in the

Use a camera of the same type that you will emulate. Select or write a program containing a Grab Setup tool defining

how to captures images, a Grab tool to capture the images, and a Send to FTP tool to store the images in raw format in a selected folder. The PC receiving the images must have an FTP server running.

Choose Emulator

The Emulator settings dialog box is opened.

Æ Settings… from the IVC Studio menu bar.

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Emulator

3.2.2 Basics

To enable the Emulator

To disable the Emulator

To enable the Emulator automatically

Click Browse… and select a folder containing recorded images.

The Emulator camera type must be of the same type that was used when recording the images.

Click OK.

Choose Emulator

Æ Enable… from the IVC Studio menu bar.

The Emulator settings dialog box is opened. Select which camera type to emulate from the drop-down list. Enter a numeric camera ID. The ID must be unique within the

Product. Maximum length is 9 digits.

Click Browse… and select a folder containing pre-recorded

images. The Emulator camera type must be of the same type that was used when recording the images.

Click OK. Choose Emulator

Æ Disable from the IVC Studio menu bar.

The Emulator disappears from the list of Devices.

Choose Emulator

Æ Settings… from the IVC Studio menu bar.

The Emulator settings dialog box is opened.

Tick Enable Emulator when launching IVC Studio and click OK.

The Emulator is now automatically enabled when starting IVC Studio.

To change the Emulator settings

Choose Emulator

Æ Settings… from the IVC Studio menu bar.

If Type, ID, Number of image banks or Number of profile banks

is changed, the Emulator will be restarted.

To access the flash disk of the Emulator

The flash disk of the Emulator is found on the PC under My Documents (Documents in Vista) for the current user. The default path to the Emulator flash is:

My Documents\SICKIVP\SmartCameras\IVC Studio x.x\ Emulator\flash

3.2.3 Using the Grab and the Grab Setup Tools

Each time the Grab tool is executed a new image is read from the image source. The name of this image file is displayed as a result parameter of the Grab step, and the Grab Setup parameters saved in the image file are used to update the image banks.

The program thus works as if a Grab Setup step with these settings were executed.

3.2.4 Using Old Images in an Emulated 3D Camera

It is possible to use images that are captured with a version of IVC Studio that does not support the Emulator. The Grab Setup tool then needs to be executed with the same settings as were used when capturing the images, since the images do not contain any setup information.

To use old images in an emulated 3D camera

Choose Emulator select the desired image source folder, and click OK.

Configure a Grab Setup step with the same settings that were

Æ Settings… from the IVC Studio menu bar,

used when the images were captured.

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Execute the Grab Setup step. Execute the Grab step.

3.2.5 Using a Non-Emulated Tool in the Emulator

Some tools are not emulated by the Emulator. When executed in the Emulator, they return the default values of all parameters. Interactive setups are not available for non-emulated tools.

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Handling Products

IVC-2D

3.3 Handling Products

A product in IVC Studio is a collection of devices, programs and tables. A device can be either a hardware camera or an Emulator.

Product

Devices

Camera1

Programs Tables

3.3.1 Basics

To create a new product

To open a product

To save a product

Camera2 Emulator

uses

Label LabelTable

FillLevel FillTable

Choose File

Æ New Product from the IVC Studio menu bar.

An empty product named New Product is opened.

Choose File

Æ Open Product… from the IVC Studio menu bar.

Select a product in the dialog box and click OK. Choose File

Æ Save Product from the IVC Studio menu bar.

If you try to open another product or to close IVC Studio without saving the presently active product a dialog box appears prompting you to do so.

If the product has not yet been saved, a dialog box is displayed.

Type the name of the product and click OK.

To make a copy of the current product

To revert to the last

Choose File Type the name of the new product and click OK.

Choose File

Æ Save Product As… from the IVC Studio menu bar.

Æ Revert… from the IVC Studio menu bar.

saved version of the current product

The product files can be stored in two formats; the standard .prd and a new extended format (.prc) that also contains a checksum. The checksum is used to verify the integrity of the product file to ensure that the contents have not been altered, e.g. by a problem in a zip/unzip-procedure.

The new format is not compatible with IVC Studio versions prior to 3.1 SR1. The old format is still supported, and existing files can easily be converted to the new format by using “Save As” in IVC Studio 3.1 SR1 or higher.

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3.3.2 Managing Devices Used in a Product

You should always check the devices you are using in order to decrease the execution time. IVC Studio continuously updates the information about the status of all devices in the device list, but if you check the devices you currently use, the list is only updated with information about these, which saves time.

To check/uncheck a device

To uncheck all devices

3.3.3 Associating Programs and Tables with a Device

Both a program and a table have to be associated with the device in order for the program to be able to run.

To associate a program to a device

To associate a table

To import a program from another product

3.3.4 Handling Products

To start all devices in a product

To stop all devices in a product

Select Devices in the left pane and click on the checkbox in

front of the device.

Select Devices in the left pane. Right-click a device in the right pane and choose Uncheck All Devices from the pop-up menu.

Right-click the device and choose Select Program from the popup menu. Select a program from the pop-up dialog and click OK

to associate it with the device.

Right-click the device and choose Select Table from the pop-up menu. Select a table from the pop-up dialog and click OK.

Right-click Programs in the tree view and choose Import Program

from the pop-up menu.

Right-click Devices in the left pane and choose Product Trans- mission from the pop-up menu.

Right-click Devices in the left pane and choose Stop Product

from the pop-up menu.

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3.4 Handling Programs

Programs are developed on a PC. During development a copy of the program is maintained in the device. Programs are always run in the camera, even during development. A camera can contain several programs, but after a shutdown it always runs the one in program bank zero in the Flash memory.

If you don’t want to start from scratch when building a program, you may instead import a program used in another product or retrieve a program that is stored in a device. To import a program from another product, the program must first be exported to a file on the computer.

IVC Studio Device

Product

Devices

Copied

automatically

Working

Memory

Flash

Memory

Camera 1

Camera 2

Associated

Program

Associated

Table

3.4.1 Handling Programs on PC

Basics

To create a new program

To delete a program

Right-click Programs in the tree view and choose New Program

from the pop-up menu.

Right-click the program in the tree view and choose Delete Program from the pop-up menu.

To rename a program

Right-click the program in the tree view and choose Rename Program from the pop-up menu. Write the new name in the

dialog box that is displayed.

To print a program

Right-click the program in the tree view and choose Print Program from the pop-up menu.

To view program information

Right-click program in the tree view and choose Program Information from the pop-up menu.

A pop up window displays information such as program name and dates of creation and last change and who made the latest changes to the program.

Copy values

manually

Active

Program

Active

Table

Save in

lash

...

Program

Banks

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Copying, Importing, and Exporting Programs

To make a copy of a program

Right-click the program in the tree view and choose Copy Program from the pop-up menu. Click YES to confirm and

name the new program.

To import a program from a file on the PC

Right-click Programs or one of the programs in the tree view in the left pane and choose Import Program from the pop-up

menu.

To export a program to a file on the PC

Right-click the program in the tree view and choose Export Program from the pop-up menu.

3.4.2 Handling Programs on the Camera Flash

To write product in flash

Right-click Devices in the left pane and choose Write Product in Flash from the pop-up menu. The currently associated pro-

duct and table is stored on the camera flash in position 0 for each of the devices in the Device list. No action is performed if the device is not associated with a program in the current product.

To store a program in flash memory on the device

Right-click the device and choose Device Management

Æ Write Program in Flash from the pop-up menu. Select a

memory position in the dialog window and click Save. The

table is automatically stored with the program.

To delete programs stored in flash

Right-click the device and choose Device Management

Æ Delete Stored Program in Flash from the pop-up menu. This

deletes the program in the selected position in the flash memory. It is also possible to delete multiple programs by selecting more than one position.

Æ Flash

To clear unused memory on flash

When a program is deleted from flash, the flash blocks occupied by the program is not immediately reused but marked as unused (dead). The unused memory will not be reused until there is no more free memory on the device. This is done in order to minimize the wear of the flash memory.

To reuse a block of unused memory, it must first be cleared. Clearing the memory takes some time and may affect the performance of the device. To restore the performance, the unused memory can be cleared manually.

To clear unused memory, right-click the device and choose

Device Management

Æ Flash Æ Clear unused memory from the

pop-up menu. In the dialog box that is displayed, click Start

and wait for the device to be finished.

To import programs from flash program bank to PC

Right-click the device and choose Device Management

Æ Import Program From Flash from the pop-up menu. Select a

program in the pop-up dialog window and click Save. The

Æ Flash

associated table is automatically imported with the program.

3.4.3 Handling the Camera Flash

The flash disk of the IVC camera can be used to store programs, images, data blocks and tables. The disk is also used by the web server to store HTML files. The FTP server on the camera allows for external access to the contents of the flash disk.

For details regarding the handling of the flash disk, please refer to in the section

Troubleshooting.

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Handling Tables

3.5 Handling Tables

Tables are used to store parameters and other values that a program uses.

 The index column shows a row number in the table.  The DB Value column shows the value that is currently stored on the PC.  The Value on Device column shows the current value stored on the device.  In the description column you can add descriptive names for the values in the table.

The values on the PC and the device are not automatically synchronized. Therefore the values have to be copied manually between the two.

3.5.1 Basics

To create a new table

To show the contents of a table

To rename a table

To delete a table

3.5.2 Copying, Importing, and Exporting Tables

To make a copy of a table

To import a table from a file on the PC

To export a table to a file on the PC

To store a table in the flash memory on a device, store the program associated with the table. To import a table from a device, import the associated program. When writing a table to the flash memory on a device, the descriptions are not saved, and are therefore not included when the table is imported from the device.

Right-click Tables in the tree view in the left pane and choose New Table from the pop-up menu.

Right-click the table in the tree view and choose Show Table from

the pop-up menu.

Right-click the table in the tree view and choose Re name Table

from the pop-up menu.

Right-click the table in the tree view and choose Delete Table

from the pop-up menu.

Right-click the table in the tree view and choose C opy Tab le from the pop-up menu. Click YES to confirm and name the new

table.

Right-click Tables or a table in the tree view and choose Import Table from the pop-up menu.

Right-click the table in the tree view and choose Export Table

from the pop-up menu.

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3.5.3 Handling Table Values

To enter a parameter value in the table

To copy a parameter value from the PC to the device

To set parameter comment in the table

To save the table in the flash memory

Right-click the table in the tree view in the left pane and choose

Show table, or double-click the table in the tree view. A separate table window opens. Double-click the cell in the Value on Device

column and enter a value. Close the table window and click

YES to save the entered values. Right-click the device and choose Show Table from the pop-up

menu. Right-click the row in the DB Value column and choose Copy DB Value to the Device from the pop-up menu.

Right-click the table in the tree view in the left pane and choose

Show table, or double-click the table in the tree view. A separate table window opens. Double-click the cell in the Description

column and enter a comment. Close the table window and click

YES to save the entered values. Right-click the device and choose Device Management

Write Program in Flash from the pop-up menu. Select a memory position in the pop-up dialog window and click Save. The table

is automatically stored with the program.

Æ Flash Æ

3.6 Handling Images

Images are saved in image banks during program execution. The image banks (and their current contents) are displayed in the active program window at the top of the right pane.

Images that are saved to disk on the PC can be loaded back into an image bank. You can

also save some images to disk in another file format by choosing Export…, but such files

cannot be loaded to the device. Note that when loading an image to an IVC-3D camera, the camera must have the same

settings for field-of-view (FOV) and length as when the image was saved.

To change size of the image bank thumbnails or previews

To save an image bank to disk

To load an image bank from disk

To save an image bank in a different format (IVC-3D only)

To reset all banks

To reset a selected bank

Place the cursor on border that surrounds the area where the bank thumbnails or previews. The cursor will change to two arrows.

Then click on the border and drag it to resize the thumbnails or previews.

Right-click the image bank in the active program window and

choose Save Image Bank to Disk from the pop-up menu.

Right-click the image bank in the active program window and

choose Load Image Bank from Disk from the pop-up menu.

Right-click the image bank in the active program window and

choose Export Bitmap to disk or Export Raw to Disk from the pop-

up menu.

Right-click an image bank in the active program window and

choose Reset All Banks from the pop-up menu.

Right-click the image bank in the active program window and

choose Reset Bank from the pop-up menu.

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3.7 IVC Studio Settings

If you are using IVC Studio as an administrator, you can specify whether or not users must log in when starting IVC Studio. By default users do not have to log in.

User names and passwords can be found in the installation instruction.

To enable or disable login when starting IVC Studio

Choose Options

bar. A pop-up window containing a tree view appears.

Select User Access in the tree view.

The User Access settings appear in the right panel of the pop-up window.

Select the option to let the users to log in when starting IVC Studio.

Deselect the option to let users use IVC Studio without logging in.

Æ Configuration from the IVC Studio menu

3.8 Programming

3.8.1 Adding Program Steps

When a program is selected in the left pane, a toolbar is added to the window. This toolbar contains the tools that are available when writing programs. The tools are organized in a logical order that groups similar tools together. Switch between the groups by clicking on the tabs at the bottom of the toolbar.

To add program steps

To cut or copy steps

To paste steps

To delete a program step

To add a program step click the icon for the tool.

Click the program step in either the right pane or in the program list in the left pane and choose

ÆCut or EditÆCopy.

Edit

Note that cut does not remove the step from the program list until it is pasted in its new location.

To select multiple program steps press the Ctrl key

as you select steps.

Click the program step in either the right pane or in the program list in the left pane and choose

ÆPaste.

Edit

Click the program step in either the right pane or in

the program list in the right pane and choose Delete Step from the pop-up menu.

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To increase/decrease tabulation

3.8.2 Setting Parameters

The input parameters can be set in a number of different ways:

 By manually entering a fixed value  By retrieving a value from the table  By using the result from a previous step  By writing an expression that may combine the methods above

To enter parameter value in a program step

To enter a string as a parameter value

To use parameter values from the table

Select program step and double-click in the Value column of

the parameter. Enter the value and click anywhere outside the changed cell.

Strings must begin with a single quotation mark.

Example: ‘String Select the Table column in the program step. Enter the index

number of the desired value and click anywhere outside the

changed cell. The table value appears in the value column of

the program step.

Tabulation is only used to add readability to the program. It has no effect on the performance or execution of the program. To increase tabulation for

a program step right-click it and choose Increase Tabulation from the pop-up menu. To decrease

tabulation for a program step right-click it and choo-

se Decrease Tabulation from the pop-up menu.

To use results from previous program steps

To use parameter expressions

Using Interactive Set-up

Interactive set-up is a possibility to graphically change parameter values of tools. Interactive setup may be done in three different ways.

 In the u

 Some parameter fields, for example the fields for setting threshold values in the Find

column edge tool, have a button with three dots following the space to fill in a value.

 Some tools, for example Find line edge, have a setup button.

pper preview window

Select the Step column in the program step. Double-click and

choose the number of the previous step and the result you

want to use and click OK. Type the expression in the Value column of the program step.

An expression always begins with = directly followed by the

expression. Use the following prefixes:

Vn – for table Value in position n. SnRn – for output Result n from a previous Step. SnAn – for input Argument from a previous Step.

Example: =V2+S3A2*S3R1 This means that the value of position

2 in the table is added to input parameter 2 in step 3, multiplied with the first output from step 3.

It is also possible to use mathematical functions such as sin and cos. See Appendix A for more information.

It is usually slower to use expressions than using values directly from the table.

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Upper preview window

Can be used for most geometrical settings.

Preview

The dotted button

Setup button

Select a program step containing a geometrical setting and execute it. The top image in the pane to the far right in the window now contains a figure representing the setting. It is possible to move the circle and change the size of it directly in the preview window.

For fine-tuning, double-click the image to display it in a separate window. Note how the values in the parameter field in the program step are updated as you change the settings.

The size of the preview can be changed by clicking and dragging the borders around the previews..

Click the dotted button to open a window enabling interactive setup.

Double-click the Setup button to open a window enabling interactive setup.

3.8.3 Using Macros

Macros are used for operations that are performed frequently and are used by more than one program. It makes programs more readable.

Macros are available from the Macros tab in the tab bar. As they are created the macros are listed as available tools on the toolbar. Default name is Macro TOOL. Use the tool tip to

distinguish between the macros. Note: The execution time of a macro includes the time it takes to run the two tools Start

Macro and End Macro. This means that the total execution time of the macro is slightly larger than the sum of the steps in the macro. This difference is more apparent when executing the macro in IVC Studio as then also the communication with the camera is included in the execution time of the macro.

To create a new macro

To delete a macro

To make a copy of a macro

Right-click Macro in the tree view and choose New Macro from

the pop-up menu.

Right-click the macro and choose Delete Macro from the pop-up

menu.

Right-click the macro and choose Copy Macro from the pop-up menu. Click YES to confirm and name the new macro.

To import a macro

To export a macro

To print a macro

Right-click Macro or a macro in the tree view and choose Import Macro from the pop-up menu.

Right-click the macro in the tree view and choose Export Macro

from the pop-up menu.

Right-click the macro in the tree view and choose Print Macro

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from the pop-up menu.

To show information on a macro

Right-click the macro in the tree view and choose Macro Information from the pop-up menu.

A pop up window displays information such as program name and dates of creation and latest change and who made the latest changes to the macro.

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3.8.4 Changing Macro Properties

To change name and description of a macro

To change a macro icon

Right-click the macro in the tree view and choose Macro Properties from the pop-up menu. This opens the Macro

Properties window. Enter macro name and a description in

the Name and Description fields and click OK. You need an icon with file extension .ico consisting of two

images. One 16 x 16 pixels and one 32 x 32 pixels. The smaller is used in the IVC Studio tree view, and the larger in the IVC Studio toolbar.

Right-click the macro in the tree view and choose Macro Properties from the pop-up menu. Enter the path to the icon image in the Icon field, or use the browse button, and click OK.

To specify arguments and results

Right-click the macro in the tree view and choose Macro Properties from the pop-up menu. Select one of the tabs Arguments or Results. Add arguments and results by using the +! button.

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3.8.5 Running and Debugging Programs

You can run and test the program in two different ways:

 Run the entire program over and over, and view results in the Run window.  Step through the program or run parts of it, and view the results directly in the Pro-

gramming window when the program is paused.

You can set breakpoints on program steps where you want the execution to pause, and also disable program steps that you don’t want to be executed. Breakpoints are ignored when running the entire program, - for example when the device is running stand-alone – but disabled program steps will never be executed by the device – even if the device is running without IVC Studio.

When running the entire program, use a ‘Display‘ tool in the program to display parameter values and the contents of an image bank in the Run window. The information in the Run window will be updated each time the ‘Display‘ tool is executed. For more information on the ‘Display’ tool, see the Tools chapter.

To run the entire program from the Programming window

Choose Debug

The Run window is displayed, and the program will run over and over until it is stopped. Any breakpoints in the program are

Æ Run or press F6.

ignored.

To execute a single program step

Select a step and choose Debug

If Run debug or Run to cursor is chosen after executing a single

Æ Execute Step or press F5.

step, the program will continue with the selected step.

To execute a program step by step

Select a step and choose Debug

Æ Step by Step or press F8. The

selected step is executed and IVC Studio selects the next step as active.

If Run debug or Run to cursor is chosen after executing a step, the program will continue with the selected step.

To continue the program up to a selected step

To continue the pro-

Select the step to stop at and choose Debug When choosing Run to Cursor, the program will stop at any

breakpoint that is encountered prior to the selected step.

Choose Debug

Æ Run Debug.

Æ Run to Cursor.

gram until the next breakpoint

To remove a breakpoint

To continue the program from a certain step

Select the step with a breakpoint in either the tree view or in the

program list, and choose Debug Select the program step to start from and choose Debug

Æ Set Breakpoint.

Execute Step or press F5. Then use Run debug or Run to cursor to continue running the

program from the last executed step.

Note: If the execution time of a step exceeds the IVC Studio communication timeout (default 2500 ms), an ITF-2 error is displayed in IVC Studio, even though the camera is still executing the step. By pressing F5 or F8 again, the connection to the camera is restored, and the results from the step will be displayed in the step program view.

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Efficient Programming

3.9 Efficient Programming

It is important for both efficiency and readability reasons that programs are well structured and well documented. When writing programs in IVC Studio you should consider the tips in this chapter for more efficient programming.

3.9.1 Organizing Programs for Readability and Maintenance

By following these rules your programs become more readable and easier to maintain:  Divide the program structure into two main parts. One initialization part and one cycle

part. The initialization part contains everything that is only set once after power-up, for example grabbing parameters, static ROIs, load table from memory, and so on. The cycle part is what is executed over and over again until the program is stopped.

 Group sequences of steps to represent a higher-level function than the individual steps.

To perform this grouping, there are three standard ways:

1) tabulation in the program tree

2) subroutines

3) macros

 Name step tools more specifically than the tool’s original name.

Example: Rename “Scan rows” to “Scan rows, find upper left edge” or “If go” to “If width too small, go to fail”.

 Name the first step in the sequence in accordance with the purpose of the entire high-

level function when a sequence of steps is grouped. Example: If 12 steps are used to localize a blob and find its uppermost edge pixel, then rename the first step to “Find top edge of blob” and indent the remaining 11 steps.

 Add dummy steps with the only purpose to give a sequence of indented steps a good

name, and to retain the possibility to give a more specific name to the first image processing step of the sequence. For example, a ‘Goto‘ tool that only goes to the next step can be used.

3.9.2 Making Debugging Easier

 Display key values of your program/table, using the ‘Display‘ tool, to enable performan-

ce tests and fast debugging.

 Display key parameters in different colors and sizes in the displayed bank by using the

‘Add Text‘ tool. For example in simple pass/fail applications you display Pass in green

letters or Fail in red letters.

 For graphical feedback, add a ‘Draw ROI‘ step directly after the ROI creation to speed

up debugging when you use dynamic ROIs. Dynamic ROIs are ROIs that move around depending on other results in the program.

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3.9.3 Organizing Error Handling

Without error handling a program stops if an error occur. Hence it is very important to handle possible errors. Error handling is initiated by the ‘On error goto‘ tool in the Program category. This step can either be added at the beginning of a small program or, for example, at the beginning of each part in a larger program.

3.9.4 Organizing Tables for Readability and Maintenance

 Use a table for all parameters that you may want to change during the installation and

use of the application. Divide the table parameters into blocks: User settings, advanced settings, Debug parameters and so on. It is practical to start filling the table with the user settings, as these are visible immediately in the programming environment (no need to scroll the table to find them). Preferably, place a few empty rows in the table between each parameter block to make adjustments easier.

 Give parameters in a table unique names that anyone familiar with IVC Studio and the

application can understand.

3.9.5 Optimizing Performance

 Make ROIs as small as possible.  Use image processing filters only when necessary.  Avoid displaying results that are not necessary to see.  Place static ROI definitions outside of the program loops so that they are only executed

once. This is only a concern in very time-critical applications.

3.9.6 Providing Image Processing Robustness

 Make sure to provide good lighting conditions.  Avoid dependence on 50 Hz lamps unless shutter times are very long.  Mount a band pass filter on the lens if only one color is of interest.

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4 Tools

IVC Studio contains about 100 advanced image processing tools. These tools are available on the toolbar in the programming window, and are grouped into the following categories.

Image The image tool group contains tools that are used for taking a picture

to work with, adding graphics to the images and editing the image banks, which is the image memory in the camera.

Region of Interest The region of interest (ROI) tools are used for defining an area in

which the other tools should work. These tools speed up the image processing since the entire image is not treated.

Filter The filter tools can be applied to enhance features in the image.

Available tools are erode and dilate tools as well as binarize tools for transforming grayscale images to binary.

Edge The edge tools are used to find object edges in the pictures and

thereby the coordinates of the objects. It is possible to scan the image from all different directions and also to find multiple edges on one specific line.

Measure This category contains tools that measure area, center of mass, find

and measure blobs and measure distance and angle.

Matching The matching tools are used for teaching the camera to recognize an

object, and then using this for locating objects in images, counting the number of objects, or for calculating the rotation of objects.

Circular The group of circular tool contains a specific set of tools. These tools

make it possible to check perimeters of objects, diameters, the surface and the outer shape of objects.

Calculation Calculation tools are used for example for determining whether or

not values are in correct ranges, or calculating the deviation of round objects from circles.

Program The step programming tools are used for defining loops and condi-

tions in programs. Some of the available tools are: For, If, Else, If then goto, If in range goto, Run program, and Subroutine.

The subroutine is a powerful tool when optimizing the program. It

increases the overview and readability of your program.

System The system group contains tools for inserting delays in the program,

saving values or results to a permanent flash memory, and writing and reading result or parameter values to a memory separate from the actual program (the Table).

Communication The communication tools are used for sending values over RS485

and Ethernet.

Input/Output The tools in the Input/Output group handle reading of digital inputs

and setting digital outputs.

Reader The reader tools are used for reading barcodes and DataMatrix 2D

codes in the images. These tools are only available in the Reader version of IVC-2D.

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4.1 Image

Grab Setup

With Grab Setup the user can set properties on the device such as shutter and gain as well as illumination properties and thereby control some parameters used for image acquisition. Grab Setup is basically used to specify how to grab an image. Acquisition tools such as ‘Grab’, ‘Start Snapshot’ and ‘Ping-Pong Grab’ specify when to grab images and where the images should be placed.

Grab Setup is often used early on in a program, but can be used more than once if a parameter has to vary during the program execution.

Input Parameters

01 = Exposure time (us)

02 = Gain

03 = External trigger

04 = Trigger slope

This parameter defines how many micro seconds the shutter is open. Common values for this setting are 4000-25000.

This parameter sets the gain for the device. Common values are 300-600 for this parameter.

This parameter defines whether the acquisition tools should be synchronized with an external trigger signal.

If the External trigger parameter is set to true, this parameter indicates if the synchronization should be on a rising or falling flank of the external trigger signal.

05 = Strobe enable

06 = Strobe time (us)

Returned Values

None

If a trigged source of illumination is used, this parameter should be set true.

If the Strobe enable parameter is set true this parameter specifies the duration of each strobe flash in microseconds. Allowed values are 10–400.000 us.

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The Emulator does not emulate this tool. See section Handling the Emulator for more information.

Start Snapshot

Start snapshot is to be used in combination with the ‘Grab’ tool for image acquisition in applications where speed is of great importance. Start snapshot indicates the start of a block of instructions executed in parallel with the image acquisition. The ‘Grab’ tool concludes the parallel processing and makes sure that both processes are completed before execution of any step following ‘Grab’ starts. When using ‘Grab’ in combination with Start snapshot, the Destination bank parameter is set in the Start snapshot tool and the pa- rameter in the ‘Grab’ tool is simply ignored.

Note that the execution time of ‘Grab’ in run mode is longer than what is indicated in step mode in the case where intermediate steps have shorter execution time than the time of an image acquisition.

Input Parameters

01 = Destination bank

The image is placed in the image bank indicated by this parameter sometime after the execution of Start snapshot but before the execution of Grab has completed.

Returned Values

None

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Grab

Grab is the most common tool for image acquisition and has different functions depending on how it is used, and depending on if the Emulator or a hardware camera is the selected device. It can be used alone or in combination with the ‘Start Snapshot’ tool.

Using the Grab tool only

When used alone Grab acquires an image from the device and places it in the image bank indicated by the parameter Destination bank. The step following Grab does not start executing until this is completed.

Using Grab in combination with Start Snapshot

When used in combination with ‘Start snapshot’, the function instead is this: ‘Start Snapshot’ starts an image acquisition in parallel with the execution of steps following ‘Start Snapshot’. When all the steps between ‘Start Snapshot’ and Grab has been executed, Grab waits for the image acquisition to complete if not already completed before the step following Grab can start executing. When using Grab in combination with ‘Start Snapshot’, the Destination bank parameter is set in the ‘Start Snapshot’ tool and the parameter in the Grab tool is simply ignored.

When the combination of ‘Start Snapshot’ and Grab is used the execution time of Grab in run mode is longer than what is indicated in step mode for the case where intermediate steps have shorter execution time than the time of an image acquisition.

Using the Emulator

When the Emulator is the selected device, images are captured from a predefined set of image files. Executing a ‘Grab’ tool means that the next image in the dedicated image folder is captured. For more information regarding the Emulator, see section Handling the Emulator.

Input Parameters

01 = Destination bank

Returned Values

01 = File Name

Error Messages

Err. = 8605

Err. = 8606

When the Grab tool is used alone this parameter indicates in which image bank the acquired image is placed.

The file name of the acquired image file.

A 3D image cannot be loaded into a 2D camera.

The image size is not correct.

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Image

Ping-Pong Grab

Ping-pong grab is an important tool in applications where new images must be acquired fast and often. The first time Ping-pong grab is executed in your step program, an image is grabbed and placed in the image bank indicated by the parameter Destination bank A. The result value is then set to the same value as that parameter to indicate that the image in this bank is available to work with. Then an acquisition of a new image, which is placed in the image bank indicated by the Destination bank B parameter, is initiated in parallel with execution of steps following Ping-pong grab. After the first time a Ping-pong grab is executed in the program, the function is as follows.

Ping-pong grab waits for previously acquired images to be placed in an image bank if that process is not yet completed. The result value states which bank that is and a new image acquisition is initiated in parallel with steps following the Ping-pong grab step. The new image should be placed in a different image bank indicated by one of the Destination bank parameters. If n is a positive integer, the new image is placed in Destination bank A the (2n)th time Ping-pong grab is executed and in Destination bank B the (2n+1)th time.

Note that the same Ping-pong step can be executed several times by using loops or jump steps. The idea of this tool is that the execution time of the Ping-pong grab step is much shorter than a regular image acquisition except the first time the tool is executed in a program and in the case where intermediate steps have shorter execution time than the time of an image acquisition. Also note that the execution time of Ping-pong grab in run mode is longer than what is indicated in step mode for the latter case.

Input Parameters

01 = Destination bank A

02 = Destination bank B

Returned Values

01 = Result bank

Indicates the image bank in which an image is placed the (2n)th time the tool is executed in the program.

Indicates the image bank in which an image is placed the (2n+1)th time the tool is executed in the program.

Indicates which bank contains an image ready to work on.

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IVC-2D

Copy Image Bank

This tool is used to make a copy of an image bank. The parameters Source bank and Destination bank specify which bank to duplicate and where to place the new copy.

Note that the contents of the destination bank are replaced by the new copy. There is no undo function. Replaced data in the destination bank is lost.

Input Parameters

01 = Source bank

02 = Destination bank

Returned Values

None

This parameter indicates the image bank number to copy from.

This parameter indicates the image bank number where the new copy is placed.

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Image Bank Operation

This tool is used for copying a region of an image to another image bank. In addition to copying the pixels, you may also calculate new gray level values for each pixel, based on the gray level values of the pixels in the image in the source bank and an image already in the destination bank.

The parameters Source bank and Destination bank specify which banks to use for the operation. The resulting image will be placed in the Destination bank.

Note that the image in the destination bank will be replaced by the merged image. There is no undo function. Replaced data in the destination bank is lost.

Input Parameters

01=Source bank

02=ROI definition

step

The image bank containing the image to copy from.

The step number in your program, which holds the definition of which region of interest in the image that the operation is performed for.

03=Mathematical

operation

Specifies which mathematical operation to perform when copying pixels from the ROI of the source image to the destination bank.

Min

(and) The resulting image will contain the darkest of the

corresponding pair of pixels from the source and the destination images.

For binary images the corresponding pixels in both

images must be white for the resulting pixel to be white. This is equivalent to an AND operation.

(or) The resulting image will contain the brightest of the

Max

corresponding pair of pixels from the source and the destination images.

For binary images the resulting pixel is white if

either the source or destination pixel is white. This is equivalent to an OR operation.

(xor) The gray level of each resulting pixel is calculated

Diff

by:

absolute value of (gray level in source image -

gray level in destination image) Two identical images results in a black image. For binary images the resulting pixel is white if

either the source or destination images are white but not both. This is equivalent to an XOR operation.

(not) The gray level of each resulting pixel is calculated

Inv

from: (243 - gray level in source) Colored pixels (gray level > 243) are simply copied

by this operation. For binary images the resulting pixel in the target

bank will be white if the source image is black and

vice versa. This is equivalent to a NOT operation. Copy Copies every pixel in the ROI of the source image

to the destination bank.

04=Destination

bank

The image bank in which the resulting image is placed. For most of the operations the result is affected by any image that is stored in this bank prior to executing this tool.

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Image

Returned Values

None

Error Messages

Err. = 7704

Example

Source Destination

Min (and)

Max (or)

The region of interest has parts that are outside the source bank.

Diff (xor)

Inv (not)

Copy

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Image

Add Text

This tool adds a text strip to an image bank. The text itself as well as the background strip can be drawn in the color or gray scale value of your choice.

The text can consist of a text string, a number or both. If the String type parameter is set to Text, the text string can of course hold numbers, but they will be static. If String type is set to Text and variable or Variable, variable values can be part of the text strip.

When double clicking the values of String color or Background color parameters, the respective colors can be specified as numbers or chosen from an interactive menu. Possible inputs are numbers between 0 and 255, where 0 through 243 are gray scale values and 244 through 255 are various colors.

Input Parameters

01 = X coordinate

02 = Y coordinate

03 = String type

04 = Text

05 = Variable

The x-coordinate of the upper left corner of the text strip.

The y-coordinate of the upper left corner of the text strip.

This parameter specifies whether the text strip is a static text, a variable value or a combination. For the latter case, the variable value will follow the static string with a space in between.

This parameter specifies the static text.

This parameter specifies the variable value. Note that the value can be given as a constant value, evaluated by an expression, a table value or be an argument or result from a previous step.

06 = String color

07 = Background color

08 = Size

09 = Destination bank

Returned Values

01 = String length

02 = Character width

03 = Character height

The gray scale value or color code that specifies the color of the text. Allowed values are 0 through 255.

The gray scale value or color code that specifies the color of the strip behind the text. The value 254 is transparent.

This parameter specifies the size of the font where 1 is the smallest and 8 is the largest font available.

The image bank in which to overlay the text.

Number of letters in the text strip. Note that the space between the string and the number is included in the count if String type is set to Text and variable.

The number of pixels each letter is wide.

The text strip height in pixels.

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Image

Draw Line

This tool adds a line to an image bank. The line is 2 pixels wide and can be drawn in the color or gray scale level of your choice. The line can for instance be used to separate blobs, to enhance an edge between two known points or simply for visualization. When double clicking the value of the Color parameter, the color of the line can be specified as a number or chosen from an interactive menu. Possible inputs are numbers between 0 and 255, where 0 through 243 are gray scale values and 244 through 255 are various colors.

Input Parameters

01 = Start point X

02 = Start point Y

03 = End point X

04 = End point Y

05 = Color

06 = Destination bank

Returned Values

None

The x-coordinate of the first end point.

The y-coordinate of the first end point.

The x-coordinate of the second end point.

The y-coordinate of the second end point.

The gray scale value or color code that specifies the color of the line. Allowed values are 0 through 255.

The image bank in which to overlay the line.

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Image

Draw ROI

This tool draws a previously defined ROI in a selected image bank. It is possible to choose if the interior area or the contour of the ROI should be colored. To color the contour set the Filling parameter to False, to color the whole area set the Filling parameter to True.

Drawing a ROI in a bank is used for visualization of the current ROI and to control the selected area for next coming processing steps.

Input Parameters

01 = ROI definition step

02 = Color

02 = Filling

03 = Destination bank

Returned Values

None

Number of the step with the ROI to show in the selected image bank.

Select a color to mark the ROI. Double-click on the input field to choose from a color palette.

True whole area of the ROI will be color with

selected color.

the

False only the contour of the ROI will be color. Number of destination bank in which to draw the

selected ROI.

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Image

Reset Image Banks

This tool sets all pixels in an image bank to a color or gray scale tone of your choice. If the Number of banks to reset parameter is greater than one, multiple image banks are reset from left to right starting with First bank to reset. When double clicking the value of the Color parameter, the color can be specified as a number or chosen from an interactive menu. Possible inputs are numbers between 0 and 255, where 0 through 243 are gray scale values and 244 through 255 are various colors.

Input Parameters

01 = First bank to reset

02 = Number of banks to reset

03 = Color

Returned Values

None

This parameter specifies the number of the first image bank to reset.

This specifies how many image banks to reset.

The gray scale value or color code that specifies with which color the image banks should be filled. Color values are 0 through 255.

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Image

Display

The display tool is used for showing an image bank and a table with ten variable values in a separate Run window when the program is running. The Run window is only displayed when the program is running, and not when stepping through or debugging the program.

Each time the tool is executed, a new row is added to the table in the Run window, showing the current values of the variables. The table can display up to 150 values. For each numerical variable, the mean value and deviation is calculated and displayed at the bottom of the Run window.

If the variable refers to a value stored in the table, the description in the table for that row is used as header of that variable’s column. When displaying a value from a previous program step, the name of that result is used as the header. For any other type of variable (numerical value, string or expression) the column has the parameter name (Variable 1 –

10) as header. It is possible to export the values of the variables to file. If the “Export variable values”

checkbox is checked when closing the Run window, a save dialog is displayed allowing the user to specify a file name and location. Up to 10.000 of the rows displayed in the Run window are saved to the file. If more than 10.000 rows have been displayed, it is only the

10.000 latest rows that will be saved to file. N.B. variables that are longer than 100 characters will be truncated.

If the communication between PC and the device should be interrupted, for instance by pulling the Ethernet cable from the PC, the execution in the device goes on but the updates by the Display tool will be stopped until the connection is re-established.

Input Parameters

01 = Source bank

02 = Binarized color

03 = Variable 1 04 = Variable 2 … 12 = Variable 10

Returned Values

None

The number of the image bank to display when the program is running.

Specifies a color or gray level to mark out pixels that are ON in an image returned by the 'Binarize' tool.

The parameters 03–12 specifies the values to be displayed in the table

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Image

Mirror Image

This tool mirrors an image by specifying the axis around which to mirror.

Input Parameters

01=Source bank

02=Destination bank

03=Mirror around axis

Returned Values

None

Image bank containing the image to be mirrored.

Image bank in which to display the mirrored image.

The axis around which to mirror:

Vertical Mirror around the Y axis. Horizontal Mirror around the X axis.

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Image

Rotate Image

This tool rotates an image by specifying the angle and the center of rotation. The image can be rotated around its center or around a specified point. The center of

rotation is in the latter case specified by the parameters X center and Y center. The image can also be moved after rotation, but before being copied to the destination

bank. The parameters X offset and Y offset specifies the distance to move. The rotated image is displayed in the Destination image bank. Note that only the part if the

image that after the rotation is located within the ROI will be displayed in the destination bank.

The parameter Interpolation method controls how the pixel values are calculated in the destination image. It is possible to choose between bilinear interpolation (gives higher image quality) or nearest neighbor (gives faster execution time).

Input Parameters

01=Source bank

02=Destination bank

03=ROI definition step

04=Angle

05=Rotation around center

06=X center

07=Y center

08=X offset

09=Y offset

10=Interpolation method

Returned Values

Image bank containing the image to rotate.

Image bank in which to display the rotated image.

Step number where the ROI to use was created.

The counter-clockwire rotation angle, in degrees. True The rotation point is in the centre of the ROI and

the following two parameters are ignored.

False The coordinates for the rotation point are set by

the following two parameters.

The X coordinates for the rotation point. X = 0 is on the left side of the FOV.

The Y coordinates for the rotation point. Y = 0 is at the top of the FOV.

The distance in pixels along the x axis to move the rotated image.

The distance in pixels along the y axis to move the rotated image.

The interpolation method to use when calculating the pixel values in the destination image.

None

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Region of Interest (ROI)

4.2 Region of Interest (ROI)

ROI Rectangle

This tool generates on every type of image a rectangular shaped ROI (Region Of Interest). The ROI is used to define a rectangular limited working area to perform image processing steps or other functions.

To set the position and dimension of the ROI it is possible to type the coordinates of the top left corner of the rectangle and the size specifying the width and the height in pixels. During the setup of the ROI it is also possible to set the size of the ROI and position in the preview using the left mouse button. Double-clicking the image in the preview opens a larger image to set the ROI with the mouse more precisely.

It is possible to define the position of the ROI relative to a previously generated result. This is done by setting an offset of the top left corner of the ROI using the input parameters X offset and Y offset. The values of the offset must come from a previous step result or from the table.

The ROI is plotted in the current preview.

Input Parameters

01 = X offset

02 = Y offset

03 = X coordidate

Offset value of the upper left ROI corner in x direction. To set an offset the value must come from the table or as a result from a previously performed program step.

Like above but for Y direction.

X coordinate for the top left corner of the ROI.

04 = Y coordinate

05 = Width

06 = Height

Returned Values

None.

Error Messages

Err. = 148

Y coordinate for the top left corner of the ROI.

Width of the ROI (in X direction) in pixels.

Height of the ROI (in Y direction) in pixels.

Error in ROI means that parts of the ROI are out of the FOV. Reduce size of ROI. Check X and Y origin. Check offset values. Check Width and Height parameters.

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Region of Interest (ROI)

ROI Rotated Rectangle

This tool generates a rectangular shaped ROI (Region Of Interest) that can be rotated. The ROI is used for defining a rectangular limited working area in which to perform image processing or other functions.

To set the position of the ROI the coordinates of the top left corner of the rectangle can be used. It is also possible to define the position of the ROI relative to a previously generated result. This is done by setting an offset of the top left corner of the ROI using the input parameters X offset and Y offset. The values of the offset must come from a previous step result or from the table.

The size is set in pixels by the parameters Width and Height. During the setup of the ROI it is also possible to set the size of the ROI and position in the

preview using the left mouse button. Double-clicking the image in the preview opens a larger image to set the ROI with the mouse more precisely.

It is possible to rotate the ROI with respect to the center of the ROI or with chosen coordinates of the rotation center. If the rotation center coordinates are equal to -1 the rotation is done with respect to the center of the ROI. The coordinates of the rotation center could also be outside of the ROI somewhere in the FOV. Note that it is necessary to execute the ROI tool (keyboard key F5) to perform the rotation.

Input Parameters

01 = Source bank

02 =X offset

03 = Y offset 04 = Rotation

around center

05 = Rotation point X

06 = Rotation point Y

07 = X coordinate 08 = Y coordinate 09 = Width 10 = Height

Copy the selected image bank to the preview bank

Offset value of the upper left ROI corner in x direction. To set an offset the value must come from the table or as a result from a previously performed program step.

Like above but for Y direction. True means that the rotation point is in the centre of the ROI

and the following two parameters are ignored. False means that the coordinates for the rotation point are set by the following two parameters. Set the X coordinates for the rotation point. X = 0 is on the left side of the FOV.

Like above but for Y direction. Y = 0 is on the top of the FOV.

X coordinate for the top left corner of the ROI (before rotation). Like above but for Y direction (before rotation). Width of the ROI (in X direction) in pixels (before rotation). Height of the ROI (in Y direction) in pixels (before rotation).

11 = Angle

12= Destination bank

Returned Values

None

Rotation angle with respect to the rotation point. Input values are the rotation angle in degrees.

Positive values mean counterclockwise rotation. Negative values mean clockwise rotation. Value = 0 means no rotation.

Number of destination bank (-1= no display of the ROI in the preview window).

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Region of Interest (ROI)

Error Messages

Err. = 107

points out of bank means that the rotation of the ROI leads out of the FOV.

Reduce size of ROI. Check offset values. If using rotation point change coordinates of rotation point.

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Region of Interest (ROI)

ROI Circle

This tool generates a circular shaped ROI (Region Of Interest). The ROI defines a circular limited working area in which to perform image processing or other functions.

To set the position and dimension of the ROI it is possible to type the coordinates of the center of the circle and radius length in pixels. During the setup of the ROI it is also possible to set the size of the ROI and position in the preview using the left mouse button. Double-clicking the image in the preview opens a larger image to set the ROI with the mouse more precisely.

It is also possible to define the position of the ROI relative to a previously generated result. This is done by setting an offset to the top left corner of the bounding box of the circle using the input parameters X offset and Y offset. The values of the offset must come from a previous step result or from the table.

Input Parameters

01 = X offset

02 = Y offset 03 = X center 04 = Y center 05 = Radius

Offset value of the upper left corner of the bounding box in X direction. To set an offset the value must come from the table or as a result from a previously performed program step.

Like above but for Y direction. X coordinate of the center of the circle. Like above but for Y direction. Length of the circle radius in pixels.

Returned Values

None

Error Messages

Err. = 148

Error in ROI means that a part of the ROI is out of the FOV. Reduce circle radius. Check offset and center parameters.

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Region of Interest (ROI)

ROI Ellipse

This tool generates on every type of image an elliptical shaped ROI (Region Of Interest). The ROI is used to define an elliptic limited working area to perform image processing steps or other functions.

The position and dimension of the ROI can be set by specifying the coordinates in pixels of the center of the ellipse (X center and Y center) and radius of the axes in X and Y direction (X radius and Y radius). The ROI can also be set by adjusting the position and dimension in the Preview of the program step. Double-clicking on the preview image opens a larger window with the image to work in.

It is also possible to define the position of the ROI relative to a previously generated result. This is done by setting an offset of the top left corner of the bounding box of the ellipse using the input parameters X offset and Y offset. The values of the offset must come from a previous step result or from the table.

Input Parameters

01 = X offset

02 = Y offset

03 = X center

Offset value of the upper left corner of the bounding box in X direction. To set an offset the value must come from the table or as a result from a previous program step.

Offset value of the upper left corner of the bounding box in Y direction. This value must come from the table or be a result from a previous step.

X coordinate of the centre of the ellipse.

04 = Y center

05 = X radius

06 = Y radius

Returned Values

None

Error Messages

Err. = 148

Y coordinate of the centre of the ellipse

Radius of the axes in X direction in pixels.

Radius of the axes in Y direction in pixels.

Error in ROI means that a part of the ellipse is out of the FOV.

Check radius parameters. Check center and offset coordinates.

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Region of Interest (ROI)

ROI Perimeter

ROI perimeter generates a ROI which shape, position and size is defined by the found contour pixels from the ’Perimeter’ tool. The ’Perimeter’ tool traces the contour of an object and returns the pixels which are found along the contour and this is used as input. The ’Perimeter’ tool is found in the Measure category.

Note: The ROI perimeter tool can only be used after the ’Perimeter’ tool is executed in a previous program step.

With the Margin parameter it is possible to expand or shrink the ROI with respect to the original shape. A positive margin value will expand the ROI in each direction by the typed value in pixels. A negative margin will shrink the ROI. If a positive margin value is used make sure that the resulting ROI is not larger than the total FOV of the camera. If a negative margin value is used make sure that the typed value will not produce negative results for the size of the ROI.

The parameter Filling controls if the area inside the ROI is colored red (internal) or if only the contour of the ROI (external) is colored red.

Input Parameters

01 = Perimeter definition step

02 = Margin

03 = Filling

Number of the step with the ’Perimeter’ tool which provides the contour pixels to process the ROI.

Positive or negative values to expand or shrink the size of the ROI.

0=internal whole area of the ROI will color red. 1=external only the contour of the ROI is color

red.

04 = Destination bank

Returned Values

None

Error Messages

Err. = 152

Number of destination bank to display the ROI.

-1= no display of the ROI.

Error in ROI from perimeter

Check Margin values and make sure that the result will not produce negative results or lead outside of the FOV.

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Region of Interest (ROI)

ROI Union

This tool unifies two different ROIs from previous program steps to one single ROI. The two ROIs to be unified are named ROI A and ROI B. The resulting single ROI is the

addition of ROI A and ROI B. If it is necessary to display the unified ROI use the ‘Draw ROI’ tool in the Image category.

Input Parameters

01 = ROI A definition step 02 = ROI B definition step

Returned Values

None

Reference to program step to select ROI A Reference to program step to select ROI B

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Region of Interest (ROI)

ROI Intersection

This tool generates a new ROI from the intersection of two different ROIs. The resulting single ROI is the intersection of ROI A and ROI B. If it is necessary to display the unified ROI use the ‘Draw ROI’ tool in the Image category.

Note that if the selected ROI A and ROI B have no intersection at all this tool will not generate a new ROI. In that case this could be the cause for error messages if input parameter ROI definition from a different tool refers to the result of this tool.

Input Parameters

01 = ROI A definition step 02 = ROI B definition step

Returned Values

None

Reference to program step to select ROI A Reference to program step to select ROI B

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Region of Interest (ROI)

ROI Difference

This tool performs a subtraction between two different ROIs and generates as result a new ROI. The subtraction will be executed as follows:

Resulting ROI = ROI A – ROI B.

If it is necessary to display the unified ROI use the ‘Draw ROI’ tool in the Image category. Note that if the selected ROI A and ROI B are identical this tool will not generate a new ROI.

In that case this could be the cause for error messages if input parameter ROI definition from a different tool refers to the result of this tool.

Input Parameters

01 = ROI A definition step 02 = ROI B definition step

Returned Values

None

Reference to program step to select ROI A Reference to program step to select ROI B

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Filter

4.3 Filter

Dilate

This tool shifts a 3 by 3 matrix over the image and replaces the value of the center matrix element with highest value out of the surrounding matrix elements. In general this tool erodes dark pixels and can be used to reduce image artifacts due to single dark pixels.

Sometimes it is necessary to repeat this step several times until the desired result is achieved.

Figure – The value of the center matrix element is changed to the highest value out of the

Input Parameters

01 = Source bank 02 = ROI definition step 03 = Destination bank

110 110110

250 80140

250 8080

Center matrix element

before a

surrounding matrix elements.

function

Image bank containing the image to dilate. Step number where the ROI to use was created. Image bank in which to display the dilated image.

110 110 110

250 80 250

250 80 80

Center matrix element after a

function

Returned Values

None

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Filter

Erode

This tool shifts a 3 by 3 matrix over the image and replaces the value of the center matrix element with lowest value out of the surrounding matrix elements. In general this tool erodes pixels with high values (bright or high) and can be used to reduce image artifacts due to single white pixels.

Sometimes it is necessary to repeat this step several times until the desired result is achieved.

Figure – The value of the center matrix element is changed to the lowest value out of the

Input Parameters

110 110110

250 80140

250 8080

Center matrix element

before a

surrounding matrix elements.

function

110 110 110

250 80 80

Center matrix element after a

function

01 = Source bank 02 = ROI definition step 03 = Destination bank

Returned Values

None

Image bank containing the image to erode. Step number where the ROI to use was created. Image bank in which to display the eroded image.

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Filter

This tool offers the following three filter types:

1. Smooth

2. Edge

3. Median

Smooth

The Smooth filter shifts a 3 by 3 matrix over the image. The value in the matrix center will be replaced by the mean value out of the surrounding 8 matrix elements, as shown in the following figure:

100 100100

100 50140

50 5050

Center matrix element

before a

Figure – The value of the center matrix element will be replaced by the mean value out of the surrounding 8 matrix elements.

smooth filter

100 100 100

100 50 75

50 50 50

Center matrix element

after smooth filterin

Edge

The Edge filter is based on a sobel filter in x and y direction and detects edges in the image.

Median

The Median filter is similar to the Smooth filter, but the value in the matrix center is replaced by the median value of the surrounding elements, instead of the mean value.

The result of the median filter is an image where noise and small details (single pixels) are removed but edges are preserved.

Note that the both filter types operate only inside the selected ROI. The results are displayed in a user defined image bank.

Input Parameters

01 = Source bank 02 = ROI definition step 03 = Filter type

04 = Destination bank

Image bank containing the image to be filtered. Step number where the ROI to use was created.

Smooth Smooth the part of the image inside the ROI. Edge Detects edges of the image part inside the

ROI.

Median Smooth the part of the image inside the ROI. The image bank in which to display the filtered image.

Returned Values

None

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Filter

Stretch Gray

This tool rescales the distribution of gray values in the image. All pixels in the image with a gray value below a lower threshold are set to gray value 0. All pixels with gray values above an upper threshold are set to gray value 255. Gray values between the two thresholds are rescaled. The lower threshold defines gray value 1 and the upper threshold gray value

244. In general the histogram is cut at both ends and the cut-out stretched between gray value 1 and 254.

In a second step it is possible to adapt the thresholds to the particular distribution of the gray values. For example the total amount of pixels between the thresholds is 10.000 and the parameter Pixel percentage is set to 10 %. The tool cuts off 10.000 • 0.1 = 1.000 pixels on each side of the re-scaled histogram. See figure for further explanation.

The upper and lower thresholds can be set in an interactive setup by clicking button that is displayed when double-click the parameters’ value field. This new window allows setting the upper and lower thresholds for the gray values with a slider. All gray values of pixels with gray values within the two thresholds are rescaled. Pixels above and below thresholds are set to 255 and 0 respectively.

This tool is useful for adjusting the gray values in the image for specific program steps.

gray value = 255gray value = 0

lower threshold

1.000 pixels

gray value =1

Figure – a) Original histogram of the image. All gray values below the lower threshold are set

to gray value 0 and gray values above the upper threshold to 255. b) The original histogram between the thresholds is stretched out from gray level value 1 to gray level value 254. The example mentioned in the text cuts off 1.000 pixels (up to the dashed line) on each side of the re-scaled histogram. Depending on the shape of the histogram two new thresholds are calculated. c) Same procedure as from a) to b) the histogram between the dashed lines is stretched from gray value 1 to gray value 2.

upper threshold

gray value =254

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Filter

Input Parameters

01 = Source bank 02 = Gray low 03 = Gray high 04 = Pixel percentage

05 = Destination bank

Returned Values

01 = Gray low

02 = Gray high

Error Messages

Err. 162

Image bank that contains the image to be processed. Threshold for lower gray value. Threshold for upper gray value. Amount of pixels to cut beginning from lower and upper

threshold. Value in percent. A value of 9.6 means that the brightest 9.6 % and the

darkest 9.6 % of the pixels are set to 255 and 0 respectively, and the remaining 80,8% will be redistributed.

Image bank in which to store the resulting image.

Calculated new lower threshold (depends on the parameter Pixel percentage).

Calculated new upper threshold (depends on the parameter Pixel percentage).

Error in percentage threshold Check the parameter Pixel percentage. The current setting

may have caused the returned values Gray low to be higher than Gray high.

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Filter

Detail Extraction

The Detail Extraction tool finds image details that “stick out” from the background. In 2D images details that are in contrast with the background are enhanced, such as dark text on bright background, bright text on dark background, spots, misprints or other defects on surfaces.

It is recommended to use the interactive setup to customize the parameters. Double-click

on the Setup button to open the interactive setup window. For more information on the

interactive setup, see Detail Extraction Setup on page 232. The result from the tool is a new image where only two intensity values are represented –

bright for details and dark for background.

Original image

Filtered with Detail Extraction

Note:

Thresholded image

Figure –Filtering an image with the Detail Extraction tool, compared with thresholding the image.

In the Operator Type parameter you set how the deviation search should be carried out. Pixels near the edges of the ROI are affected by pixels outside the ROI.

Input Parameters

01 = Source Bank

02 = ROI Definition Step

03 = Operator Type

04 = Threshold

Image bank containing the image to be filtered

Previous program step defining the ROI to be used by this tool

Defines which set of neighbouring points to consider when locating deviating points: Horizontal Compare the current point to

the horizontal neighbours.

Vertical Compare the current point to

the vertical neighbours.

Four points Compare the current point to

the horizontal and vertical neighbours.

Eight points Compare the current point to

the horizontal, the vertical and the diagonal neighbours.

Full Region(slow) All pixels inside the operator

radius are considered

The minimum difference in gray value between a pixel and the background that is allowed to consider the pixel a detail.

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Filter

05 = Operator Radius

06 = Destination Bank

07 = Deviation Type

Returned Values

01 = Number of Detail Pixels

The radius in which the Operator Type will operate within. This determines how far from the current point the considered neighbour points should be.

Image bank in which to store the filtered image

Specifies whether the details to look for are brighter (Bright), darker (Darker) or both brighter and darker (Bright + Dark) than the background.

Note: If the Operator Type parameter is set to Full region, the Bright + Dark option is not available.

The total number of detail pixels found.

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Filter

Binarize

This tool creates a binary image based on the image in Source Bank. All pixels inside the ROI that have gray scale values between a lower and an upper threshold are set to a ‘high’ value. All other pixels are set to a ‘low’ value. Return values are the total number of pixels in the ROI that are in range (within the threshold bounds) and the number of pixels that are out of range (outside the threshold bounds). The resulting binary image is written to the image bank pointed out by the Destination Bank parameter.

This tool is suitable as a pre-processing step to further image processing. It is recommended to use the interactive setup to customize the parameters. Double-click

on the Setup button to open the interactive setup window. For more information on the

interactive setup, see Binarize Setupon page 234.

Input Parameters

01 = Source bank 02 = ROI definition step 03 = Gray low 04 = Gray high 05 = Destination bank 06 = Threshold mode

07 = Output level

Image bank containing the image to binarize. Step number where the ROI to use was created. Lower threshold for gray value. Upper threshold for gray value. Image bank in which to display the binarized image. Available options are: Manual

Set the upper and lower thresholds yourself.

Automatic

Automatically sets the thresholds. Pixels within the range become white, and the pixels outside the range become black.

Automatic inverted

Automatically sets the thresholds, but with inverted colors compared to the Automatic mode.

Defines which gray value to use for pixels within the specified range. Allowed values are 0-255, where 0- 243 represent gray values and 244-255 represent display colors.

Returned Values

01 = Pixels in range

02 = Pixel out of range

03 = Low Threshold 04 = High Threshold

Total number of found pixels between the lower and the upper threshold.

Total number of found pixels outside the lower and the upper threshold.

Low threshold value High threshold value

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4.4 Edge

Find Row Edge

This tool scans a defined row and outputs the first found pixel with a gray value that is within the defined gray value thresholds. The return value is the column number of the first found pixel. This column number is the x-coordinate of the found pixel and the y-coordinate is the row number set with the input parameter Row.

This tool requires a non-rotated rectangle ROI from a previous step. Note that only ROIs that are generated by the 'ROI rectangle' tool can be used. Do not use ROIs created by any other ROI tool.

Only the pixels along the row inside the ROI will be considered. The Row parameter can be set in the preview image by using the left mouse button and

drop the line from the top border of the FOV to the desired position. It is possible to select scan direction along the row by the parameter Analysis direction. If

you select analysis direction from left to right (Left –> Right) the found column corresponds to the first found pixel from the left side of the ROI.

The gray value thresholds are set by the parameters Gray low and Gray high. To set the thresholds with a slider, double-click the input field for the gray value threshold and click the appearing button. This opens a larger image. Use the left mouse button to move the slider.

All pixels inside the ROI with gray values within the two thresholds are colored blue.

Input Parameters

01 = Source bank 02 = Row 03 = Analysis direction

04 = Gray low 05 = Gray high 06 = ROI definition step

Image bank containing the image to be processed. Row number for the row to be scanned. 0 = top of FOV Scan direction. Left –> Right beginning from the left side of the

ROI.

Right –> Left beginning from the right side of the

ROI. Low gray value threshold. High gray value threshold. Step number where the ROI to use was created. Note that only ROIs generated by the 'ROI rectangle' tool

can be used.

Returned Values

01= Column

Error Messages

Err. = 107

Err. = 108

Returns the number of the column where the found pixel is located. This could be used as the X-coordinate of the found pixel.

Error: points out of bank

Check if the specified ROI is generated by a 'ROI rectangle' tool.

Error in Find row edge

Check if selected row is inside the ROI.

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Find Column Edge

This tool scans a defined column and outputs the first found pixel with a gray value that is within the defined gray value thresholds. The return value is the number of the corresponding row of the first found pixel. This row number is the y-coordinate of the found pixel and the x-coordinate is the column number set with the input parameter Column.

This tool requires a non-rotated rectangular ROI from a previous step. Note that only ROIs that are generated by the 'ROI Rectangle' tool can be used. Do not use ROIs created by any other ROI tool.

Only the pixels along the row inside the ROI are considered. The Column parameter can be set in the preview window by using the left mouse button

and drop the line from the top border of the FOV to the desired position. It is possible to define Analysis direction to have either the column at the bottom of the

ROI as starting point (Down -> up) or the top column (Up -> down). Selecting Analysis direction Down -> up outputs the row of the first found pixel beginning from the bottom of the ROI.

The gray value thresholds are set by the parameters Gray low and Gray high. To set the thresholds with a slider, double-click the input field for the gray value threshold and click again on an appearing button that opens a larger image. Use the left mouse button to move the slider. It is also possible to adjust the column position in this window.

All pixels inside the ROI with gray values within the two thresholds are colored blue.

Input Parameters

01 = Source bank 02 = Column

03 = Analysis direction

04 = Gray low 05 = Gray high 06 = ROI definition step

Returned Values

01 = Row

Error Messages

Err. = 104

Image bank containing the image to be processed. Column number for the row which will be considered.

0 = left border of FOV Direction of the analysis.

Down -> up beginning from the bottom of the ROI Up -> down beginning from the top of the ROI.

Low gray value threshold. High gray value threshold. Step number where the ROI to use was created. Note that ONLY ROIs generated by the 'ROI rectangle' tool

can be used.

Returns the number of the row where the found pixel is located. This could be used as the Y-coordinate of the found pixel.

Error: points out of bank

Check if the specified ROI is generated by a 'ROI rectangle' tool.

Check if the specified column is inside the ROI.

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Find Row

This tool scans an image along a horizontal line to find a row that contains pixels with gray level values that are in a specified range. Only the part of the image that is inside a ROI is scanned.

The returned value is the y-coordinate of the found row. In the preview window, the found row is marked with a yellow line.

The tool will “find” a row (and stop scanning the image) when the row contains a certain amount of pixels with gray levels within the range. This amount is specified by the parameter Level, and can be used for making the tool less sensitive for noise in the image.

Amount of matching

pixels along the line

0510 15 20 25 30

Line along which

the pixels are counted

Analysis Direction

Row returned by the tool

Level

ROI

Pixels with gray level

between Gray low

and Gray high

The parameter Type of transition is used for choosing whether the tool should stop scanning when the amount of matching pixels in the line rises above the amount set in Level (pixels > level), or when it sinks below the amount set in Level (pixels < level).

The lower and upper limits of the range of gray levels are set by the parameters Gray low and Gray high.. These parameters can be set in an interactive setup window, which is opened by clicking the button that is displayed when double-clicking the Value field of the parameters. In the interactive setup window, all pixels inside the ROI with gray values within the range are colored blue.

The image is scanned either from the top of the ROI to the bottom, or from the bottom to the top depending on the setting of the parameter Analysis direction.

This tool requires a non-rotated rectangular ROI. The parameter ROI definition step points out the program step in which the ROI is created. Note that only ROIs created with the 'ROI Rectangle' tool are allowed. Do not use a ROI created by another ROI tool.

For some applications it is useful to combine this tool with the 'Find Column' tool to detect the column as well. In some cases the column and the row could be used to establish the x- and y-coordinates of the found pixel.

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Input Parameters

01 = Source bank

02 = Analysis direction

03 = Gray low

04 = Gray high

05 = Level

06 = Type of transition

07 = ROI definition step

Returned Values

01 = Row

Image bank containing the image to analyze.

Direction of the analysis.

Down→up beginning from the bottom of the ROI. Up→down beginning from the top of the ROI.

Lower gray value threshold.

Upper gray value threshold.

Amount of pixels with gray values in between Gray low and Gray high.

Default setting = 2

Pixels

> level Stop when the amount of matching

pixels in the line rises above Level.

Pixels

< level Stop when the amount of matching

pixels in the line sinks below Level.

Selected ROI from a previous program step. Note that only ROIs created with the 'ROI rectangle' tool

are allowed.

Y-coordinate of the found row.

Error Messages

Err. 107

Error: points out of bank

Check that the ROI is generated by the 'ROI rectangle' tool and not by a different ROI tool.

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Find Column

This tool scans an image along a vertical line to find a column that contains pixels with gray level values that are in a specified range. Only the part of the image that is inside a ROI is scanned.

The returned value is the x-coordinate of the found column. In the preview window, the found column is marked with a yellow line.

The tool will “find” a column (and stop scanning the image) when the column contains a certain amount of pixels with gray level values within the range. This amount is specified by the parameter Level, and can be used for making the tool less sensitive for noise in the image.

Column returned by the tool

Analysis Direction

Line along which

the pixels are counted

Pixels with gray

level between

Gray low and

Gray high

ROI

Amount of matching pixels along the line

Level

The parameter Type of transition is used for choosing whether the tool should stop scanning when the amount of matching pixels in the column rises above the amount set in Level (pixels > level), or when it sinks below the amount set in Level (pixels < level).

The lower and upper limits of the range of gray level values are set by the parameters Gray low and Gray high. These parameters can be set in an interactive setup window, which is opened by clicking the button that is displayed when double-clicking the Value field of the parameters. In the interactive setup window, all pixels inside the ROI with gray values within the range are colored blue.

The image is scanned either from the left edge of the ROI to the right, or from the right to the left depending on the setting of the parameter Analysis direction.

For some applications it is useful to combine this tool with the 'Find Row' tool to detect the row as well. In some cases the column and the row could be used to establish the x- and y-coordinates of the found pixel.

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Input Parameters

01 = Source bank

02 = Analysis direction

03 = Gray low

04 = Gray high

05 = Level

06 = Type of transition

07 = ROI definition step

Returned Values

01 = Column

Image bank containing the image to analyze.

Direction of the analysis.

L – R beginning from the left side of the ROI. R – L beginning from the right side of the ROI.

Lower gray value threshold.

Upper gray value threshold.

Amount of pixels with gray values in between Gray low and Gray high.

Default setting: 2

Pixels

> level Stop when the amount of matching

pixels in the column rises above Level.

Pixels

< level Stop when the amount of matching

pixels in the column sinks below Level.

Selected ROI from a previously program step. Note that only ROIs generated by the 'ROI rectangle' tool can be used.

X-coordinate of the found column.

Error Messages

Err. 107

Error: points out of bank

Check that the ROI is generated by the 'ROI rectangle' tool and not by a different ROI tool.

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Find Line Edge

This tool finds edges on a user defined straight line by evaluating how the gray scale changes along the line. There is an interactive setup and it is recommended to use it to set the parameters. Double-click the Setup button to open the interactive setup. For more information on the interactive setup, see on page 218.

There are two evaluation methods to detect transitions/changes of the gray scale.

Evaluation Method 1: Detect Relative Change of Gray Scale

Beginning at the starting point of the line this method detects the first change in the gray scale that is above the user defined value. The evaluation is based on the derivation of the histogram along the line. If the first absolute value of the derivation, average out of 4 pixels, is greater or equal to the user defined threshold the function terminates. In that case the function returns the coordinates of the first found pixel (X transition, Y transition).

Direction of evaluation

Gray value along the line

User defined threshold of the minimal required change of gray scale

bsolute derivative of the gray levels (shows

amount of gray scale changes along the

Figure – Evaluation method 1: Detect relative change of gray scale

The figure above shows an example of evaluation method 1. The pixel with the first absolute relative change of gray scale (in direction of evaluation) that is greater or equal to the

threshold is detected. In this case the amount of the last change is ≥ than the threshold. The red circle indicates the detected point on the blue line. This point corresponds to the location of the returned X and Y pixel coordinates. Red circle displayed in this example only.

Evaluation Method 2: Detect Absolute Change of Gray Scale

Beginning at the starting point of the line this method detects if the gray scale enters a user defined region of gray scale values. The evaluation is based on the absolute values in the histogram along the line. The region of gray scale values is defined by upper and lower thresholds. In this mode the function returns each transition into the region of gray scale values. Note following convention: If the value of the gray scale the starting point of the line is already in the region of gray scale the starting point itself is a detected point as well. In this mode the function writes the found pixel coordinates of detected transitions into the table.

The figure below shows an example of evaluation method 2. The red circles indicate the detected points in the histogram (green line). Note that only one transition of the gray scale into the selected region of gray scale is detected. This is due to the fact that the location of the detected points depends on the direction of evaluation. The red circles correspond to the location of the returned X and Y coordinates. Red circles displayed in this example only.

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Gray value along the line

User defined upper and lower threshold

Direction of evaluation

Figure – Evaluation method 2: Detect absolute change of gray scale

The evaluation method and the geometrical definition of the line parameters are selected by the input parameter Type. The following types are available:

Type

Single & Cartesian

Single & Interval

Single & Polar

Multiple & Cartesian

Multiple & Interval

Multiple & Polar

To reduce the influence of noise the input parameter Average pixels can be set to make an average of the gray values in up to 10 pixels in line direction. This avoids faulty results due to the influence on single pixels. This option is available with evaluation method 2: Detect an absolute change of gray scale values only.

Evaluation method

1 Cartesian coordinates for start and end point of line.

1 Cartesian coordinates for start point and relative values

1 Cartesian coordinates for start point and distance and

2 Cartesian coordinates for start and end point of line.

2 Cartesian coordinates for start point and relative values

2 Cartesian coordinates for start point and distance and

Line parameters

delta X and delta Y for end point of line.

angle (anti clockwise with respect to x-axes) for end point of line.

delta X and delta Y for end point of line.

angle (anti clockwise with respect to x-axes) for end point of line.

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Input Parameters

01 = Source bank

02 = Type

03 = Start point X 04 = Start point Y 05 = End point X, width, L

06 = End point Y, height, angle

07 = Gray low

08 = Gray high

09 = Average pixels

10 = Table index

11 = Max stored transitions

12 = Destination bank

Selected image bank for the processing of this function.

Selects evaluation method and geometric definition of line parameters (see table above).

X coordinate for start point of line. Y coordinate for start point of line. If Type is Cartesian: X coordinate for end point of line. If Type is Interval: Relative distance delta X to end point of line. If Type is Polar: Absolute distance to end point of line. If Type is Cartesian: Y coordinate for end point of line. If Type is Interval: Relative distance delta Y to end point of line. If Type is Polar: Angle with respect to x-axes. Lower gray value threshold (method 2). Derivative

threshold (method 1). Upper gray value threshold (method 2). Derivative

threshold (method 1). Available with evaluation method 2 only.

Allows to average over up to 10 pixels in the line direction.

Works only for evaluation method 2. Start index in table to write the found pixel coordina-

tes of transitions in the table. Works only for evaluation method 2.

Upper limit for stored transitions in the table. Counts from first found pixel.

Number of the destination bank in which to display source bank, line and found points. Make sure that Destination bank is different from Source bank.

Returned Values

01 = Found transitions 02 = X transition

03 = Y transition

Error Messages

Err. = 10

Total number of found transitions. X coordinate of the first found pixel.

Set to 0 if no transitions were found. Y coordinate of the first found pixel.

Set to 0 if no transitions were found.

Error in Parameter 10. Value has to be less than 11.

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Find Subpixel Edge

This tool scans the gray values along a user defined line and detects a change of gray values that is at least of the amount of a user defined threshold. Evaluation begins at the start point of line and returns the coordinates of the first found edge with subpixel resolution. All evaluation types use a relative threshold and Cartesian coordinates for start and end point of the line.

Double-clicking on the input field for Threshold and double-clicking again on the button that appears opens a larger image. In this new window you can set the threshold for the required relative changes of gray values by using a slider on the left side. The first found edge along the line is marked with a green dot in the image.

Input Parameters

01 = Source bank 02 = Type

03 = Start point X 04 = Start point Y 05 = End point X,

width, L

06 = End point Y,

height, angle

07 = Threshold

08 = Destination Bank

Image bank containing the image to be processed. Always set to Cartesian. X coordinate for start point of line. Y coordinate for start point of line. X coordinate for end point of line, delta X, distance.

Y coordinate for end point of line, delta Y, angle.

Threshold for required relative change of gray value to detect an edge.

Image bank in which to draw the line that was searched along, and lines for the returned X and Y coordinates.

Returned Values

01 = X transition 02 = Y transition

X coordinate of the found edge with subpixel resolution. Y coordinate of the found edge with subpixel resolution.

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Find Multiple Edges

This tool evaluates the variation of gray values and detects edges along a user defined line. In general two evaluation types are available.

 Relative Detects pixels with a gray value variation above a relative gray value

threshold. Additional it’s possible to select the type of transition to detect only transitions from bright to dark pixels, from dark to bright pixels or any transition.

 Absolute Detects pixels with a gray value variation above or below two absolute

gray value thresholds.

For each evaluation type there exist specific input parameters to optimize the edge detection. The definition of these input parameters is shown in the figures below.

The evaluation starts at start point of line and continues along the line to end point of line. The tool writes the X and Y coordinates of the detected pixels into a user defined row in the table. Additionally the tool returns the total number of found transitions along the line.

Double-click the input field for the gray value thresholds and click the button to set the upper and lower thresholds for the gray values with a slider. Additionally it is possible to set length and position of the line with the left mouse button. All found edges along the line with transitions from dark to bright pixels are marked with a blue cross and transitions from bright to dark pixels with a red cross.

Scan interval:

Distance of pixels that

Scan interval

will be compared.

1 234

Min edge distance:

Number of pixels that

will be skipped if one

edge is found.

Figure – Edge finding with evaluation type Relative, which detects a relative change of gray

values. Note that the Min edge distance value should be greater than the Scan interval value to avoid misplaced results.

Average pixels:

Value 2 means gray values

will be averaged out

of two pixels.

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Figure – Edge finding with evaluation type Absolute, which detects an absolute change of

gray values.

Number of consecutive pixels

with values that must be in-

between selected thresholds

Min width:

Scan interval:

Distance of pixels that

will be compared.

1 2

Average pixels:

Value 2 means gray values

will be averaged out

of two pixels.

Input Parameters

01 = Source bank

02 = Type

03 = Start point X 04 = Start point Y 05 = End point X 06 = End point Y 07 = Gray low

08 = Gray high

Image bank containing the image to be processed.

Selected type of threshold and transition type: Bright -> dark

Relative threshold and only transitions from bright to dark pixels will be detected.

Dark –> bright Relative threshold and only transitions from dark to bright pixels will be detected.

Any relative transition Relative threshold and any transition will be detected

Absolute Absolute threshold and any transitions above or below the two thresholds will be detected.

X coordinate for start point of line. Y coordinate for start point of line. X coordinate for end point of line. Y coordinate for end point of line. Lower gray value threshold. Using any evaluation type with relative thresh-

old this value is the required changes in gray values.

Upper gray value threshold. Available only with evaluation type absolute threshold.

Note that this value will be ignored when using evaluation type relative threshold.

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09 = Average pixels 10 = Min edge distance / Min width Min edge distance

11 = Scan interval 12 = Table index

13 = Max stored transitions

14 = Destination bank

Number of averaged pixels for gray value.

Number of pixels that will be skipped if a transition is found.

Used with evaluation type relative threshold.

Min width

Number of consecutive pixels that must have gray values between lower and upper threshold.

Used with evaluation type absolute threshold. Distance of compared pixels (in pixels). Start index in table to write the found coordi-

nates. Upper limit for number of stored transition

coordinates in table. Note that only transitions up to this number will

be marked with a cross in the image bank. If Max stored transitions = 0 no found transition will be marked in the image.

Number of the image bank in which to display the circle (ellipse) with red marked crosses to indicate found transitions.

Returned Values

01 = Found transitions

Error Messages

Error 135 Error 136

Total number of found edges.

The line is too short. The line is too long.

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Edge

Find Mean of Edges

This tool performs a linear fit on certain pixels in the image. Return values are the mean position on the fitted line and the deviation from the line of the found pixels.

The pixels for the fit are generated by a gray value evaluation either along selected columns or selected rows. Beginning at the starting point of the column or row the first pixel showing a change of the gray values that is at least of the amount of a user defined value is indicated. In general the direction of evaluation is either along the columns or the rows and is selected by an input parameter.

This tool requires a rectangular non-rotated ROI from a previously performed step. Note that only ROIs generated by the ‘ROI Rectangle’ tool can be used. Do not use ROIs from any other ROI tool. Only the columns or rows inside the ROI are considered.

To speed up processing time it is possible to select how many columns or rows inside the ROI that should be evaluated. The input parameter Scan interval in pixel defines the equidistant gap between each column or row in pixels. The precision of the linear fit is increased with the number of columns or rows.

After the gray value evaluation is performed further conditions select the pixels that are considered for the linear fit. To ignore a single outlier it is possible to allow a maximum distance from the next found neighbor pixel. To ignore connected pixels it is possible to define a cluster build with a minimum number of connected pixels. Clusters of this size and a distance of more than the allowed maximum distance to the next cluster are ignored for the fit.

Double clicking the input field for the Threshold parameter and double clicking an appearing button opens a larger image. This new window allows setting of the Threshold parameter and displays the found pixels and the fitted line in the image.

The tool returns the coefficients of the equation for the line that represents the edge. The equation is on the form y = kx+m.

Input Parameters

01 = Source bank 02 = ROI definition step

03 = Analysis direction

04 = Scan interval

05 = Threshold

06 = Pixel distance

07 = Average pixels

08 = Min connected transitions

09 = Destination bank

Image bank containing the image to be processed. Step number where the ROI to use was created. Note that only ROIs generated by the 'ROI rectangle'

tool can be used. Direction of the evaluation to generate pixels for the fit.

The choices are:

Left -> right Down -> up Right -> left Up -> down

Define gap between equidistant spaced columns or rows in pixels. To evaluate each column (row) type in 0.

Amount of the minimum required change of gray values.

Maximum allowed distance in pixel from next found neighbor pixel.

Allows to average gray values over up to 16 pixels along the scan direction.

Defines minimum required number of connected pixels with the allowed distance from next neighbor pixel (combination with the input parameter Pixel distance).

Number of the destination bank in which to display source bank, selected pixels and fitted line. Make sure that Destination bank is different from Source bank.

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Returned Values

01 = Mean of transition

02 = Max derivation of regression

03 = Points out of tolerance (%)

04 = Lines without transition (%)

05 = Slope

06 = Y-intercept

Example

The figure below shows an example to Find mean line and margin. Note that red circles are ignored and are not considered for the linear fit. Chosen input parameters: Tolerance in pixel = 5 and Filter in steps on isolated points = 3. Due to the fact that all pixels with a distance of more than 5 pixels to the next found neighbor pixel are ignored (indicated with A in the figure). Additionally all clusters with less than 4 connected pixels and a distance of more than 5 pixels to the next found neighbor pixel are ignored as well (indicated with B in the figure).

Returns the mean X respectively Y coordinate of all fitted pixels (depends on the evaluation direction).

Maximum distance from the fitted line in pixel (depends on the evaluation direction).

Percentage of the found pixels which will not be considered for the linear fit

Percentage of evaluated columns (rows) without the required transitions in gray values.

This is the slope of the line, i.e. the value of k in the line equation.

Indicates where the line crosses the Y-axis, i.e. the value of m in the line equation.

Figure – Evaluation direction is from top to bottom. Dashed yellow box indicates selected ROI. Blue circles: found pixels which will be considered for the linear fit, red circles: found pixels but ignored and not considered for the linear fit, green circles: fitted mean line. The table below the image shows the result parameters.

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Find Circle Edges

This tool evaluates the variation of gray values and detects edges along the circumference of a circle or ellipse. In general two evaluation types are available.

 Relative evaluation: This type detects pixels with a gray value variation above a

relative gray value threshold.

 Absolute evaluation: This type detects pixels with a gray value variation above or

below two absolute gray value thresholds.

Each evaluation type has specific input parameters to optimize the edge detection. The definition of these input parameters is shown in the figures below.

The evaluation starts at the horizontal axis of the circle (ellipse) and continues counter clockwise along the circumference.

The tool writes the X and Y coordinates of the detected pixels into a user defined row in the table. Additionally the tool returns the total number of indicated pixels and sets an error flag to control the correct execution.

To set the thresholds with a slider, double-click the input field for the gray value threshold and click the appearing button that opens a larger image. Use the left mouse button to move the slider. It is also possible to set the shape and position of the circle (ellipse) with the left mouse button in this window. All found edges on the circumference are marked with red crosses.

Scan interval:

Distance of pixels that

Scan interval

will be compared.

1 234

Min edge distance:

Number of pixels that

will skipped if one edge

was found.

Figure – Edge finding using relative evaluation. A relative change of gray values is detected. Note that the Min edge distance value should be greater than the Scan interval value to avoid misplaced results.

Average pixels:

Value 2 means gray values

will be averaged out

of two pixels.

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Scan interval:

Distance of pixels that

will be compared.

1 2

Min width:

Number of consecutive pixels

with values that must be in-

between selected thresholds

Figure – Edge finding using Absolute evaluation.

Input Parameters

01 = Source bank

02 = Type

03 = X center 04 = Y center 05 = X radius 06 = Y radius 07 = Gray low

08 = Gray high

09 = Type of transition

10 = Scan interval 11 = Average pixels 12 = Min edge distance

Selected image bank for the processing of this function

Selected type of threshold Absolute sensitive to absolute variations of gray

values.

Relative sensitive to relative variations of gray

values (Input parameter Gray high will

be ignored) X coordinate of the circle or ellipse center. Y coordinate of the circle or ellipse center. Value of the radius in X direction. Value of the radius in Y direction. Lower gray value threshold.

When using evaluation type Relative, this value is the required change in gray values.

Upper gray value threshold. Note that this value will be ignored when using evaluation type Relative threshold.

Only available with evaluation type Relative. Note that this value will be ignored when using evaluation type absolute threshold.

Defines direction of evaluated gray value transitions. 1 = transitions from dark to bright.

–1 = transitions from bright to dark. 0 = transitions in both directions.

Distance of compared pixels (in pixels). Number of averaged pixels for gray value. Only available with evaluation type Relative. Note

that this value will be ignored when using evaluation type Absolute.

Number of pixels that will be skipped if a transition is found.

Average pixels:

Value 2 means gray values

will be averaged out

of two pixels.

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13 = Min width

14 = Table Index 15 = Max stored transitions

16 = Destination bank

Returned Values

01 = Error flag 02 = Found edges

Only available with evaluation type Absolute. Note that this value will be ignored when using evaluation type Relative.

Number of consecutive pixels that must have gray values between lower and upper threshold.

Start index in table to write the found coordinates. Upper limit for number of stored transition coordi-

nates in table. Number of image bank to display the circle (ellipse)

with red marked crosses to indicate found transitions.

Flag = 0 if the function was executed correctly. Total number of found transitions.

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Measure

4.5 Measure

Note:

Centroid

This tool finds all pixels inside a ROI with gray values between a lower and an upper threshold. The tool returns the coordinates of the center of gravity (centroid) of the found pixels area.

Double-click the input field for lower and upper threshold and double-click the appearing button. This opens an interactive window. This new window allows setting lower and upper threshold with a slider and shows the image with the found pixels colored.

If no pixels with gray values between Gray low and Gray high are found inside the ROI, the resulting coordinates of the centroid are (0,0).

Input Parameters

01 = Source bank

02 = ROI definition step 03 = Gray low 04 = Gray high 05 = Destination bank

Returned Values

Selected image bank for the processing of this tool.

Select ROI from a previously program step. Threshold for lower gray value. Threshold for upper gray value. Number of the image bank in which to

show the image with colored pixels and calculated centroid.

01 = X center 02 = Y center

X coordinate of calculated center of gravity. Y coordinate of calculated center of gravity.

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Measure

Area

This tool calculates how many pixels inside a ROI that have a gray value between a lower and an upper threshold. All found pixels inside the lower and upper threshold are defined as “pixels in range” and all pixels outside this region of gray values are defined as “pixels out of range”. Return values are the total number of pixels in range (within the region of gray values) and pixels out of range (outside the region of gray values).

Double-click the input field for Gray high and Gray low and click the appearing button to set the gray values with a slider. All pixels inside the ROI with gray values in between the two thresholds are colored according to the parameter Color for marking pixels in range and the pixels outside the thresholds are not affected.

Input Parameters

01 = Source bank

02 = ROI definition step 03 = Gray low 04 = Gray high 05 = Color for marking pixels

in range

Returned Values

01 = Pixels in range

02 = Pixels out of range

Selected image bank for the processing of this tool

Select ROI from a previous program step. Threshold for lower gray value. Threshold for upper gray value. The pixels inside the ROI that are between the

two thresholds are marked with this color

Total number of found pixels between the lower and upper threshold.

Total number of found pixels outside the lower and upper threshold.

Reference Manual Chapter 4

IVC-2D

Measure

Note:

Single Blob Analysis

This tool counts all connected pixels with gray values between a lower and an upper threshold beginning at a defined starting point in the image. It is possible to mark all found pixels with a color. Return values are the total number of found pixels and the centroid coordinates of the found pixels.

The lower and upper threshold for the gray values can be set with a slider in an interactive setup window, which also shows the image with the found pixels marked with the selected color. To open the interactive window, double-click on the input field for lower or upper threshold and double-click again on the button that is displayed by the field.

If the starting point is at a place at which the gray value is not in between Gray low and Gray high, the resulting centroid is (0,0) and the number of counted pixels is of course 0.

Input Parameters

01 = Source bank 02 = Start point X 03 = Start point Y 04 = Gray low 05 = Gray high 06 = Color

07 = Destination bank

Image bank containing the image to analyze. X coordinate to start evaluation of gray values. Y coordinate to start evaluation of gray values. Threshold for lower gray value. Threshold for upper gray value. Select color to mark found pixels. Double-clicking

opens a color table. Number of image bank to show image with colored

pixels and calculated centroid.

Returned Values

01 = Found pixels

02 = X center 03 = Y center

Example

Starting point

Total number of found pixels between lower and upper threshold.

X coordinate of calculated centroid. Y coordinate of calculated centroid.

Gray High = 243 Gray Low = 74

Gray High = 200 Gray Low = 74

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Notes:

Perimeter

This tool traces the contour of a blob. It requires an input starting point which should be located inside or to the left of the blob. The contour of the blob must be completely inside the image. The coordinates of the input starting point are usually a result from a previously executed step, for example of the Edge category. Beginning at the starting point this tool starts searching from left to right for the nearest edge on the horizontal line through this point. The search is done in a binarized image which set by the thresholds Gray low and Gray high.. When the edge is found the perimeter is traced along the object.

Double-click on the input field for the gray value thresholds and double-click again on the appearing button. This opens an interactive window. This new window allows setting the upper and lower thresholds for the gray values with a slider. The found contour pixels are displayed in red color in the image.

This tool is useful for generating object specific ROIs in combination with the 'ROI perimeter' tool.

1. The input starting point is not necessarily on the found contour (see examples below).

2. If the input starting point is outside of the blob, this tool finds white blobs best if the starting point is at the left of the blob and black blobs best, if the starting point is on the right of the blob. However, it is strongly recommended not to use any starting point outside of the contour.

Input Parameters

01 = Source bank 02 = Start point X

03 = Start point Y

04 = Gray low 05 = Gray high. Threshold for upper gray value of allowed contour pixels. 06 = Destination bank

Selected image bank for the processing of this tool. X coordinate of starting point to trace contour. Normally

this value is a result value form a previously executed step of the Edge category.

Y coordinate of starting point to trace contour. Normally this value is a result value form a previously executed step of the Edge category.

Threshold for lower gray value of allowed contour pixels.

Number of image bank to plot the found contour pixels.

Returned Values

01 = Error flag

02 = Perimeter length

Error Messages

Err. = 119

Err. = 118

Examples

input starting point contour starting point

Flag = 0 if the tool was executed correctly Flag = -1 if no contour was found or in case of an error.

Total number of pixels along the perimeter of the traced contour. The upper limit is 2500 pixels.

Parts of the contour are out of the FOV or no start point to trace the contour was found. Check thresholds for gray values.

Number of found contour pixels is less then 20. Check thresholds for gray values.

SICK IVC-2D Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

The Camera

1 Functional Overview

1.2 IVC Studio

1.3 Handling Multiple Products

Creating a product

2 Getting Started

2.2 About Writing Programs

2.3 Adding Program Steps

Setting Parameter Values

Testing and Running the Program

2.6 Saving the Program

What’s Next?

Handling Devices

3 Using IVC Studio

3.2 Handling the Emulator

Handling Products

Handling Programs

Handling Tables

3.6 Handling Images

Programming

3.7 IVC Studio Settings

Efficient Programming

4 Tools

Image

Region of Interest (ROI)

Filter

Edge

Measure