Image Acquisition PhoXi

Interface: PhoXi
Revision: 7.0.1
Date: 2018-10-10
HALCON Version: 12,13

General

This page provides the documentation of the HALCON image acquisition PhoXi.
Registered customers can download the latest revision of this interface from the Photoneo server.
Examples are in directory:

System Requirements

System requirements:

Parameters for info_framegrabber

Parameter Value List Type Kind Description
bits_per_channel [-1, 8, 10, 12, 16, 32] integer pre-defined Number of bits per channel of the resulting HALCON image. PhoXi uses 32bit images.
camera_type ['default', 'auto', 'pal', 'ntsc'] string pre-defined Unsupported query.
Value list for camera type parameter.
color_space ['default', 'gray', 'raw', 'rgb'] string pre-defined Unsupported query.
Value list for color space parameter.
defaults [] mixed pre-defined Default values for open_framegrabber. e.g.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
device ['<devices>'] string dynamic Value list for device parameter.
field ['default', 'interlaced', 'progressive'] string pre-defined Unsupported query.
Value list for field parameter.
general [] string pre-defined Information about the HALCON PhoXi interface.
generic ['<parameters>'] mixed pre-defined Unsupported query.
Value list for field parameter.
horizontal_resolution [1, 2] integer pre-defined Value list for horizontal resolution.
  • 1: Use full resolution.
  • 2: Use half resolution.
Resolution: User defined horizontal resolution is set.
info_boards ['<devices>'] string dynamic A list of the available devices.
name 'PhoXi' string pre-defined Name of the HALCON interface.
parameters ['<parameters>'] string pre-defined Pre-defined parameters of the HALCON interface.
parameters_readonly ['<parameters>'] string pre-defined Pre-defined read-only parameters of the HALCON interface.
parameters_writeonly ['<parameters>'] string pre-defined Pre-defined write-only parameters of the HALCON interface.
port [<ports>] integer pre-defined Unsupported query.
Value list for port parameter.
revision '<revision>' string pre-defined Revision number of the PhoXi interface.
vertical_resolution [1, 2] integer pre-defined Value list for vertical resolution.
  • 1: Use full resolution.
  • 2: Use half resolution.
Resolution: User defined vertical resolution is set.

Parameters for open_framegrabber

Open and configure an PhoXi image acquisition device. Every PhoXiControl installer has a FileCamera example included. It's connection can be established with these parameters:

('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'InstalledExamples-PhoXi-example(File3DCamera)', -1, -1)

Parameter Values Default Type Description
Name '<name>' 'PhoXi' string HALCON image acquisition interface name.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
HorizontalResolution [1, 2] 1 integer
  • 1 for full resolution (2064x1544)
  • 2 for half resolution (1032x772)
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
VerticalResolution [1, 2] 1 integer
  • 1 for full resolution (2064x1544)
  • 2 for half resolution (1032x772)
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
ImageWidth 0 .. width 0 integer Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
ImageHeight 0 .. height 0 integer Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
StartRow 0 .. width 0 integer Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
StartColumn 0 .. height 0 integer Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
Field 'default' string Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
BitsPerChannel [-1, 8, 10, 12, 16, 32] -1 integer Ignored. PhoXi uses fixed 32bit images.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
ColorSpace ['default', 'gray', 'raw', 'rgb'] 'default' string Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
Generic -1.0 double Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
ExternalTrigger ['true', 'false'] 'false' string Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
CameraType ['default', 'auto', 'pal', 'ntsc'] 'default' string Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
Device '<device>' 'InstalledExamples-PhoXi-example(File3DCamera)' string Serial number of a scanner (YYMMxxx) or value from DeviceInfo array (see PhoXi's info_framegrabber with 'device' parameter)
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
Port [<ports>] -1 integer Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)
LineIn -1 integer Ignored.
  • ('PhoXi', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1.0, 'false', 'default', 'device', -1, -1)

Parameters for set_framegrabber_param

Parameter Values Default Type Description
3droi_camera_space_max -99999.0 .. 99999.0 0.0 double Defines data cutting volumes in Camera space.
Cutting the data based on 3D component in Camera Space helps cut depending on camera coordinate space.
The filtration will only be applied if max > min and is applied individually for any dimension.
e.g. you can specify Camera Space.Min.Z to 500 and Camera Space.Max.Z to 1000 to filter all data that are outside of this Z region.
3droi_camera_space_min -99999.0 .. 99999.0 0.0 double Defines data cutting volumes in Camera space.
Cutting the data based on 3D component in Camera Space helps cut depending on camera coordinate space.
The filtration will only be applied if max > min and is applied individually for any dimension.
e.g. you can specify Camera Space.Min.Z to 500 and Camera Space.Max.Z to 1000 to filter all data that are outside of this Z region.
3droi_point_cloud_space_max -99999.0 .. 99999.0 0.0 double Defines data cutting volumes in Point Cloud space.
Cutting the data based on 3D component in Point Cloud Space can be used for cut only data inside a specific box, or on top of a Marker Space.
The filtration will only be applied if max > min and is applied individually for any dimension.
e.g. you can specify Point Cloud Space.Min.Z to 500 and Point Cloud Space.Max.Z to 1000 to filter all data that are outside of this Z region.
3droi_point_cloud_space_min -99999.0 .. 99999.0 0.0 double Defines data cutting volumes in Point Cloud space.
Cutting the data based on 3D component in Point Cloud Space can be used for cut only data inside a specific box, or on top of a Marker Space.
The filtration will only be applied if max > min and is applied individually for any dimension.
e.g. you can specify Point Cloud Space.Min.Z to 500 and Point Cloud Space.Max.Z to 1000 to filter all data that are outside of this Z region.
ambient_light_suppression ['enable', 'disable'] 'disable' string Ambient light suppression samples the scene multiple times during one pattern exposure.
This multiple samples are then used to suppress the effect of ambient illumination by eliminating most of the shot noise caused by longer exposure of ambient light.
Enabling the mode will set Shutter multiplier to fixed value of 2.
bits_per_channel [-1, 8, 10, 12, 16, 32] 32 integer Unsupported command!
PhoXi uses fixed 32bit images.
camera_only_mode ['enable', 'disable'] 'disable' string Specifies a mode, where only the camera captures the frame. With Camera Only Mode, you can use the scanner internal camera to capture only 2D images of the scene. These images then can be read out as Texture.
It is useful to either navigate the scanner around the scene, or to take a quick snapshot that can look for changes.
It does not perform any computations necessary for 3D Scanning, low latency.
coding_quality ['Ultra', 'High', 'Fast'] 'High' string Approach to achieve subpixel accuracy:
  • Fast - without subpixel accuracy
  • High - sub-pixel accuracy
  • Ultra - enhanced sub-pixel accuracy
This parameter influences the processing time. Coding quality set to Ultra ensures in many cases best accuracy but fewer measured points.
coding_strategy ['Normal', 'Interreflections'] 'Interreflections' string Coding strategy optimized for Interreflections use advance digital coding to make diffuse inter-reflection possible to suppress.
For most scenes, strategy optimized for Interreflections provides better output, but in some edge cases of glossy inter-reflections, Normal could provide more robust results.
coordinate_space ['CameraSpace', 'MarkerSpace', 'RobotSpace', 'CustomSpace', 'TrackerSpace'] 'CameraSpace' string
custom_trans_rotation_matrix -99999.0 .. 99999.0 0.0 double
custom_trans_translation_vector -99999.0 .. 99999.0 0.0 double
do_grab_abort ['enable', 'disable'] 'enable' string Unsupported command!
By default a new asynchronous grab command is automatically given to the acquisition device at the end of grab_image_async.
grab_data_items ['Texture', 'PointCloud', 'NormalMap', 'DepthMap', 'ConfidenceMap'] string The parameter controls the data returned by the operator grab_data
grab_timeout 5000 integer Unsupported command!
Desired timeout (milliseconds) for aborting a pending grab.
horizontal_resolution [1, 2] 1 integer Set value for horizontal resolution.
  • 1: Use full resolution.
  • 2: Use half resolution.
max_camera_angle 0.0 .. 90.0 90.0 double Maximal angle between point normal and direction to camera.
max_halfway_angle 0.0 double Maximal angle between normal and halfway vector.
max_inaccuracy 0.0 .. 100.0 2.0 double Controls the amount of output points based on point reliability. This enables the user to set preference based on the application. Some applications require a more complete output at the expense of lower precision. Other applications are meant to work with precise data only and need to filter out regions where the precision does not meet a certain threshold.
max_projection_angle 0.0 .. 90.0 90.0 double Maximal angle between point normal and direction to projector.
maximum_fps 0.0 .. 100.0 0.0 double Useful for limiting the fps in freerun mode.
If you want to allow a scan every 10 seconds, you can set Maximum FPS to 0.1. If you want 2 scans per second, set the value to 2.0.
min_halfway_angle 0.0 .. 90.0 0.0 double Minimal angle between normal and halfway vector.
normals_estimation_radius 1 .. 6 2 integer Defines size of the area (in pixels) around a point. Pixels in this area take part in computation of the normal at this point.
recognize_markers ['enable', 'disable'] 'disable' string
resolution ['2064x1544', '1032x772'] '2064x1544' string Resolution of the resulting image.
robot_trans_rotation_matrix -99999.0 .. 99999.0 0.0 double
robot_trans_translation_vector -99999.0 .. 99999.0 0.0 double
scan_multiplier 1 .. 50 1 integer With Scan Multiplier, you can scan multiple times and merge the output to a single 3D cloud.
This will increase the S/N ratio to ensure higher quality scan.
It is useful in scenarios with High Dynamic Range, where increased Shutter Multiplier means oversaturation of some areas of the scanning.
It affects the scanning process and the final Scanning Time is multiplied by Scan Multiplier.
shutter_multiplier 1 .. 20 3 integer With Shutter Multiplier, you can control the time of individual patterns of the scanner.
Higher number of shutter multiplier will help with the darker materials, but will increase the scanning time multiplicatively.
PhoXi devices use scanned laser to project patterns, Shutter Multiplier does not affect the time of individual sweep, it rather tells the number of repeats of individual pattern.
It affects the scanning process and the final scanning time is multiplied by the value of Shutter Multiplier.
Setting the value too low could result in underexposed images. Setting the value too high could result in overexposed images.
start_async_after_grab_async ['enable', 'disable'] 'enable' string Unsupported command!
surface_smoothness ['Sharp', 'Normal', 'Smooth'] 'Normal' string Defines the setting of smoothness of point cloud generation algorithm.
  • Sharp - optimized for small feature retrieval. Higher noise on surfaces.
  • Normal - standard sensor setting best for most scans.
  • Smooth - edge preserving algorithm that smooths the surface, lowering down noise for expense for small features.
texture_source ['LED', 'Computed', 'Laser', 'Focus'] 'LED' string Defines the used texture source.
  • LED will capture an additional image with LED flash that offers a speckle less 2D image. Use this setting to achieve nice coloured PointCloud.
  • Computed is a texture computed from the structured patterns - no additional image is necessary -> Lower Quality.
  • Laser will trigger an additional image with Laser flash. Use this setting to investigate light conditions in the scene.
  • Focus will set a structured pattern as a texture. Useful for analyzing problems with signal contrast and the setup of the shutter parameters.
  • Color option is only available for Scanners with an additional color camera.
timeout [0, -1, -2, -3] integer Defines the setting of timeout.
  • 0: ZeroTimeout
  • -1: Infinity
  • -2: LastStored
  • -3: Default
trigger_mode [0, 1, 2, 3] integer Defines the setting of trigger mode.
  • 0: Freerun
  • 1: Software
  • 2: Hardware
  • 3: NoValue
use_grab_image_async_as_trigger_only ['enable', 'disable'] 'enable' string Enables PhoXi parallel image acquisition. See PhoXi's grab_image_async and grab_data_async.
vertical_resolution [1, 2] 1 integer Set value for vertical resolution.
  • 1: Use full resolution.
  • 2: Use half resolution.
volatile ['enable', 'disable'] 'disable' string Unsupported command!
wait_for_grabbing_end ['enable', 'disable'] 'enable' string If wait_for_grabbing_end is enabled, the call will wait until the end of Device Grabbing. This is useful for synchronous data grabbing.

Parameters for get_framegrabber_param

There may exist additional read-only parameters with the following postfixes:

All these postfixed parameter names are not returned when calling info_framegrabber(..,'parameters',..) and are used to enable the easy parameterization via a generic graphical user interface, particularly the HDevelop Image Acquisition Assistant.

Parameter Values Default Type Kind Description
3droi_camera_space_max -99999.0 .. 99999.0 0.0 double dynamic Defines data cutting volumes in Camera space.
Cutting the data based on 3D component in Camera Space helps cut depending on camera coordinate space.
The filtration will only be applied if max > min and is applied individually for any dimension.
e.g. you can specify Camera Space.Min.Z to 500 and Camera Space.Max.Z to 1000 to filter all data that are outside of this Z region.
3droi_camera_space_min -99999.0 .. 99999.0 0.0 double dynamic Defines data cutting volumes in Camera space.
Cutting the data based on 3D component in Camera Space helps cut depending on camera coordinate space.
The filtration will only be applied if max > min and is applied individually for any dimension.
e.g. you can specify Camera Space.Min.Z to 500 and Camera Space.Max.Z to 1000 to filter all data that are outside of this Z region.
3droi_point_cloud_space_max -99999.0 .. 99999.0 0.0 double dynamic Defines data cutting volumes in Point Cloud space.
Cutting the data based on 3D component in Point Cloud Space can be used for cut only data inside a specific box, or on top of a Marker Space.
The filtration will only be applied if max > min and is applied individually for any dimension.
e.g. you can specify Point Cloud Space.Min.Z to 500 and Point Cloud Space.Max.Z to 1000 to filter all data that are outside of this Z region.
3droi_point_cloud_space_min -99999.0 .. 99999.0 0.0 double dynamic Defines data cutting volumes in Point Cloud space.
Cutting the data based on 3D component in Point Cloud Space can be used for cut only data inside a specific box, or on top of a Marker Space.
The filtration will only be applied if max > min and is applied individually for any dimension.
e.g. you can specify Point Cloud Space.Min.Z to 500 and Point Cloud Space.Max.Z to 1000 to filter all data that are outside of this Z region.
ambient_light_suppression ['enable', 'disable'] 'disable' string pre-defined Ambient light suppression samples the scene multiple times during one pattern exposure.
This multiple samples are then used to suppress the effect of ambient illumination by eliminating most of the shot noise caused by longer exposure of ambient light.
Enabling the mode will set Shutter multiplier to fixed value of 2.
available_param_names ['<parameters>'] pre-defined List of available parameters.
calibration_camera_matrix double dynamic
calibration_distortion_coefficients double dynamic
calibration_focus_length double dynamic
calibration_pixel_size double dynamic
camera_only_mode ['enable', 'disable'] 'disable' string pre-defined Specifies a mode, where only the camera captures the frame. With Camera Only Mode, you can use the scanner internal camera to capture only 2D images of the scene. These images then can be read out as Texture.
It is useful to either navigate the scanner around the scene, or to take a quick snapshot that can look for changes.
It does not perform any computations necessary for 3D Scanning, low latency.
coding_quality ['Ultra', 'High', 'Fast'] 'High' string pre-defined Approach to achieve subpixel accuracy:
  • Fast - without subpixel accuracy
  • High - sub-pixel accuracy
  • Ultra - enhanced sub-pixel accuracy
This parameter influences the processing time. Coding quality set to Ultra ensures in many cases best accuracy but fewer measured points.
coding_strategy ['Normal', 'Interreflections'] 'Interreflections' string pre-defined Coding strategy optimized for Interreflections use advance digital coding to make diffuse inter-reflection possible to suppress.
For most scenes, strategy optimized for Interreflections provides better output, but in some edge cases of glossy inter-reflections, Normal could provide more robust results.
coordinate_space ['CameraSpace', 'MarkerSpace', 'RobotSpace', 'CustomSpace', 'TrackerSpace'] 'CameraSpace' string pre-defined
custom_trans_rotation_matrix -99999.0 .. 99999.0 0.0 double dynamic
custom_trans_translation_vector -99999.0 .. 99999.0 0.0 double dynamic
grab_data_items ['Texture', 'PointCloud', 'NormalMap', 'DepthMap', 'ConfidenceMap'] string pre-defined The parameter controls the data returned by the operator grab_data. Default values are set according to the devices settings.
'grab_timeout' 5000 integer dynamic Unsupported command!
Desired timeout (milliseconds) for aborting a pending grab.
max_camera_angle 0.0 .. 90.0 90.0 double dynamic Maximal angle between point normal and direction to camera.
max_halfway_angle 0.0 double dynamic Maximal angle between normal and halfway vector.
max_inaccuracy 0.0 .. 100.0 2.0 double dynamic Controls the amount of output points based on point reliability. This enables the user to set preference based on the application. Some applications require a more complete output at the expense of lower precision. Other applications are meant to work with precise data only and need to filter out regions where the precision does not meet a certain threshold.
max_projection_angle 0.0 .. 90.0 90.0 double dynamic Maximal angle between point normal and direction to projector.
maximum_fps 0.0 .. 100.0 0.0 double dynamic Useful for limiting the fps in freerun mode.
If you want to allow a scan every 10 seconds, you can set Maximum FPS to 0.1. If you want 2 scans per second, set the value to 2.0.
min_halfway_angle 0.0 .. 90.0 0.0 double dynamic Minimal angle between normal and halfway vector.
normals_estimation_radius 1 .. 6 2 integer dynamic Defines size of the area (in pixels) around a point. Pixels in this area take part in computation of the normal at this point.
num_buffers 18 integer dynamic Unsupported command!
Number of buffers used in the acquisition process.
  • 1x for Texture
  • 3x for PointCloud (XYZ)
  • 3x for Normals (XYZ)
  • 1x for DepthMap
  • 1x for ConfidenceMap

Two sets of each - front and back buffers.

recognize_markers ['enable', 'disable'] 'disable' string pre-defined
resolution ['2064x1544', '1032x772'] '2064x1544' string pre-defined Resolution of the resulting image.
revision '<revision>' string pre-defined Revision number of the PhoXi interface.
robot_trans_rotation_matrix -99999.0 .. 99999.0 0.0 double dynamic
robot_trans_translation_vector -99999.0 .. 99999.0 0.0 double dynamic
scan_multiplier 1 .. 50 1 integer dynamic With Scan Multiplier, you can scan multiple times and merge the output to a single 3D cloud.
This will increase the S/N ratio to ensure higher quality scan.
It is useful in scenarios with High Dynamic Range, where increased Shutter Multiplier means oversaturation of some areas of the scanning.
It affects the scanning process and the final Scanning Time is multiplied by Scan Multiplier.
shutter_multiplier 1 .. 20 3 integer dynamic With Shutter Multiplier, you can control the time of individual patterns of the scanner.
Higher number of shutter multiplier will help with the darker materials, but will increase the scanning time multiplicatively.
PhoXi devices use scanned laser to project patterns, Shutter Multiplier does not affect the time of individual sweep, it rather tells the number of repeats of individual pattern.
It affects the scanning process and the final scanning time is multiplied by the value of Shutter Multiplier.
Setting the value too low could result in underexposed images. Setting the value too high could result in overexposed images.
start_async_after_grab_async ['enable', 'disable'] 'enable' string pre-defined Unsupported command!
surface_smoothness ['Sharp', 'Normal', 'Smooth'] 'Normal' string pre-defined Defines the setting of smoothness of point cloud generation algorithm.
  • Sharp - optimized for small feature retrieval. Higher noise on surfaces.
  • Normal - standard sensor setting best for most scans.
  • Smooth - edge preserving algorithm that smooths the surface, lowering down noise for expense for small features.
texture_source ['LED', 'Computed', 'Laser', 'Focus'] 'LED' string pre-defined Defines the used texture source.
  • LED will capture an additional image with LED flash that offers a speckle less 2D image. Use this setting to achieve nice coloured PointCloud.
  • Computed is a texture computed from the structured patterns - no additional image is necessary -> Lower Quality.
  • Laser will trigger an additional image with Laser flash. Use this setting to investigate light conditions in the scene.
  • Focus will set a structured pattern as a texture. Useful for analyzing problems with signal contrast and the setup of the shutter parameters.
  • Color option is only available for Scanners with an additional color camera.
timeout [0, -1, -2, -3] integer pre-defined Defines the setting of timeout.
  • 0: ZeroTimeout
  • -1: Infinity
  • -2: LastStored
  • -3: Default
trigger_mode [0, 1, 2, 3] 1 integer pre-defined Defines the setting of trigger mode.
  • 0: Freerun
  • 1: Software
  • 2: Hardware
  • 3: NoValue
use_grab_image_async_as_trigger_only ['enable', 'disable'] 'enable' string pre-defined Enables PhoXi parallel image acquisition. See PhoXi's grab_image_async and grab_data_async.
volatile ['enable', 'disable'] 'disable' string pre-defined Unsupported command!
wait_for_grabbing_end ['enable', 'disable'] 'enable' string pre-defined If wait_for_grabbing_end is enabled, the call will wait until the end of Device Grabbing. This is useful for synchronous data grabbing.

Operator set_framegrabber_callback

Not supported by this interface.

Operator get_framegrabber_callback

Not supported by this interface.

Operator set_framegrabber_lut

Not supported by this interface.

Operator get_framegrabber_lut

Operator grab_image

Used for synchronous grabbing.
PhoXi's grab_image starts a new synchronous grab. The interface converts the image from the device to the HALCON image format. It will return texture image.

Example:
grab_image (TextureImage, AcqHandle)

Operator grab_image_async

Used for asynchronous grabbing.
PhoXi's grab_image_async returns an image and starts the next asynchronous grab. The interface converts the image from the device to the HALCON image format. 'MaxDelay' argument is used to set image's max age.

Example:
grab_image_async (TextureImage, AcqHandle, MaxDelay)

Special behaviour for PhoXi devices when use_grab_image_async_as_trigger_only is enabled:

Operator grab_image_start

Not supported by this interface. (for now)

Operator grab_data

Used for synchronous grabbing.
It will return images specified by the parameter 'grab_data_items'. See PhoXi's set_framegrabber_param and get_framegrabber_param. In order to retrieve certain data, use select_obj with corresponding indeces (important: order of objects must be preserved):

Example:
GrabDataItems:=['Texture', 'PointCloud', 'NormalMap', 'DepthMap', 'ConfidenceMap']
set_framegrabber_param (AcqHandle, 'grab_data_items', GrabDataItems)
grab_data (ImageData, Region, Contours, AcqHandle, Data)

Parameter Type Count Description
'image' Depending on the parameter 'grab_data_items' the following images can be returned:
  • Texture (1 channel / 32bit)
  • PointCloud (3 channels / 32bit)
  • NormalMap (3 channels / 32bit)
  • DepthMap (1 channel / 32bit)
  • ConfidenceMap (1 channel / 32bit)
'contours' Not used.
'region' Not used.
'data' Not used.

Operator grab_data_async

Used for asynchronous grabbing.
'MaxDelay' argument is used to set image's max age. See PhoXi's grab_data for return input/output.

Example:
GrabDataItems:=['Texture', 'PointCloud', 'NormalMap', 'DepthMap', 'ConfidenceMap']
set_framegrabber_param (AcqHandle, 'grab_data_items', GrabDataItems)
grab_data_async (ImageData, Region, Contours, AcqHandle, MaxDelay, Data)

Special behaviour for PhoXi devices when use_grab_image_async_as_trigger_only is enabled:

Operator close_framegrabber

This operator closes the device. See also close_framegrabber.

HDevelop Examples

For this interface there are the following example available:

Release Notes


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