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Load YML capture settings based on camera model Halcon #285

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Merged
zividgerman merged 1 commit into from
Jan 29, 2026
Merged

Load YML capture settings based on camera model Halcon #285

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49 changes: 43 additions & 6 deletions source/Camera/Advanced/CaptureHalconViaGenICam/CaptureHalconViaGenICam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,44 @@ Capture and save a point cloud, with colors, using GenICam interface and Halcon
#include <Zivid/Zivid.h>
#include <halconcpp/HalconCpp.h>

#include <chrono>
#include <iostream>

std::string presetPath(const std::string &model)
{
const std::string presetsPath = std::string(ZIVID_SAMPLE_DATA_DIR) + "/Settings";

if(model.find("zividTwoL100") != std::string::npos)
return presetsPath + "/Zivid_Two_L100_ManufacturingSpecular.yml";

if(model.find("zividTwo") != std::string::npos) return presetsPath + "/Zivid_Two_M70_ManufacturingSpecular.yml";

if(model.find("zivid2PlusM130") != std::string::npos)
return presetsPath + "/Zivid_Two_Plus_M130_ConsumerGoodsQuality.yml";

if(model.find("zivid2PlusM60") != std::string::npos)
return presetsPath + "/Zivid_Two_Plus_M60_ConsumerGoodsQuality.yml";

if(model.find("zivid2PlusL110") != std::string::npos)
return presetsPath + "/Zivid_Two_Plus_L110_ConsumerGoodsQuality.yml";

if(model.find("zivid2PlusMR130") != std::string::npos)
return presetsPath + "/Zivid_Two_Plus_MR130_ConsumerGoodsQuality.yml";

if(model.find("zivid2PlusMR60") != std::string::npos)
return presetsPath + "/Zivid_Two_Plus_MR60_ConsumerGoodsQuality.yml";

if(model.find("zivid2PlusLR110") != std::string::npos)
return presetsPath + "/Zivid_Two_Plus_LR110_ConsumerGoodsQuality.yml";

if(model.find("zivid3XL250") != std::string::npos)
return presetsPath + "/Zivid_Three_XL250_DepalletizationQuality.yml";

if(model.find("zividOnePlus") != std::string::npos)
throw std::runtime_error("Unsupported Zivid One+ model: " + model);

throw std::invalid_argument("Invalid camera model: " + model);
}

void savePointCloud(const HalconCpp::HObjectModel3D &model, const std::string &fileName)
{
model.WriteObjectModel3d(
Expand Down Expand Up @@ -77,12 +112,14 @@ int main()
std::cout << "Configuring settings" << std::endl;
HalconCpp::SetFramegrabberParam(framegrabber, "create_objectmodel3d", "enable");
HalconCpp::SetFramegrabberParam(framegrabber, "add_objectmodel3d_overlay_attrib", "enable");
HalconCpp::SetFramegrabberParam(framegrabber, "AcquisitionMode", "SingleFrame");

HalconCpp::SetFramegrabberParam(framegrabber, "Aperture", 3.0);
HalconCpp::SetFramegrabberParam(framegrabber, "ExposureTime", 5000);
HalconCpp::SetFramegrabberParam(framegrabber, "Gain", 1);
HalconCpp::SetFramegrabberParam(framegrabber, "Brightness", 1.8);
HalconCpp::HTuple modelTuple;
HalconCpp::GetFramegrabberParam(framegrabber, "CameraInfoModel", &modelTuple);

const std::string modelName = modelTuple.ToString().Text();
const HalconCpp::HString settingFile(presetPath(modelName).c_str());

HalconCpp::SetFramegrabberParam(framegrabber, "LoadSettingsFromFile", settingFile);

std::cout << "Capturing frame" << std::endl;
auto region = HalconCpp::HRegion();
Expand Down
56 changes: 31 additions & 25 deletions source/Camera/Advanced/CaptureHalconViaZivid/CaptureHalconViaZivid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,54 +6,59 @@ Capture a point cloud, with colors, using Zivid SDK, transform it to a Halcon po
#include <halconcpp/HalconCpp.h>

#include <algorithm>
#include <chrono>
#include <iostream>

namespace
{
Zivid::Settings get2DAnd3DSettings(const Zivid::Camera &camera)
std::string presetPath(const Zivid::Camera &camera)
{
auto settings = Zivid::Settings{ Zivid::Settings::Acquisitions{ Zivid::Settings::Acquisition{} },
Zivid::Settings::Color{ Zivid::Settings2D{
Zivid::Settings2D::Acquisitions{ Zivid::Settings2D::Acquisition{} } } } };
const std::string presetsPath = std::string(ZIVID_SAMPLE_DATA_DIR) + "/Settings";

auto model = camera.info().model();
switch(model.value())
switch(camera.info().model().value())
{
case Zivid::CameraInfo::Model::ValueType::zividTwo:
{
return presetsPath + "/Zivid_Two_M70_ManufacturingSpecular.yml";
}
case Zivid::CameraInfo::Model::ValueType::zividTwoL100:
{
settings.set(Zivid::Settings::Sampling::Pixel::all);
settings.color().value().set(Zivid::Settings2D::Sampling::Pixel::all);
break;
return presetsPath + "/Zivid_Two_L100_ManufacturingSpecular.yml";
}
case Zivid::CameraInfo::Model::ValueType::zivid2PlusM130:
{
return presetsPath + "/Zivid_Two_Plus_M130_ConsumerGoodsQuality.yml";
}
case Zivid::CameraInfo::Model::ValueType::zivid2PlusM60:
{
return presetsPath + "/Zivid_Two_Plus_M60_ConsumerGoodsQuality.yml";
}
case Zivid::CameraInfo::Model::ValueType::zivid2PlusL110:
{
settings.set(Zivid::Settings::Sampling::Pixel::blueSubsample2x2);
settings.color().value().set(Zivid::Settings2D::Sampling::Pixel::blueSubsample2x2);
break;
return presetsPath + "/Zivid_Two_Plus_L110_ConsumerGoodsQuality.yml";
}
case Zivid::CameraInfo::Model::ValueType::zivid2PlusMR130:
{
return presetsPath + "/Zivid_Two_Plus_MR130_ConsumerGoodsQuality.yml";
}
case Zivid::CameraInfo::Model::ValueType::zivid2PlusMR60:
{
return presetsPath + "/Zivid_Two_Plus_MR60_ConsumerGoodsQuality.yml";
}
case Zivid::CameraInfo::Model::ValueType::zivid2PlusLR110:
{
return presetsPath + "/Zivid_Two_Plus_LR110_ConsumerGoodsQuality.yml";
}
case Zivid::CameraInfo::Model::ValueType::zivid3XL250:
{
settings.set(Zivid::Settings::Sampling::Pixel::by2x2);
settings.color().value().set(Zivid::Settings2D::Sampling::Pixel::by2x2);
break;
return presetsPath + "/Zivid_Three_XL250_DepalletizationQuality.yml";
}
case Zivid::CameraInfo::Model::ValueType::zividOnePlusSmall:
case Zivid::CameraInfo::Model::ValueType::zividOnePlusMedium:
case Zivid::CameraInfo::Model::ValueType::zividOnePlusLarge:
{
throw std::runtime_error("Unsupported camera model '" + model.toString() + "'");
}
default: throw std::runtime_error("Unhandled enum value '" + model.toString() + "'");
}
case Zivid::CameraInfo::Model::ValueType::zividOnePlusLarge: break;

return settings;
default: throw std::runtime_error("Unhandled enum value '" + camera.info().model().toString() + "'");
}
throw std::invalid_argument("Invalid camera model");
}

void savePointCloud(const HalconCpp::HObjectModel3D &model, const std::string &fileName)
Expand All @@ -77,7 +82,7 @@ namespace

if(colorsRGBA.height() != height || colorsRGBA.width() != width)
{
throw std::runtime_error("Color image size does not match point cloud size");
throw std::runtime_error("the 2D image resolution must match the 3D point cloud resolution");
}

int numberOfValidPoints =
Expand Down Expand Up @@ -175,7 +180,8 @@ int main()
auto camera = zivid.connectCamera();

std::cout << "Configuring capture settings" << std::endl;
const auto settings = get2DAnd3DSettings(camera);
const auto settingsPath = presetPath(camera);
const auto settings = Zivid::Settings(settingsPath);

std::cout << "Capturing frame" << std::endl;
const auto frame = camera.capture2D3D(settings);
Expand Down