The following article provides instructions on how to integrate the HALCON RealSense image acquisition interface with the FRAMOS Intel D400e camera series. This interface enables the possibility to acquire images from RealSense devices.


Prerequisites


RealSense image acquisition interface Installation 


It is possible to download the Halcon RealSense interface (method 1) or to install it during the custom installation of Halcon (method 2).


Method 1

Download the HALCON RealSense interface from the following LINK


Unzip the downloaded file. Further, copy the “bin” and “genicam” folders into the HALCON base directory %HALCONROOT%.


Method 2

During the installation of Halcon software, select "Advanced Installation"


On the following window, expand the "Image Acquisition Interfaces" menu, and select the RealSense version available.



Copy files from FRAMOS RealSense installation


Finally, copy the “realsense2.dll” from the Framos Realsense base directory (C:\Program Files\FRAMOS\librealsense2\bin) into the HALCON base directory (bin\x64-win64\ folder)



Getting started


NOTE: Make sure to check before with the Framos Software tools that the camera is properly recognized by the operative system.

Often, it is required to adjust the network settings.


Once the DLLs are in place, now it's time to start the HALCON Software. Open the image acquisition tool by clicking on the camera icon


In the source tab make sure to select the RealSense Interface. If everything was properly set the interface can be seen in the list.


Go to the Connection tab and select the camera from "Device". Then click on connect. 


Up to this point, a live stream can be started by clicking on the "live" button. This is a good way to test if the frames are being grabbed by the HALCON software. An example of the live preview can be seen in the picture below:


Further Steps


Inside the interface zip file a set of examples can be found. These files help as a reference for further development. For example, running the example “realsense_objectmodel3d.hdev”, such an output can be obtained, where the user can move around with the mouse the 3D view:



Limitations

The following comments current limitations found during testing of the interface

  • No configuration of the resolution is possible
  • No multiple live stream using Image Acquisition tool (It streams the last selected camera)
  • No Software trigger possible

Further information about other limitations can be found in the documentation from HALCON interface as well.