I am using MVTec Halcon 24.11 to capture images with an Ensenso CR67-4-S camera via the Ensenso-NxLib interface. I would like to use the 3D data of the Stereo camera, as well as the RGB image (e.g. to generate a 4-channel HObject like “ImageDummy” in the sample code). Do I always have to use two framegrabbers for two devices (258807 and 258807-Color) or is it somehow possible to get the depth image with the corresponding color image using only one Halcon AcqHandle?
the Ensenso-NxLib interface unfortunately doesn’t support the C(R)-series color sensor natively. If you want to use it you need two framegrabbers and have to run the RenderPointMap command to combine their data manually.
I would recommend to use our new GenTL producer (which was introduced recently with SDK version 4.3) via Halcon’s GenICamTL interface.
It supports the color sensor of C-series devices natively and produces a point cloud with texture by default. See the feature reference for more information on the texture and how to change the reference perspective.
Thank you a lot for the answer! We will use the GenTL producer now, as it simplifies the process a lot. One follow-up question regarding the camera parameters: In your documentation, you explain that ‘The GenTL producer automatically loads parameters which are saved in device memory upon opening a device.’ I assume, there is no functionality implemented to directly change the camera parameters as defined in a JSON/ensparam parameter file (which is saved locally on the computer) via GenICamTL in Halcon?
What exactly do you want to do? Is there a specific parameter missing from the GenTL producer that you would like to change? Or do you have some other reason to apply more parameters?
Okay, I understand. No, there is no parameter missing, it would just have been a nice feature to be able to load the parameters via the file. But we can work with the given functionality. Thanks again for the quick support.