Normals and Intensity images with Halcon

[Binflo]

Hi,

I’m working with Halcon and an LSR L camera, and I’d like to obtain both intensity and normal images. I’m running the “obtain_point_cloud_with_normals” example, but I’m encountering an issue: the program gets stuck on the grab_data function and eventually throws a timeout error.

I tried increasing the grab_timeout value, but the function still doesn’t complete. Interestingly, when I disable the normals and intensity components, I can successfully receive the XYZ images without any problems.

What could be causing this behavior? Is there something specific I need to configure or consider when trying to get both normal and intensity images simultaneously?

[Mech-Mind_Dshuai]

Hello, the time taken to obtain the normal vector point cloud is divided into the time for capturing the point cloud and the time for calculating the normal vector.
The point cloud capture time depends on the camera parameters, such as exposure time and encoding mode, while the normal vector calculation time depends on your computer’s performance.

On my computer, connecting the LSRL camera and capturing a point cloud with normal vectors using the default parameter set takes about 2.6 seconds.