LabVIEW Machine Vision

and Image Processing

National Instruments
11500 North Mopac Expressway
Austin, Texas 78759
ni.com/training
ni.com/training

What You Need To Get Started

LabVIEW Machine Vision Course Manual

LabVIEW Machine Vision Course CD
PCI-8254R
IIDC-compliant IEEE 1394 Camera
FireWire cable
Lens

Computer running
LabVIEW 8.5 or later
and Windows 2000 or later

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File Locations

Root Directory

The course installer places the course files in the following

location:

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Instructional Methods
Lecture gives a foundation
in the topic
Instructor reinforces
foundation through
demonstrations and quizzes
Use concept exercises to further explore a topic
Watch a simulation, experiment with example VIs

Use development exercises to gain hands-on experience

Demonstration of a finished development exercise further
reinforces the learning process
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Getting The Most Out Of This Course

Experiment with hands-on exercises to understand the
methods used
Implementations explore a possible solutionyou may find
a better one
Do not come to class prepared to develop an outside
application; concentrate on the exercises given to build a
good foundation

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Courses
New User

Experienced User

Advanced User

LabVIEW Basics I

LabVIEW Intermediate I

LabVIEW Advanced I

LabVIEW Basics II

LabVIEW Intermediate II

Skills learned:
LabVIEW environment
navigation
Basics application creation
using LabVIEW
Basics of data acquisition and
instrument control

Skills learned:
Modular application
development
Structured design and
development practices
Inter-application
communication and
connectivity techniques

Skills learned:
Large application design
Advanced development
techniques
Implementing multideveloper
projects

Certifications

Certified LV Associate
Developer Exam
Skills tested:
LabVIEW environment
knowledge

Certified LabVIEW
Developer Exam
Skills tested:
LabVIEW application
development expertise

Certified LabVIEW
Architect Exam
Skills tested:
LabVIEW application
development mastery

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Course Learning Map

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Course Goals
Teach the fundamentals of building a complete machine
vision system
Introduce the basics of National Instruments image
acquisition hardware and NI Vision software
Accelerate the machine vision learning curve

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LabVIEW Platform

WindowsMacintosh Linux
English | French | German | Japanese | Korean | Chinese
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National Instruments Machine Vision

Solutions for
Every industry
Every budget
Every level of experience

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Image Processing and Analysis

High-speed, precise
analysis for every
scientific industry

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Lesson 1
Introduction to NI Vision
TOPICS
A. Image acquisition (IMAQ) products
B. Vision software products
C. Camera configuration using MAX

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NI Image Acquisition (IMAQ) Hardware

IMAQ devices feature:
Connectivity with parallel digital, analog and Camera Link
devices
Advanced triggering and I/O capabilities
Up to 80 MB of onboard memory
Compatibility with motion control and data acquisition systems
using the National Instruments RTSI bus
Preprocessing, which allows pixel and line scaling and regionof-interest acquisition
Real-time acquisition
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The NI Vision Product Family

Vision Development
Module
Programming tools for LabVIEW,
C/C++, Visual Basic, and .NET

Vision Assistant
Prototype and generate scripts

Vision Builder for

Automated Inspection
Configure, benchmark, and deploy
without programming

Vision Acquisition Software

Acquire, save, and display images from 1000s of cameras

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The NI Vision Product Family

Vision Development Module features:
Hundreds of image processing functions
including pattern and geometric matching,
OCR, barcode readers, object classification,
and particle analysis
Tools to enhance images, check for presence,
locate features, identify objects, and gauge
parts
Fast application prototyping and code
generation with express VIs and Vision
Assistant

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The NI Vision Product Family

With Vision Assistant, you can:
Create complex custom algorithms
Generate a LabVIEW VI or C/VB program from
your image processing script
Prototype vision systems and experiment with
different image processing functions
Maintain your original image in the reference
window while storing several images for
processing in the image browser

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The NI Vision Product Family

Vision Acquisition Software hardware drivers:
Compatible with LabVIEW, C/C++,
Visual Basic, and .NET
Acquire, save, and display images
from thousands of different cameras
Included with all NI Vision frame
grabbers and IEEE 1394

Included with the Vision Development

Module and Vision Builder AI
Work with any NI frame grabber, IIDCcompliant FireWire camera, and GigE
Vision Camera

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The NI Vision Product Family

Vision Builder for Automated
Inspection:
Acquire and process images with any NI frame
grabber, more than 100 IEEE 1394 cameras, or
the NI Compact Vision System
Build, benchmark, and deploy complete
applications without programming
Configure more than 100 powerful machine
vision tools including geometric matching,
OCR, and particle analysis
Communicate triggering and inspection results
directly to industrial devices over digital I/O,
serial and Ethernet protocols

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Measurement and Automation Explorer

One-stop configuration of all
your NI hardware
Set camera attributes
Configure frame grabber
features
Test your acquisition
Access remote devices on your
network

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Exercise 1-1: Image Acquisition with MAX

GOAL

Configure a camera and acquire an image using MAX.

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Lesson 2
Preparing Your Imaging Environment
TOPICS
How to choose a camera
Lighting considerations
How to choose an image acquisition device

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How to Choose a Camera

Deciding factors in camera choice:
Physical dimensions of your imaging system
Maximize detail of features and size of projected image

Scan type
Line/Area

Format and standard of data

Analog/Digital, standard or nonstandard, needed bandwidth

Budget

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Imaging System Parameters

1,
2

1. Sensor resolution: Camera sensor pixel

size by number of columns and rows
2. Sensor size: Physical area
of sensor array
3. Working distance: The distance
from the front of the lens to the
object under inspection
4. Feature Resolution: Smallest feature
size on object that can be distinguished
4 5. Field of view: Area under inspection that
the camera can acquire

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Sensor Resolution
Camera sensors contain an array of pixels
Sense incident light intensity
Output video data through registers

X pixel resolution

Y pixel resolution

Output Registers

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Determining Necessary Sensor Resolution

To be properly recognized by inspection algorithms, the
smallest feature in the image must be represented by at least
two pixels

minimum sensor resolution = (FOV / feature resolution) x 2

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Common Sensors
Cameras are manufactured with a limited number of
standard sensors
Number of CCD Pixels

FOV

Sensor Resolution

640 x 480
768 x 572
1281 x 1072
2048 x 2048
4000 x 2624

60 mm
60 mm
60 mm
60 mm
60 mm

0.185 mm
0.156 mm
0.093 mm
0.058 mm
0.030 mm

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Determining Focal Length and Sensor Size

focal length = sensor size working distance/FOV
Scene

Lens

Sensor

FOV

Size

Working Distance

Focal length

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GOAL

Exercise 2-1: Camera Attributes

Determine the focal length and camera resolution for a

barcode application.

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Scan Type
Area Scan
Scans an area of pixels and acquires
the entire rectangular image at once.

Line Scan
Scans one line of pixels at a time,
and image is pieced together
afterward.

Advantages:
Less processing needed
Inexpensive

Advantages:
Faster acquisition
Accommodate moving objects

Disadvantage:
Slower acquisition
2

Disadvantages:
Processing required to build image
Expensive

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Camera Formats: Analog

Output video signals as variable voltage level
Established technology
Most common type of camera
Black Level
Hsync

Hsync
Video Data
Single Line Scan

Output Registers

Each Line of Video

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Analog Cameras: Interlaced Video

Odd Field
+
Even Field

Frame

One frame is made from

two interlaced fields
Fields are acquired in
succession

VSYNC identifies start of

each field
HSYNC identifies start of
each line

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Analog Cameras: Standard Formats

Location

Frames per
second

Color

Image size

RS-170

USA, Japan

30

No

640 x 480

NTSC

USA, Japan

30

Yes

640 x 480

CCIR

Europe

25

No

768 x 576

PAL

Europe

25

Yes

768 x 576

Standard

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Analog Cameras: Progressive Scan (Nonstandard)

Non-interlaced, no separate fields
All lines in a frame are exposed at same time
Eliminates any ghosting resulting from object motion

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Camera Formats: Digital

Digitizer housed inside the camera
High image quality and pixel depth
Large image sizes and high frame rates
Data

Valid Data

H Enable
V Enable
P CLK
Video Signal

Output Registers

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Digital Cameras: Standard and Nonstandard

Interface
Parallel
IEEE 1394
(FireWire)

Advantages

Disadvantages

High speed
Easy to configure

Complex cabling
No interface standards

Simple cabling
Low cost

Slower data transfer rate

High speed
Uniform cables
Standard interface

10m cable length limit

High speed
Standard interface

Non-determinism
Limited bandwidth
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Digital Cameras: Taps

A tap, or channel, is a group of data lines that carry one pixel
Single-tap cameras latch only one pixel during the active
edge of the pixel clock
Multi-tap cameras can access multiple pixels during one
active edge

1 tap

2 taps interlaced
vertically

4 taps split and

interlaced vertically

4 taps in
quadrants
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Camera Formats

Camera
AnalogFormats

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Camera Formats: Summary

Analog

Digital

Advantages

Advantages

Established technology
Simple cabling
Low cost

High speed, high pixel depth, and large

image sizes
Programmable controls
Less image noise

Disadvantages

Disadvantages

Little market variation

Potentially poor image quality

Expensive
May require custom cables
May require camera files for custom
configuration
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Camera Files (.icd)

Define camera specifications such as speed, image size,
pixel depth, number of taps, and modes
Tell your IMAQ device how to interact with your cameras
A.icd

PCI-1430

1426, 1427, 1430

B.icd
1426, 1427, 1430

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NI Camera File Generator

Free utility for creating your
own digital camera files
Provides control over:
Tap configuration
Pulse generation
Triggering
Acquisition size and offset
Serial Communication
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Selecting a Camera
Selecting a camera is an important step in preparing your
imaging environment. You should use the parameters of your
application to decide whether you need an analog or digital
imaging system.
National Instruments offers Camera Advisor, a one-stop Web
resource for selecting an imaging camera featuring features
and specifications for more than 100 cameras, at (
www.ni.com/cameras).
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Camera Advisor
Helps you select the right
camera
Contains full camera
specifications

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Lighting: A Critical Consideration

Lighting is one of the most important aspects in setting up
your imaging environment.
Separates the feature you want to inspect from the
background of the image
Makes your image processing easier and faster
Reduces glare, shadows, and effects caused by changes in
weather or time of day

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Ring Lighting
Light encircles the camera
lens
Advantage: Even illumination
without shadows along lens
axis
Disadvantage: Can produce
a circular glare
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Strobe Lighting
Light pulses as frame is
acquired
Advantage: Reduces motion
blur
Disadvantages: May have to
apply artificial gain to avoid
dark images
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Backlighting
Object placed between camera
and light source
Advantage: Creates a sharp
contrast that makes finding
edges and measuring distances
easy
Disadvantage: Curved objects
can diffract light.
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Diffused Lighting
Some objects reflect light due to their surface texture or
curvature
You can use diffused lighting to eliminate glare

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Optics Resources
National Instruments recommends the following partner
companies for your lighting and lens needs:
Graftek Imaging
www.graftek.com
Edmund Industrial
Optics
www.edmundoptics.com
Fostec
www.fostec.com
Stocker & Yale
www.stkr.com

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Analog IMAQ Hardware

Support for color and
monochrome cameras
Up to four monochrome channels

Standard and nonstandard formats

All worldwide standards (RS-170, CCIR, NTSC, PAL)
S-video and progressive scan connections

Plug into PCI and PXI form factors

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Digital IMAQ Hardware

Support for 32-bit color and
16-bit monochrome cameras
Multiple taps
Multiple cameras
Pixel clock up to 85 MHz

Standard and nonstandard interfaces

IEEE-1394, CameraLink, parallel digital, Gigabit Ethernet

Plug into PCI, PXI, PCIe form factors

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Compact Vision System

Embedded high-performance
processor for increased inspection speed
3 FireWire camera inputs
Integrate with other devices through Ethernet, serial, and
digital I/O
Configure with NI Vision Builder for Automated Inspection, or
program with NI LabVIEW and Vision Development Module

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NI Smart Camera
Embedded highperformance processor
400/533 MHz
Integrate with other devices
through Ethernet, serial, and
digital I/O
Multiple sensors starting
with monochrome VGA
CCD, 60 fps
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Lesson 3
Acquiring and Displaying Images
TOPICS
A.
B.
C.
D.

NI-IMAQ utility functions

Single and multiple buffer acquisitions
Displaying images
Triggering features of NI-IMAQ

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Images in Memory
Images are not displayed directly when acquired.
Stored in a memory buffer so they can be accessed and
manipulated

21

22

17

20

16

23

21

18

19

145

25

24

20

140

143

23

22

137

141

139

24

137

135

138

142

Memory Buffer
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Vision Acquisition Software

NI-IMAQdx driver for IEEE 1394 and GigE Vision Cameras
NI-IMAQ driver for NI frame grabber devices and NI Smart
Cameras
NI-IMAQ I/O personality for reconfigurable devices (FPGA)

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Image Acquisition Functions

Acquisition management

Trigger

Configure sessions and memory

allocation

Synchronize acquisition with realworld events

Single buffer acquisition

Display

Acquire images to one memory

buffer

Customize image display and user

interface

Multiple buffer acquisition

Acquire images to multiple
memory buffers

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Acquisition Management Functions

Interface Management

Memory Management

IMAQdx Open Camera

Opens a session with the camera
or device

IMAQ Create
Creates an image buffer in
memory

IMAQdx Close Camera

Ends a session

IMAQ Dispose
Removes an image from memory

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Single Buffer Acquisition - Snap and Grab

A snap is a one-shot acquisition
A grab is continuous

Both use a single buffer

Grab overwrites the same buffer
Processing
Buffer

Snap

Grab

Acquisition
Buffer

Processing
Buffer

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Single Buffer Acquisition Functions

Snap
IMAQdx Snap
Acquires an image from the
device and writes it to a buffer

Grab
IMAQdx Configure Grab
Prepares device to continuously
acquire images

IMAQdx Grab
Retrieves an image from device
and writes it to a buffer

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Vision Acquisition Express VI

Configure your Snap or
Grab
Simulate acquisition without
any hardware
Test your camera and
acquisition attributes

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Image Display
Most common method of
viewing images
Display is not necessary for
acquiring images
Displayed image is not
necessarily the acquired image
Color palette may change or be
limited
Viewed image may not
represent all data acquired

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WindDraw VIs
Alternate display method
based on floating (dialog)
windows
Separate palette and
functions
Provide up to 16 different
display windows that are
not connected to main
program window
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Images in LabVIEW
The Image type is a pointer to a memory location (buffer)
that holds image data.
Does not follow usual dataflow
Data can change without notice
Functions read data from this location without consideration
for what that data is

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GOAL

Demonstration: Images in LabVIEW

Understand the memory-pointer behavior of the LabVIEW

Image datatype.

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Exercise 3-1: Snap and Display.vi

GOAL

Acquire and display images using LabVIEW.

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Exercise 3-2: Snapping Continuously

GOAL

Observe the effect of snapping images continuously.

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GOAL

Exercise 3-3: Grab and Display.vi

Acquire live images using a Grab and compare the

acquisition rates of Grab and Snap.

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File I/O

Not necessary for acquiring images

Supports common image file types
Read and Write capability
Also supports AVI file operations for writing multiple images
to one file

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GOAL

Exercise 3-4: Snap and Save to File

Acquire an images using a Snap and then save that image

as a BMP file.

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GOAL

Exercise 3-5: Grab and Save to AVI

Acquire live images using a Grab and then save the

images to an AVI file.

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Multiple Buffer Acquisition - Sequence

A sequence is a one-shot acquisition of multiple frames into
multiple buffers.
Processing
Buffer 0
Sequence

Processing
Buffer 1

...

Processing
Buffer [n-1]

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Multiple Buffer Acquisition - Ring

A ring is a continuous acquisition into multiple buffers.
Acquisition
Buffer 0
Ring

Acquisition
Buffer 1

...

Acquisition
Buffer [n-1]

Processing
Buffer

The processing buffer

holds one of the acquired
buffers at a time
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Multiple Buffer Acquisition Functions

Sequence
IMAQdx Sequence
Acquires a number of images
from the device and writes them
to memory buffers

Ring
IMAQdx Configure Acquisition
Allocates a memory to a list of
acquisition buffers
IMAQdx Start Acquisition
Adds a buffer to the list

IMAQ Extract Buffer

Extracts a buffer from the
acquisition list into the
processing buffer

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Exercise 3-6: Sequence Acquisition

GOAL

Learn how to acquire a single sequence of images.

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Exercise 3-7: Ring Acquisition

GOAL

Learn how to perform a continuous multi-buffer acquisition.

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IMAQdx Property Node

Sets and gets properties of acquisition attributes, camera
attributes, camera information, and status information
Properties are carried through the Session wires

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IMAQ Property Node

Sets and gets properties of board information, acquisition
parameters, image parameters, and status information
Properties are carried through the Session wires

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Exercise 3-8: Changing Acquisition Parameters

GOAL

Adjust the parameters of an acquisition programmatically.

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Image Display Property Node

Sets and gets properties of Image Display control on front
panel and currently displayed image
Tools available to user
Region currently selected
Palette used for display
Read or set Zoom level
many, many more

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GOAL

Exercise 3-9: Changing the Palette During a Grab

View an acquisition under various color palettes to

accentuate different features.

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Using Triggers
May need to coordinate an image acquisition with motion control,
data acquisition, or real-world events
Can drive or receive trigger signals
RTSI bus for NI device synchronization
External lines for real-world coordination

Examples:
Start image acquisition with external trigger received as the unit
under test passes in front of the camera
Send trigger to DAQ card to acquire data as each frame is read
from camera
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Driving Trigger Lines Frame Grabbers

Internal signals that can drive triggers:

Acquisition Done
Acquisition in Progress
Pixel Clock (PCLK)
Unasserted (logical 0)
Asserted (logical 1)
Horizontal Synchronization Signal
(HSYNC)
Vertical Synchronization Signal (VSYNC)

Frame Start
Frame Done
Scaled Encoder

Trigger VI
IMAQ Trigger Drive

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Receiving Trigger Signals Frame Grabbers

Read trigger signals on any external or RTSI line
Configure a triggered acquisition with any of the following
actions:
Trigger start of acquisition
Trigger start of each buffer list
Trigger each buffer
Trigger each line (linescan)
Trigger end of acquisition

Trigger VIs
IMAQ Trigger Read
IMAQ Configure Trigger
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Receiving Trigger Signals IMAQdx Cameras

Wire the trigger signal directly to the IEEE 1394 or GigE
Vision camera
Configure the camera triggering settings with an IMAQ
Property Node
Trigger

Trigger
Source

NI-IMAQdx Property Node

Computer
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Demonstration: Triggered Snap

GOAL

Trigger an image acquisition.

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Lesson 4
Processing Images
TOPICS
A. Selecting NI Vision functions to suit your application
B. Using Vision Assistant to prototype your application

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NI Vision
NI Vision functions are divided into three categories:
Vision Utility VIs allow you to create and manipulate images
to fit your application
Image Processing VIs analyze, filter, and process images
Machine Vision VIs perform common machine vision
inspection tasks

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NI Vision
Most of the VIs you will use in this course fall into these
function categories:
Statistics
Particle analysis
Pattern matching
Edge detection
Gauging

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Statistics
Detect objects in an image with histograms
Evaluate lighting and focus using standard deviation

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Particle Analysis
Calculate particle area, perimeter, location, and more than
50 other parameters
Count, label, and filter particles

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Pattern Matching
Locates patterns very quickly
Resistant to changes in
Lighting
Rotation
Focus
Shape

Supports partial occlusion

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Edge Detection
Find the edges of objects along any line in an image
Test for sharpness
Use edge positions for
alignment and gauging
Sub-pixel accuracy

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Gauging
Measure angles and distances
Identify linear midpoints
Locate centers of mass

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Many More NI Vision Functions

Calibration
Color matching
Color pattern matching
Line profiles
FFTs and correlation
Geometric transformations
Resampling and equalization
Arithmetic and logic operators
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GOAL

Demonstration: Vision Assistant

Introduce the Vision Assistant scripting program and the

Vision Assistant Express VI in LabVIEW.

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Vision Assistant
Test different processing strategies on a variety of images
Quickly and easily explore what-if conditions
Immediately visualize the result of changing an image
processing control parameter
Test an image processing function or a series of functions
See the result of each step without programming
Benchmark the speed of each vision function

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Vision Assistant Express VI

Access to most functions from the Vision Assistant

Quickly and easily viewing of results of different
processing functions
Easily-configurable Express VI interface

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GOAL

Exercise 4-1: Measure a Bracket

Familiarize yourself with Vision Assistant and create a

LabVIEW VI from a script.

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GOAL

Exercise 4-2: Metal Particle Analysis

Use the Vision Assistant Express VI to perform processing

on multiple images.

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Lesson 5
Enhancing Acquired Images
TOPICS
A. Spatial Calibration and Perspective Correction
B. Spatial Filtering

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Spatial Calibration
Allows the designer to take real-world measurements from
image based on pixel locations.

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Intelligent Calibration
Also accounts for errors due to:

lens distortion
perspective
known orientation offset

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Calibration Grid
Snap a calibration template with known real-world distances
between the dots
Learn the calibration (mapping information) from its
perspective and distortion

Original Template

Image of the Template

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Calibrating Your Image Setup with NI Vision

1. Create a calibration template grid.
2. Acquire an image of the calibration template.
3. Use IMAQ Learn Calibration Template to create a
calibrated image in LabVIEW.
4. To calibrate real images, apply the calibration from this
image to them using NI Vision functions.

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NI Vision Calibration Functions

Calibrate Images
IMAQ Learn Calibration Template
Learns a calibration from a grid of
dots or a set of coordinates

Correct Image Features

IMAQ Correct Calibrated Image
Corrects the features of a
calibrated image to account for
distortion and offset

IMAQ Set Simple Calibration

Sets a calibration without using a
template image
IMAQ Set Calibration Info
Passes a calibration from one
image to another

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Perspective Correction
NI Vision can use a calibration to adjust image geometry so
the features are represented properly.

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GOAL

Exercise 5-1: Calibration and Perspective

Correction

Use NI Vision calibration and correction tools to solve a

perspective or lens distortion problem.

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Calibration and Correction Misconceptions

Calibration fixes any measurement to arbitrary accuracy
Calibrated images always need to be corrected
Calibration can compensate for poor lighting or unstable
conditions

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Spatial Filtering
Filtering adjusts pixel values based on the values of their
neighbors. It is useful for highlighting features of an image,
removing noise, and locating transitions in an image.

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Types of Spatial Filters

Linear use a convolution
kernel to operate quickly
Nonlinear apply a complex
function that takes more
processing power
Highpass highlight large
intensity transitions
Lowpass attenuate intensity
transitions

Linear

Nonlinear

Lowpass

Highpass

Gaussian
Smoothing

Gradient
Laplacian

Lowpass
Median
Nth Order

Differentiation
Gradient
Prewitt
Roberts
Sigma
Sobel

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Smoothing Filters
Used to reduce noise and large
intensity transitions
Types:
Low Pass
Local Average
Gaussian
Median

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Edge Detection Filters

Used to find large intensity
transitions (edges)
Types:
Laplacian
Differentiation
Prewitt
Sobel
Roberts

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Detail Highlighting Filters

Used to display texture and
accentuate intensity transitions

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Define Your Own Filter

You can define any linear filter using NI Vision
-1 -1 -1
Kernel can be adjusted to
-1 8 -1
yield different results
-1

-1

-1

-1

-1

-1

-1

-1

-1

-1

-1

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Exercise 5-2: Using Filters

GOAL

Use filters to manipulate an image.

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LABVIEW MACHINE VISION AND IMAGE PROCESSING

End of Day One

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