New Halcon release and support from MVTec

Soon-to-be-released major version of Halcon 12

Later this year, a major version of Halcon will be released offering numerous new features and improvements.
Look forward to seeing:
• Significant speedups, especially regarding AVX2
• New local deformable surfaced-based matching
• Substantial improvements in camera calibration
• Faster development and parallel programming within the IDE

New maintenance release 11.0.3 for HALCON 11

The latest maintenance release 11.0.3 includes documentation updates, new image-acquisition interfaces, fixes of all currently-known bugs, and several enhancements, such as:
• Improved bar and data code reader regarding robustness
• Improved handling of iconic objects within the HALCON/C++ interface
• New HDevelop example program that combines multiple images for bottle inspection
• New image-acquisition interfaces for USB3 Vision devices and Ensenso stereo 3D cameras
Please contact us for download details

Memory Management in .Net

Writing in .NET languages, e.g. C#, is beneficial in that the programmer need not worry about memory management as .NET provides a convenient dynamic memory facility where unreferenced objects are removed automatically by the garbage collector (GC). HALCON/.NET makes use of this concept.

.NET variables
.NET data types can be classified according to whether a variable of a particular type stores its own data or is a pointer to the data. If it stores its own data, it is a value type; if it holds a pointer to data elsewhere in memory, it is a reference type. Value types are numerical types like int or double and structs, while strings and all classes are reference types.

The most important thing to keep in mind for all classes from the HALCON/.NET interface is: HALCON Variables in .NET are only references to data.

This means that reference types do not contain the actual data stored in a variable, but they contain a reference to the variables. That is, they refer to a memory location.
Furthermore, referenced data is never overwritten by assignments. When a variable is assigned a new value, the old data is dereferenced and memory is allocated for the new data.

Garbage Collector - points to note
The garbage collector tidies up data that is not referenced any more - either because the variable leaves its scope or it is not referenced by any part of the code anymore. The garbage collector becomes active when the estimated size of allocated memory exceeds a certain threshold.

In the context of HALCON, the garbage collector only recognizes the object structure, to which the variable points, plus the managed data. Managed data is referenced in HTuple, whereas HObject contains unmanaged data which is not recognized by the garbage collector. HALCON's iconic variables (images, regions,...) seem to be rather “small” for the garbage collector, because they only contain a reference to the (in many cases rather large) iconic objects in the database. Thus, the garbage collector may not free such variables even if they are not used anymore.

Especially in loops, this causes .NET to repeatedly allocate memory for the new instantiation of images, as the data is not overwritten. The garbage collector in turn does not see the constant increase of required memory. In some cases memory consumption grows such that one may observe error 6001 (not enough memory) for no obvious reason.

To release this memory, the garbage collector can become active nevertheless by calling it explicitly:
GC.Collect();
GC.WaitForPendingFinalizers();

A good point for calling the garbage collector would be at the end of the main processing loop. This makes sure that your .NET application releases memory regularly in each cycle.

Manual disposal
The manual disposal of individual objects is also possible by calling the method Dispose. The Dispose method is especially useful in small loops where the direct call of the garbage collector is too expensive.

Interface revision update

MVTec has updated the following interface revision: HALCON 10/11 OpenNI interface (revision 4.4 / 5.2) Please contact us for download details