--- title: "Glossary & Terminology" description: "Definitions of the technical terms used in the LumiScan documentation and how each one applies to LumiScan." product: "LumiScan Documentation" component: "ROOT" language: "en" url: "https://docs.hdvisionsystems.com/en/glossary/index.html" --- # Glossary & Terminology – LumiScan Documentation This glossary explains the technical terms you meet in the LumiScan documentation. Each entry gives a short definition that needs no prior knowledge, followed by what the term means in LumiScan. The glossary explains **what** something is; the linked guides explain **how** to use it. In the documentation, a term is underlined with a dotted line where it first occurs in a section: hover over it for the short definition, click it for the full entry. General terms link to Wikipedia for background; where a standards body exists, it is linked as the primary source. ## Terminology used in this documentation {#terminology} The LumiScan manuals use the following words with a fixed meaning. Use them the same way when you write about LumiScan, for example in a specification or a support request. **What a LumiScan app is - and what it runs on.** A LumiScan app is one program, for example LumiScan Cam Driver or LumiScan Template Finder. It offers its functions as nodes of a Data Layer and does nothing without one. The Data Layer is provided by the platform the app runs on: on a ctrlX CORE or ctrlX IPC it is the ctrlX Data Layer of ctrlX OS, on a PC with Windows 11 or Ubuntu 24.04 it is LumiScan Keryx, which you install before the apps and whose broker the first app starts. The same app, with the same node addresses, runs on both. There is no "LumiScan Runtime": the manuals call this layer the **Data Layer** - **ctrlX Data Layer** or **LumiScan Keryx** when only one is meant. The word "runtime" appears only in licensing, where **runtimes** are the products used in production (one-time purchase) as opposed to **engineering apps**, and in the name of the third-party **CodeMeter Runtime**. | Use | Meaning | Instead of | | --- | --- | --- | | LumiScan app | A program of HD Vision Systems that offers its functions as nodes of the Data Layer: Cam Driver, the processing apps, Calibration, Cockpit. Overview pages also say **vision app**. | LumiScan Runtime, ctrlX app (when the PC version is meant too) | | processing app | A LumiScan app that evaluates an image: the finders (Template Finder, Object Finder, Area Detector, Text Reader), the code readers (DMC, QR Code, Aztec Code, Barcode Reader) and AI Object Matching. | vision tool, inspection app | | module | One configured instance inside a LumiScan app - a camera in the Cam Driver, a neural network in AI Object Matching, a plane in Calibration, a search configuration in a finder - with its own Data Layer address. The code readers have no modules. | instance, job, channel | | Data Layer | The interface through which the LumiScan apps, the PLC and your program exchange data. Written alone, a statement holds for both Data Layers. **LumiScan Data Layer** is the title of the manual that describes this interface, not a third Data Layer. | datalayer, data layer, DataLayer | | ctrlX Data Layer | The Data Layer of ctrlX OS, used by the apps on a ctrlX CORE or ctrlX IPC. | - | | LumiScan Keryx | The Data Layer of HD Vision Systems for PCs (Windows 11, Ubuntu 24.04); its broker program is `krxsystem`. | PC Data Layer, HDV Data Layer | | LumiScan Key | The USB licence key for LumiScan software (a CodeMeter CmStick/C). | dongle, CmStick, licence stick | | ctrlX OS, ctrlX CORE, ctrlX IPC | ctrlX OS is the operating system of Bosch Rexroth; ctrlX CORE (a controller) and ctrlX IPC (an industrial PC) are devices that run it. **ctrlX device** means either. | ctrlX (alone), X3 (alone) | | PC | A computer with Windows 11 or Ubuntu 24.04 on which LumiScan apps run with LumiScan Keryx. LumiScan VGR runs on a Windows 11 IPC with an NVIDIA GPU. | host, Windows runtime | | PLC | The programmable logic controller of the machine. **ctrlX PLC** is the PLC on ctrlX OS. German: SPS. | SPS (in English text) | | PROFINET | The spelling of the fieldbus in all prose. | Profinet, profinet | | engineering app, runtime | Licensing categories. Engineering apps (LumiScan Annotation, LumiScan Training, LumiScan VGR Engineering) are annual subscriptions; runtimes and vision apps (for example LumiScan VGR, LumiScan Cam Driver, the code readers) are one-time purchases. | - | | annotation, annotate | Marking objects in images (boxes and class labels) as training data for a neural network; done with LumiScan Annotation or in the manual mode of LumiScan VGR. **Label** stays the noun for a class name. | labeling, label (as a verb), LumiScan Labeling | | LumiScan X | The 3D light-field camera of HD Vision Systems. | LumiScanX | | LumiScan Cam Driver | The LumiScan app that connects GenICam cameras. | CamDriver, camdriver | | ctrlX Store | The Bosch Rexroth store in which ctrlX apps and licences are bought. | App Store | ## A {#a} ### Annotation {#gl-annotation} Marking objects in images by hand - for example with a box and a label - so that a neural network can learn from these examples. **In LumiScan:** You annotate images with LumiScan Annotation: you draw oriented bounding boxes around the objects, give each box a label (class) and can restrict the image area with an ROI. LumiScan Training then trains a network on these images. In LumiScan VGR, manual mode lets you correct or add boxes in the **Image** tab and export the result as new training data. **Category:** AI & Machine Learning **Related terms:** [Oriented bounding box](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-oriented-bounding-box), [Training](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-training), [Neural network](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-neural-network), [Manual mode](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-manual-mode) **Related documentation:** [LumiScan Annotation: Annotating images with boxes](https://docs.hdvisionsystems.com/en/lumiscan-annotation/1.8.4/image-annotation.html), [LumiScan VGR: Correcting boxes in manual mode](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/image-annotation.html), [LumiScan Annotation: Labels and the settings file](https://docs.hdvisionsystems.com/en/lumiscan-annotation/1.8.4/user-interface.html) **Wikipedia:** [Labeled data](https://en.wikipedia.org/wiki/Labeled_data) ### API {#gl-api} A defined interface through which one program uses the functions of another, for example by calling methods or reading values. **In LumiScan:** The LumiScan apps have no programming library of their own: their interface is the Data Layer, where every function is a node that is read, written or called - directly, or through the OPC UA Connector on a PC. LumiScan VGR documents its interfaces as the **Settings API** (the JSON settings), the PROFINET interface and the OPC UA interface. **Category:** Software & Integration\ **Abbreviation:** Application Programming Interface **Related terms:** [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [SDK](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-sdk), [REST API](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-rest-api), [OPC UA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua) **Related documentation:** [Integrating LumiScan into your own program](https://docs.hdvisionsystems.com/en/getting-started/integrating.html), [Data Layer: Choosing how to call a function](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/calling-functions.html), [LumiScan VGR: Settings API reference](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/settings.html) **Wikipedia:** [API](https://en.wikipedia.org/wiki/API) ### Auto-exposure polygon {#gl-auto-exposure-polygon} The image area that an automatic exposure control evaluates to judge how bright the image is; only the pixels inside the polygon count. **In LumiScan:** In LumiScan VGR, auto-exposure is part of the recording settings (`autoexposureEnabled`, `autoexposure`): the camera’s exposure time is recomputed after each trigger so that the mean (or median) intensity inside the polygon matches the reference intensity (default 60). The `polygon` is a list of image coordinates, by default the corners (50, 50), (1230, 50), (1230, 910) and (50, 910). In debug mode the polygon is shown in yellow in the **Image** tab, which helps when you set the initial exposure parameters. If auto-exposure is unsuccessful, LumiScan VGR returns `CAMERA_HARDWARE_TRIGGER_AGAIN`; trigger twice at the start of a new process so that the brightness of the scene is initialised. For **Enable Autoexposure** in the LumiScan Viewer, the manual describes a target intensity but no polygon. **Category:** Camera Technology **Related terms:** [Exposure time](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-exposure-time), [ROI](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-roi), [Trigger](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-trigger), [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr) **Related documentation:** [LumiScan VGR: Setting the auto-exposure polygon](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/autoexposure-settings.html#autoexposure-settings-polygon), [LumiScan VGR: Switching auto-exposure on](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/recording-settings.html#recording-settings-autoexposure-enabled), [LumiScan VGR: Showing the polygon in debug mode](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/admin-mode.html) **Wikipedia:** [Exposure (photography)](https://en.wikipedia.org/wiki/Exposure_%28photography%29) ### Aztec code {#gl-aztec-code} A compact 2D code with a bullseye-shaped finder pattern in its centre; it needs no empty margin (quiet zone) around it. **In LumiScan:** LumiScan Aztec Code Reader finds every Aztec code in an image and reports its text, position, outline and score. It needs no template and no configuration: you give it the address of an image node and call `execute`. **Category:** Machine Vision **Related terms:** [Code readers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-code-readers), [QR code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-qr-code), [Data Matrix code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-matrix-code), [Barcode](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-barcode) **Related documentation:** [Aztec Code Reader: Reading a code](https://docs.hdvisionsystems.com/en/lumiscan-aztec-code-reader/1.2.0/lumiscan-aztec-code-reader/reading-a-code.html), [Aztec Code Reader: Reading the result](https://docs.hdvisionsystems.com/en/lumiscan-aztec-code-reader/1.2.0/lumiscan-aztec-code-reader/the-result.html), [Aztec Code Reader: Reading codes on an image stream](https://docs.hdvisionsystems.com/en/lumiscan-aztec-code-reader/1.2.0/lumiscan-aztec-code-reader/reading-codes-on-an-image-stream.html) **Wikipedia:** [Aztec Code](https://en.wikipedia.org/wiki/Aztec_Code) ## B {#b} ### Barcode {#gl-barcode} A linear (1D) code of parallel bars and gaps that is read across its width, for example EAN-13 or Code 128. **In LumiScan:** LumiScan Barcode Reader reads the whole family of linear barcodes in one call - among others Code 128, Code 39, EAN-13 and UPC-A - without the symbology having to be set in advance. It reports text, centre, outline and score of every barcode in the image and always searches the whole image. **Category:** Machine Vision **Related terms:** [Code readers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-code-readers), [Data Matrix code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-matrix-code), [QR code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-qr-code) **Related documentation:** [Barcode Reader: Reading a code](https://docs.hdvisionsystems.com/en/lumiscan-barcode-reader/1.0.0/lumiscan-barcode-reader/reading-a-code.html), [Barcode Reader: Reading the result](https://docs.hdvisionsystems.com/en/lumiscan-barcode-reader/1.0.0/lumiscan-barcode-reader/the-result.html), [Barcode Reader: Reading codes on an image stream](https://docs.hdvisionsystems.com/en/lumiscan-barcode-reader/1.0.0/lumiscan-barcode-reader/reading-codes-on-an-image-stream.html) **External reference:** [GS1](https://www.gs1.org/) **Wikipedia:** [Barcode](https://en.wikipedia.org/wiki/Barcode) ### Baseline {#gl-baseline} The distance between two viewpoints - for example the centres of two cameras - from which the same scene point is observed; the longer the baseline, the larger the parallax at a given depth. **In LumiScan:** The LumiScan X has 13 cameras in one housing, so its camera pairs have several different baselines, and its reconstruction uses several of them. Short baselines make it easier to find corresponding points; long baselines give more parallax and a better depth sensitivity. For a fixed baseline, the depth uncertainty grows approximately with the square of the distance, which is why the depth sensitivity depends on the working distance (recommended: 250 to 3000 mm). **Category:** Camera Technology **Related terms:** [Disparity](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-disparity), [Parallax](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-parallax), [Stereo vision](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stereo-vision), [Working distance](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-working-distance) **Related documentation:** [LumiScan X: Baseline and depth sensitivity](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/acquisition-architectures.html#arch-baseline), [LumiScan X: How the baseline affects measurement quality](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-baseline) **Wikipedia:** [Computer stereo vision](https://en.wikipedia.org/wiki/Computer_stereo_vision) ### Bayer pattern {#gl-bayer-pattern} The arrangement of red, green and blue colour filters on the pixels of a colour camera sensor; each pixel records only one colour, and the full colour image is calculated from neighbouring pixels. **In LumiScan:** The finders and code readers accept Bayer pixel formats from the camera (for example `BayerRG8`, `BayerGR12`) and convert such images to colour before processing. The Barcode Reader writes the names with an underscore (`Bayer_RG8`) but also accepts them without. **Category:** Camera Technology **Related terms:** [Pixel format](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pixel-format), [GenICam](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-genicam) **Related documentation:** [Template Finder: Supported pixel formats](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/requirements.html), [Barcode Reader: Supported pixel formats](https://docs.hdvisionsystems.com/en/lumiscan-barcode-reader/1.0.0/lumiscan-barcode-reader/requirements.html) **Wikipedia:** [Bayer filter](https://en.wikipedia.org/wiki/Bayer_filter) ### Bin picking {#gl-bin-picking} A robot task in which parts lying unsorted in a container are located by a camera and picked one at a time. **In LumiScan:** Bin picking is a main application of LumiScan VGR: it locates the parts in the point cloud of a LumiScan X, calculates grip points and sends the best one to the PLC. For parts on a flat plane, LumiScan Calibration converts 2D image positions into 3D coordinates, for example for robotic picking. **Category:** Robotics **Related terms:** [Vision-guided robotics](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-vision-guided-robotics), [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr), [Grip point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-grip-point), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud) **Related documentation:** [VGR Engineering: Building a first picking configuration](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/getting-started.html), [LumiScan VGR: Requesting grip points from the PLC](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/plc-settings.html#process-flow), [What to install for robot picking](https://docs.hdvisionsystems.com/en/getting-started/platform-overview.html#what-to-install) ### Blob {#gl-blob} A connected region of pixels that stand out from the background, for example all pixels of one part in a thresholded image. **In LumiScan:** LumiScan Area Detector reports every region it finds as an entry of `blobs[]` in its result, with its area in pixels and its position. The label image `output/blob-labels` shows which pixels belong to which blob; Cockpit tints each region in its own colour. **Category:** Machine Vision **Related terms:** [Thresholding](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-thresholding), [ROI](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-roi) **Related documentation:** [Area Detector: Measuring part area from a camera image](https://docs.hdvisionsystems.com/en/lumiscan-area-detector/1.2.0/how-tos/measure-part-area-from-a-camera-image.html), [Area Detector: Detecting areas](https://docs.hdvisionsystems.com/en/lumiscan-area-detector/1.2.0/lumiscan-area-detector/detecting-areas.html), [Area Detector: Finding the pixels of a blob in the label image](https://docs.hdvisionsystems.com/en/lumiscan-area-detector/1.2.0/lumiscan-area-detector/the-label-image.html) **Wikipedia:** [Blob detection](https://en.wikipedia.org/wiki/Blob_detection) ### Bounding box {#gl-bounding-box} A rectangle drawn around an object in an image to mark where it is; an axis-aligned box is parallel to the image edges. **In LumiScan:** LumiScan Object Finder reports each match as an axis-aligned rectangle. Most other LumiScan tools work with rotated boxes: LumiScan Annotation, the manual mode of LumiScan VGR, AI Object Matching and Template Finder use oriented bounding boxes. Cockpit draws the boxes of the running apps on the image. **Category:** AI & Machine Learning **Related terms:** [Oriented bounding box](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-oriented-bounding-box), [Annotation](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-annotation), [LumiScan Cockpit](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-cockpit) **Related documentation:** [Object Finder: Reading the match rectangles](https://docs.hdvisionsystems.com/en/lumiscan-object-finder/1.1.0/lumiscan-object-finder/finding-an-object.html), [Cockpit: Seeing the boxes on the image](https://docs.hdvisionsystems.com/en/lumiscan-cockpit/1.2.0/lumiscan-cockpit/viewing-results.html), [LumiScan Annotation: Drawing boxes](https://docs.hdvisionsystems.com/en/lumiscan-annotation/1.8.4/image-annotation.html) **Wikipedia:** [Minimum bounding box](https://en.wikipedia.org/wiki/Minimum_bounding_box) ### Broker {#gl-broker} A program that connects other programs: each one registers with the broker, and every message between them passes through it. **In LumiScan:** On a PC, the broker of LumiScan Keryx (`krxsystem`) connects the LumiScan apps, Cockpit, the OPC UA Connector and your program. You normally do not start it yourself: the first app that finds no broker starts it at `tcp://127.0.0.1:5555`, and it keeps running when the apps end. It is reachable from the same PC only and has no authentication. The OPC UA Connector never starts a broker. **Category:** LumiScan Terminology **Related terms:** [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx), [Keryx page](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer-page), [krxclient](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-krxclient) **Related documentation:** [LumiScan Keryx: How the broker is started](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/keryx.html#broker), [LumiScan Keryx: Using another broker address](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/keryx.html#several-brokers), [Troubleshooting: No broker answers](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/troubleshooting.html#no-broker) **Wikipedia:** [Message broker](https://en.wikipedia.org/wiki/Message_broker) ## C {#c} ### CAD model {#gl-cad-model} A digital 3D description of the exact geometry of a part, created with design (CAD) software; STL is a common file format for such models that describes the surface with triangles. **In LumiScan:** LumiScan VGR uses CAD models in two ways. For rigid objects that always match their CAD model, the 3D object fit methods `OBJECT_MATCHING` and `OBJECT_REFINEMENT` fit the CAD model of the object (`cadPath`) to the point cloud; a point cloud file of the object (`pointcloudPath`) can be given instead, and for `OBJECT_MATCHING` it is used if both are set. In the robot configuration, robots and grippers can be visualised with CAD models in `.stl` format, and additional 3D geometry can be provided for collision detection. The manuals do not state which file format `cadPath` expects. **Category:** Robotics\ **Abbreviation:** CAD: computer-aided design **Related terms:** [Object detection](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-object-detection), [URDF](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-urdf), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud) **Related documentation:** [LumiScan VGR: Fitting a CAD model (Object Matching)](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/detection-3d-settings-object-fit-method-object-matching.html#detection-3d-settings-object-fit-method-object-matching-cad-path), [LumiScan VGR: Refining a known position with a CAD model](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/detection-3d-settings-object-fit-method-object-refinement.html), [LumiScan VGR: Robot and gripper geometry in the settings](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings.html) **Wikipedia:** [Computer-aided design](https://en.wikipedia.org/wiki/Computer-aided_design), [STL (file format)](https://en.wikipedia.org/wiki/STL_%28file_format%29) ### Calibration {#gl-calibration} Determining the relationship between what a camera sees and real-world measurements, so that positions in the image can be converted into positions in space. **In LumiScan:** The word has three uses. LumiScan Calibration converts 2D image coordinates into 3D coordinates on a calibrated plane; its calibration data is a TIFF file that HD Vision Systems creates from images of a calibration plate you send in. Each LumiScan X has a factory camera calibration (`.hdvcal` file). LumiScan VGR needs a hand-eye calibration for every robot configuration. **Category:** Machine Vision **Related terms:** [Camera calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-camera-calibration), [Hand-eye calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-hand-eye-calibration), [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose) **Related documentation:** [Calibration: Getting the calibration data (TIFF file)](https://docs.hdvisionsystems.com/en/lumiscan-calibration/2.0.0/lumiscan-calibration/tiff-file.html), [Calibration: Adding a calibrated plane as a module](https://docs.hdvisionsystems.com/en/lumiscan-calibration/2.0.0/lumiscan-calibration/adding-new-module.html), [Calibration: Transforming image points into 3D coordinates](https://docs.hdvisionsystems.com/en/lumiscan-calibration/2.0.0/lumiscan-calibration/functionalities.html), [Calibration: Troubleshooting wrong coordinates](https://docs.hdvisionsystems.com/en/lumiscan-calibration/2.0.0/how-tos/troubleshooting.html) **Wikipedia:** [Calibration](https://en.wikipedia.org/wiki/Calibration) ### Camera calibration {#gl-camera-calibration} Measuring the exact optical properties and geometry of a camera so that its images can be converted into accurate measurements or 3D data. **In LumiScan:** Every LumiScan X is calibrated by HD Vision Systems and comes with a calibration file (`.hdvcal`) that carries the camera’s serial number in its name. The LumiScan Viewer needs it to compute point clouds; LumiScan VGR references it as `calibrationFile` of each camera, and LumiScan VGR Engineering uploads it into the configuration. If the point cloud stays poor despite correct settings and a clean front glass, the camera must be recalibrated by HD Vision Systems. **Category:** Camera Technology **Related terms:** [Calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-calibration), [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud) **Related documentation:** [LumiScan Viewer: Selecting the calibration file](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-calibration), [LumiScan X: How the camera array is calibrated](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-calibration), [VGR Engineering: Uploading the .hdvcal file of a camera](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/getting-started.html), [LumiScan X FAQ: Which calibration file do I need?](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/faq.html#faq-calibration-file) **Wikipedia:** [Camera resectioning](https://en.wikipedia.org/wiki/Camera_resectioning) ### cifX card {#gl-cifx-card} A PC interface card by Hilscher that connects a computer to an industrial network such as PROFINET. **In LumiScan:** The manuals mention the cifX card only in the troubleshooting of LumiScan Hand-Eye Calibration: if the robot position read from the PLC "Can not be interpreted" and the PROFINET tab shows that no connection has been established, check the cifX card name - normally `cifx0;0` if there is only one Hilscher card. The system requirements of LumiScan VGR name PROFINET as an interface but no specific card. **Category:** Industrial Communication **Related terms:** [PROFINET](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-profinet), [Hand-eye calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-hand-eye-calibration), [PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-plc) **Related documentation:** [LumiScan VGR: Checking the cifX card name (hand-eye calibration)](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/troubleshooting.html), [Troubleshooting: Hand-eye calibration](https://docs.hdvisionsystems.com/en/troubleshooting.html#hand-eye-troubleshooting) ### Code readers {#gl-code-readers} Programs that find machine-readable codes in an image and decode their content. **In LumiScan:** The manuals call four LumiScan apps the code readers: DMC Reader, QR Code Reader, Aztec Code Reader and Barcode Reader. They need no template and no configuration, have no modules (one reader per installation at `hdvisionsystems/`), are called with one execute method, and report every code in the image with text, centre, outline and score. They are licensed as Standard and Advanced. **Category:** LumiScan Terminology **Related terms:** [Data Matrix code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-matrix-code), [QR code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-qr-code), [Aztec code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-aztec-code), [Barcode](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-barcode), [Finders](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-finders) **Related documentation:** [DMC Reader: Reading a code (same for all code readers)](https://docs.hdvisionsystems.com/en/lumiscan-dmc-reader/1.1.0/lumiscan-dmc-reader/reading-a-code.html), [Data Layer: Where the code readers keep their nodes](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/addresses.html#layouts-per-app), [Licensing: Standard and Advanced licences](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/licence-reference.html#standard-and-advanced) ### CodeMeter Runtime {#gl-codemeter-runtime} Software by WIBU-SYSTEMS AG that lets programs read licences from a CodeMeter licence container, such as a USB licence key. **In LumiScan:** Every PC that uses a LumiScan Key needs CodeMeter Runtime 9.00 or later. In CodeMeter Control Center the key appears as **CmStick/C**; `cmu --list` shows it on the command line. Apps running natively on ctrlX OS do not need CodeMeter. CodeMeter is the licensing system of WIBU-SYSTEMS AG; the LumiScan Key is a CodeMeter container. **Category:** Software & Integration **Related terms:** [LumiScan Key](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-key), [ctrlX WORKS](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-works), [Engineering app](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-engineering-app) **Related documentation:** [Installing and checking CodeMeter Runtime](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/installing-codemeter.html), [CodeMeter for virtual machines and containers](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/installing-codemeter.html#virtual-machines-and-containers), [Troubleshooting: The key is not detected](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/troubleshooting.html#key-not-detected) ### Confidence {#gl-confidence} A number, usually between 0 and 1, that says how certain an algorithm is about a result; also called score. **In LumiScan:** Template Finder reports a confidence for each match and sorts by it; Object Finder reports a score and drops matches below `input/confidence-threshold` (default 0.6). AI Object Matching reports a score per object and uses one threshold per class (`thresholdList` in the model JSON file). The code readers report a score per code, Text Reader a confidence per word (filter with `input/min-score`). In the LumiScan Viewer, the **Confidence Threshold** removes uncertain points from the point cloud. **Category:** Machine Vision **Related terms:** [Template matching](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-template-matching), [Inference](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-inference), [OCR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ocr) **Related documentation:** [Template Finder: Tuning the search](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/tuning-the-search.html), [Object Finder: Tuning the search](https://docs.hdvisionsystems.com/en/lumiscan-object-finder/1.1.0/lumiscan-object-finder/tuning-the-search.html), [Text Reader: Setting a minimum score](https://docs.hdvisionsystems.com/en/lumiscan-text-reader/1.1.0/lumiscan-text-reader/reading-accurately.html), [AI Object Matching: Setting the class thresholds](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/models-folder.html#model-json-file) ### Container {#gl-container} A packaged, isolated environment in which a program runs together with everything it needs, independently of the rest of the computer; Podman is one program that runs containers. **In LumiScan:** The model conversion of LumiScan Training (ONNX to Hailo) runs in a container. It needs the Hailo PlugIn and the Podman CLI 6.0.x for Windows with Hyper-V; the first conversion starts the Podman machine. If LumiScan software runs in a container, CodeMeter Runtime runs on the host with the LumiScan Key, and the software reaches it over the network. **Category:** Software & Integration **Related terms:** [TPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tpu), [ONNX](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-onnx), [CodeMeter Runtime](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-codemeter-runtime) **Related documentation:** [LumiScan Training: Installing Podman](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/lumiscan-training-installation.html#installing-podman), [LumiScan Training: Installing the Hailo PlugIn](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/lumiscan-training-installation.html#installing-hailo-plugin), [Licensing software that runs in a container](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/installing-codemeter.html#virtual-machines-and-containers) **Wikipedia:** [Containerization (computing)](https://en.wikipedia.org/wiki/Containerization_%28computing%29) ### ctrlX CORE {#gl-ctrlx-core} A compact industrial controller by Bosch Rexroth that runs the ctrlX OS operating system and its apps. **In LumiScan:** The LumiScan apps run on a ctrlX CORE as ctrlX apps and use its ctrlX Data Layer; a ctrlX PLC on the same device calls them directly. The Cam Driver manual describes how to connect a camera to a ctrlX CORE X3. AI Object Matching can use a TPU on a ctrlX CORE X3 or X7. **Category:** Software & Integration **Related terms:** [ctrlX OS](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-os), [ctrlX IPC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-ipc), [ctrlX PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-plc), [TPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tpu) **Related documentation:** [Your first vision application on ctrlX OS](https://docs.hdvisionsystems.com/en/getting-started/first-application.html), [Cam Driver: Connecting a camera to a ctrlX CORE X3](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/hardware-setup-for-ctrlx-x3.html), [AI Object Matching: Using the TPU of a ctrlX CORE](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/requirements.html) ### ctrlX Data Layer {#gl-ctrlx-data-layer} The data exchange layer of ctrlX OS, through which the apps on a ctrlX device and the PLC share values and call each other’s functions. **In LumiScan:** On a ctrlX CORE or ctrlX IPC, the LumiScan apps register their nodes in the ctrlX Data Layer under `hdvisionsystems/`. There is nothing to install for it. You look at the nodes in the Data Layer view of the ctrlX OS web interface; a method call answers with ctrlX results such as `DL_OK` or `DL_TOO_MANY_OPERATIONS`. **Category:** LumiScan Terminology **Related terms:** [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx), [ctrlX OS](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-os), [Node](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-node) **Related documentation:** [Working with the ctrlX Data Layer on ctrlX OS](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/ctrlx-data-layer.html), [What differs from LumiScan Keryx](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/platforms.html) ### ctrlX IPC {#gl-ctrlx-ipc} An industrial PC by Bosch Rexroth that runs ctrlX OS. **In LumiScan:** A ctrlX IPC is used like a ctrlX CORE: the LumiScan apps run on it as ctrlX apps with the ctrlX Data Layer and ctrlX licences. **Category:** Software & Integration **Related terms:** [ctrlX CORE](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-core), [ctrlX OS](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-os), [IPC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ipc) **Related documentation:** [Installing the apps and licences on ctrlX OS](https://docs.hdvisionsystems.com/en/getting-started/first-application.html#step-2), [Licensing apps on ctrlX OS](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/path-ctrlx-os.html) ### ctrlX OS {#gl-ctrlx-os} The Linux-based operating system of Bosch Rexroth for automation devices, on which apps are installed and exchange data. **In LumiScan:** ctrlX OS is one of the two platforms of the LumiScan apps (the other is a PC with LumiScan Keryx). On a ctrlX CORE or ctrlX IPC you install the apps as ctrlX apps and their ctrlX licences in the License Manager; an app without a licence stops shortly after starting and writes the reason to the system log. Settings files are uploaded through the web interface or WebDAV. **Category:** Software & Integration **Related terms:** [ctrlX Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-data-layer), [ctrlX Store](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-store), [ctrlX CORE](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-core), [WebDAV](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-webdav) **Related documentation:** [Installing the apps and licences on ctrlX OS](https://docs.hdvisionsystems.com/en/getting-started/first-application.html#step-2), [Working with the ctrlX Data Layer on ctrlX OS](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/ctrlx-data-layer.html), [Uploading files to ctrlX OS with WebDAV](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/uploading-data.html#upload-using-webdav), [Licensing apps on ctrlX OS](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/path-ctrlx-os.html) ### ctrlX PLC {#gl-ctrlx-plc} The PLC function of ctrlX OS, programmed with ctrlX PLC Engineering. **In LumiScan:** A ctrlX PLC program reads, writes and calls the nodes of the LumiScan apps directly on the same ctrlX device. Build the PLC logic on plain nodes (numbers, booleans, strings); FlatBuffers results need their schema - AI Object Matching describes how to import it into ctrlX PLC Engineering. **Category:** Industrial Communication **Related terms:** [PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-plc), [ctrlX Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-data-layer), [FlatBuffers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-flatbuffers) **Related documentation:** [Triggering a vision app from the ctrlX PLC](https://docs.hdvisionsystems.com/en/getting-started/first-application.html#step-8), [Reading FlatBuffers results in ctrlX PLC Engineering](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/accessing-flatbuffers-data.html), [Data Layer: Connecting the ctrlX PLC](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/ctrlx-data-layer.html) ### ctrlX Store {#gl-ctrlx-store} The Bosch Rexroth online store for ctrlX apps and their licences. **In LumiScan:** Where you bought a product decides how it is licensed. Bought in the ctrlX Store for ctrlX OS: a ctrlX licence on the device. Bought in the ctrlX Store for Windows 11: a licence in ctrlX WORKS plus a LumiScan Key. Bought from HD Vision Systems: the licence is on the LumiScan Key. **Category:** Software & Integration **Related terms:** [ctrlX WORKS](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-works), [LumiScan Key](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-key), [ctrlX OS](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-os) **Related documentation:** [Licensing a ctrlX Store app on ctrlX OS](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/path-ctrlx-os.html), [Licensing a ctrlX Store app on Windows](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/path-ctrlx-windows.html), [ctrlX licence part numbers](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/licence-reference.html) ### ctrlX WORKS {#gl-ctrlx-works} The Bosch Rexroth engineering software for ctrlX devices on a Windows PC, which also manages ctrlX licences there. **In LumiScan:** For LumiScan software bought in the ctrlX Store and running on Windows 11, the licence is held in ctrlX WORKS; a LumiScan Key is needed in addition to protect the software against reverse engineering. **Category:** Software & Integration **Related terms:** [ctrlX Store](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-store), [LumiScan Key](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-key), [CodeMeter Runtime](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-codemeter-runtime) **Related documentation:** [Licensing ctrlX Store apps on Windows with ctrlX WORKS](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/path-ctrlx-windows.html) ### CUDA {#gl-cuda} NVIDIA’s platform for running calculations on its graphics cards (GPUs); cuDNN is its library for neural networks. **In LumiScan:** LumiScan VGR and LumiScan VGR Engineering need CUDA Toolkit 11.8 and cuDNN 8.8.1 (installers from HD Vision Systems), LumiScan Training needs CUDA Toolkit 11.8. AI Object Matching on a PC uses the GPU when `provider` is `CUDA` in the model JSON file; it needs CUDA Toolkit 12.9 and cuDNN 9.11.1. **Category:** AI & Machine Learning\ **Abbreviation:** Compute Unified Device Architecture **Related terms:** [GPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-gpu), [Inference](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-inference), [TPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tpu) **Related documentation:** [VGR Engineering: Installing CUDA and cuDNN first](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/installation.html), [LumiScan VGR: Required CUDA and cuDNN versions](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/system-requirements.html), [AI Object Matching: Inference on the GPU (provider CUDA)](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/models-folder.html#model-json-file), [LumiScan Training: Required CUDA version](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/requirements.html) ## D {#d} ### Data Layer {#gl-data-layer} A shared data space in which programs publish values and functions under fixed addresses, so that other programs can read, write and call them. **In LumiScan:** Every function of a LumiScan app is a node of the Data Layer, which the apps, the PLC, Cockpit and your program use. There are two Data Layers with the same addresses, node types and call patterns: the ctrlX Data Layer on ctrlX OS and LumiScan Keryx on a PC. Where a manual writes only "Data Layer", the statement holds for both. **LumiScan Data Layer** is the manual that describes what all apps have in common. **Category:** LumiScan Terminology **Related terms:** [Node](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-node), [ctrlX Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-data-layer), [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx), [Handshake](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-handshake), [Execute method](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-execute-method), [Stream](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stream) **Related documentation:** [Finding the address of a node](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/addresses.html), [Choosing how to call a function](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/calling-functions.html), [Integrating LumiScan into your own program](https://docs.hdvisionsystems.com/en/getting-started/integrating.html), [LumiScan Data Layer manual](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/index.html) ### Data Matrix code {#gl-data-matrix-code} A square or rectangular 2D code made of small square cells, often marked directly onto parts; abbreviated DMC. **In LumiScan:** LumiScan DMC Reader reads ECC 200 Data Matrix codes, the modern square-module standard used for part marking and direct part marking. It reports every code in the image with text, centre, outline and score, and needs no template and no configuration. **Category:** Machine Vision\ **Abbreviation:** DMC (Data Matrix code) **Related terms:** [Code readers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-code-readers), [QR code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-qr-code), [Aztec code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-aztec-code) **Related documentation:** [DMC Reader: Reading a code](https://docs.hdvisionsystems.com/en/lumiscan-dmc-reader/1.1.0/lumiscan-dmc-reader/reading-a-code.html), [DMC Reader: Reading the result](https://docs.hdvisionsystems.com/en/lumiscan-dmc-reader/1.1.0/lumiscan-dmc-reader/the-result.html), [DMC Reader: Reading codes on an image stream](https://docs.hdvisionsystems.com/en/lumiscan-dmc-reader/1.1.0/lumiscan-dmc-reader/reading-codes-on-an-image-stream.html) **Wikipedia:** [Data Matrix](https://en.wikipedia.org/wiki/Data_Matrix) ### Depth map {#gl-depth-map} An image in which each pixel holds the distance to the scene instead of a brightness; it can be converted into a point cloud. **In LumiScan:** The LumiScan X computes depth with a resolution of 1.2 MP (1280 × 960). The LumiScan Viewer shows the result as a point cloud; the **Depth Range** setting limits the distances that are calculated, which also speeds up the calculation. **Category:** Camera Technology **Related terms:** [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud), [Light field](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-light-field), [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x) **Related documentation:** [LumiScan X: How depth maps and point clouds are computed](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-depth-maps-point-clouds), [LumiScan Viewer: Setting the depth range](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-depth-range), [LumiScan X: Depth resolution](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/product-description.html#sec-sensor-technical-specifications) **Wikipedia:** [Depth map](https://en.wikipedia.org/wiki/Depth_map) ### Disparity {#gl-disparity} The shift in position of the same scene point between two images taken from different viewpoints; the closer the point, the larger the disparity. **In LumiScan:** The LumiScan X derives depth from the disparities between the images of its 13 cameras. For two cameras with parallel optical axes, the depth is *Z* = *f* · *B* / *d* (focal length *f* and disparity *d* in pixels, baseline *B*): a point twice as far away shows half the disparity. Uncertain points can be removed with the **Confidence Threshold** of the LumiScan Viewer. **Category:** Machine Vision **Related terms:** [Parallax](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-parallax), [Baseline](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-baseline), [Depth map](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-depth-map), [Stereo vision](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stereo-vision) **Related documentation:** [LumiScan X: Parallax, disparity and depth](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/light-field-imaging.html#lf-parallax-disparity), [LumiScan X: Finding corresponding points](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-correspondence) **Wikipedia:** [Binocular disparity](https://en.wikipedia.org/wiki/Binocular_disparity) ## E {#e} ### Engineering app {#gl-engineering-app} Software used to prepare or configure an application, as opposed to the software that runs it in production. **In LumiScan:** The engineering apps are LumiScan Annotation, LumiScan Training and LumiScan VGR Engineering. Bought from HD Vision Systems, they are an annual subscription on the LumiScan Key and stop working when it is not renewed. The **runtimes and vision apps** - for example LumiScan VGR, LumiScan Cam Driver and the code readers - are one-time purchases without renewal. **Category:** LumiScan Terminology **Related terms:** [LumiScan Key](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-key), [LumiScan app](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-app) **Related documentation:** [Renewing engineering licences](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/renewing-engineering-licences.html), [Requesting a licence update](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/requesting-a-licence-update.html), [Licences bought from HD Vision Systems](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/path-hdvs.html) ### Epipolar geometry {#gl-epipolar-geometry} The geometry of two cameras that observe the same scene: a point in one image can only correspond to points on one line in the other image, the epipolar line. **In LumiScan:** The epipolar geometry between the cameras of the LumiScan X follows from their calibration (the `.hdvcal` file), and the reconstruction of the LumiScan X uses this epipolar constraint: the point corresponding to a point in one camera image must lie on the epipolar line in another camera image, which reduces the search space for finding correspondences. **Category:** Machine Vision **Related terms:** [Stereo vision](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stereo-vision), [Disparity](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-disparity), [Camera calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-camera-calibration), [Extrinsic parameters](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-extrinsic-parameters) **Related documentation:** [LumiScan X: Correspondence and epipolar geometry](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-correspondence) **Wikipedia:** [Epipolar geometry](https://en.wikipedia.org/wiki/Epipolar_geometry) ### Execute method {#gl-execute-method} A function that is started with a single call and returns only when the operation has finished. **In LumiScan:** An execute method is one of the three ways to call a function of a LumiScan app, meant for operations that finish within about 1 s, such as `capture` or `find-template`. The client writes the inputs (separate nodes), then writes to the `execute` node. Check both results: the result of the call (could it run?) and the status (did it succeed?). Over OPC UA an `execute` node is a method called with the **Call** service. **Category:** LumiScan Terminology **Related terms:** [Handshake](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-handshake), [Stream](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stream), [Status code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-status-code), [TooManyOperations](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-too-many-operations) **Related documentation:** [Calling an execute method](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/execute.html), [Calling a function from your program](https://docs.hdvisionsystems.com/en/getting-started/integrating.html#step-4), [Reading the result of a method call](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/status-codes.html#method-results) ### Exposure time {#gl-exposure-time} How long the camera sensor collects light for one image; a longer exposure gives a brighter image but blurs moving parts. **In LumiScan:** In the LumiScan Viewer you set the exposure time of the LumiScan X in µs, or let **Enable Autoexposure** choose it. The Cam Driver sets it through `input/exposure-time` or the camera’s GenICam features; it is not applied while a stream runs. LumiScan VGR can use auto-exposure and reports `CAMERA_BAD_EXPOSURETIME_SETTING` when the requested exposure time cannot be reached. **Category:** Camera Technology **Related terms:** [Gain](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-gain), [Trigger](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-trigger), [Frame rate](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-frame-rate), [Auto-exposure polygon](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-auto-exposure-polygon) **Related documentation:** [LumiScan Viewer: Setting exposure time and auto-exposure](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-camera-settings), [Cam Driver: Setting camera features such as the exposure time](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/initializing-the-camera.html#genicam-features), [Cam Driver: Exposure settings before streaming](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/streaming-images.html#running-a-stream), [LumiScan VGR: Auto-exposure limits](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/autoexposure-settings.html) **Wikipedia:** [Shutter speed](https://en.wikipedia.org/wiki/Shutter_speed) ### Extrinsic parameters {#gl-extrinsic-parameters} The position and orientation (translation and rotation) of a camera relative to a common coordinate system. **In LumiScan:** The extrinsic parameters describe how the 13 cameras of the LumiScan X are positioned and oriented relative to each other; the `.hdvcal` calibration file contains them for all 13 cameras, together with the intrinsic parameters. Small errors in them cause systematic depth deviations, which is why a camera array needs a mechanically stable construction. The point cloud is output in the coordinate system of the LumiScan X, with the camera at the origin and aligned in the direction of the Z axis; the position of the camera relative to a robot is determined by the hand-eye calibration. Not to be confused with the extrinsic Euler angle conventions (`EXT_…`) in the LumiScan VGR robot settings. **Category:** Camera Technology **Related terms:** [Intrinsic parameters](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-intrinsic-parameters), [Camera calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-camera-calibration), [Hand-eye calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-hand-eye-calibration), [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose) **Related documentation:** [LumiScan X: Extrinsic parameters](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-extrinsic), [LumiScan X: The calibration file](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-calibration-practice) **Wikipedia:** [Camera resectioning](https://en.wikipedia.org/wiki/Camera_resectioning) ## F {#f} ### Field of view {#gl-field-of-view} The area of the scene a camera sees at a given distance; it grows with the distance and with the opening angle of the lens. **In LumiScan:** The LumiScan X comes in three opening angles (60°, 40°, 30°). For each standard configuration the manual lists the field of view at the minimum and the maximum working distance, for example about 180 mm × 100 mm to 400 mm × 280 mm for LumiScanX-60-F035. **Category:** Camera Technology **Related terms:** [Working distance](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-working-distance), [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x), [ROI](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-roi) **Related documentation:** [LumiScan X: Choosing a configuration by field of view](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/product-description.html#sec-standard-configurations) **Wikipedia:** [Field of view](https://en.wikipedia.org/wiki/Field_of_view) ### Finders {#gl-finders} A group name for the LumiScan apps that search an image for something you describe and report what they found. **In LumiScan:** The Data Layer manual calls Template Finder, Object Finder, Area Detector and Text Reader the finders. They share one way of working: modules are created and removed while the app runs (`system/create-module`), each function is an execute method under `//`, the outcome is in `/output/status-code` with their own execution status values, and on ctrlX OS one licence covers ten modules. **Category:** LumiScan Terminology **Related terms:** [Code readers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-code-readers), [Module](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-module), [Status code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-status-code), [Template matching](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-template-matching) **Related documentation:** [Creating and saving finder modules](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/settings-and-modules.html#registry-apps), [Template Finder: Managing modules](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/module-management.html), [Reading the execution status of a finder](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/status-codes.html#execution-status) ### Firewall {#gl-firewall} A protective function of the operating system or network that blocks connections unless they are allowed by a rule. **In LumiScan:** On Windows, the LumiScan software must be allowed through the Windows Firewall, otherwise the LumiScan X is not found or only a black image with a timeout appears. Open TCP 4840 for the OPC UA Connector only for the address of the PLC. File Transfer and a shared LumiScan Training backend need their ports allowed as well. **Category:** Software & Integration **Related terms:** [OPC UA Connector](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua-connector), [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x), [Static IP address](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-static-ip-address) **Related documentation:** [LumiScan X: Allowing the software through the Windows Firewall](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/installation.html#sec-windows-firewall), [LumiScan X: Granting network access by hand](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/installation.html#sec-manual-network-access), [OPC UA Connector: Restricting port 4840](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/opc-ua.html#security) **Wikipedia:** [Firewall (computing)](https://en.wikipedia.org/wiki/Firewall_%28computing%29) ### FlatBuffers {#gl-flatbuffers} A compact binary data format: a message is described by a schema and can be read without unpacking it first. **In LumiScan:** Images and structured results of the LumiScan apps are FlatBuffers values on the Data Layer; their schemas are published under `types/hdvisionsystems//…`. Decode them with the FlatBuffers library of your language. For PLC logic use the plain nodes instead; over OPC UA a FlatBuffers value is a ByteString. **Category:** Software & Integration **Related terms:** [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [JSON](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-json), [ctrlX PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-plc) **Related documentation:** [Reading a FlatBuffers result in a PLC](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/accessing-flatbuffers-data.html), [Decoding results in your own program](https://docs.hdvisionsystems.com/en/getting-started/integrating.html#step-6), [Data Layer: Where the schemas are](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/addresses.html#types) **Wikipedia:** [FlatBuffers](https://en.wikipedia.org/wiki/FlatBuffers) ### Frame rate {#gl-frame-rate} How many images a camera delivers per second, given in frames per second (fps). **In LumiScan:** The LumiScan X delivers up to 6 fps with `Mono8` and 3 fps with `Mono12`. For 2D cameras, the image stream of the Cam Driver is faster than one capture call per image (63 to 68 against about 34 images per second in HD Vision Systems' measurement); the GenICam feature `TriggerOverlap` can raise the frame rate further. **Category:** Camera Technology **Related terms:** [Exposure time](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-exposure-time), [Stream](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stream), [Pixel format](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pixel-format) **Related documentation:** [Cam Driver: Getting the highest frame rate](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/streaming-images.html#trigger-overlap), [Cam Driver: Measured frame rates](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/streaming-images.html#measured-frame-rates), [LumiScan Viewer: Pixel format and frame rate](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-camera-settings) **Wikipedia:** [Frame rate](https://en.wikipedia.org/wiki/Frame_rate) ## G {#g} ### Gain {#gl-gain} An electronic amplification of the sensor signal that makes an image brighter without a longer exposure, but also amplifies noise. **In LumiScan:** The Area Detector manual names sensor noise at high gain as one cause of soft edges, which make a fixed threshold brittle, and recommends lowering the gain and adding light instead. Like other GenICam features of a 2D camera, gain is set through the Cam Driver’s feature nodes when the camera offers it. **Category:** Camera Technology **Related terms:** [Exposure time](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-exposure-time), [GenICam](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-genicam) **Related documentation:** [Cam Driver: Setting camera features such as gain](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/initializing-the-camera.html#genicam-features), [Area Detector: Reducing noise and soft edges](https://docs.hdvisionsystems.com/en/lumiscan-area-detector/1.2.0/lumiscan-area-detector/analysing-a-scene.html) **Wikipedia:** [Gain (electronics)](https://en.wikipedia.org/wiki/Gain_%28electronics%29) ### GenICam {#gl-genicam} A camera standard of the EMVA that gives camera functions (features such as exposure time or trigger mode) uniform names, so that one program can control cameras of different makers. **In LumiScan:** The LumiScan Cam Driver connects Ethernet-enabled, GenICam-compliant cameras. After connecting, the camera’s own features appear under `/features` on the Data Layer, with names and values from the camera. Implementations differ between makers, so some functions may be missing on untested cameras. The Cam Driver accesses a camera through the GenTL producer configured for it, which must be installed. **Category:** Camera Technology\ **Abbreviation:** Generic Interface for Cameras **Related terms:** [GigE Vision](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-gige-vision), [LumiScan Cam Driver](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-cam-driver), [Pixel format](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pixel-format) **Related documentation:** [Cam Driver: Editing GenICam features](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/initializing-the-camera.html#genicam-features), [Cam Driver: Configuring a camera](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/setup-camera-configuration.html), [Cam Driver: Mapping feature names of a camera](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/execute-a-method.html#software-trigger), [Cam Driver: Tested cameras](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/requirements.html) **External reference:** [EMVA - European Machine Vision Association](https://www.emva.org/) **Wikipedia:** [GenICam](https://en.wikipedia.org/wiki/GenICam) ### GigE Vision {#gl-gige-vision} An interface standard for industrial cameras that transmit images over Gigabit Ethernet. **In LumiScan:** The Cam Driver works with Ethernet-enabled GenICam cameras. In the image stream, the `external_id` of a frame is the camera’s GigE Vision block ID; a gap there without a gap in `sequence` means images were lost between the camera and the Cam Driver. **Category:** Camera Technology **Related terms:** [GenICam](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-genicam), [Jumbo frames](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-jumbo-frames), [PoE](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-poe) **Related documentation:** [Cam Driver: Setting the MTU for Ethernet cameras](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/initializing-the-camera.html#mtu-size-change), [Cam Driver: Connecting a camera to a ctrlX CORE X3](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/hardware-setup-for-ctrlx-x3.html), [Cam Driver: What each frame carries (block ID)](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/streaming-images.html#frames) **External reference:** [A3 - Association for Advancing Automation](https://www.automate.org/) **Wikipedia:** [GigE Vision](https://en.wikipedia.org/wiki/GigE_Vision) ### GPU {#gl-gpu} The processor of a graphics card; it performs many calculations in parallel and therefore speeds up neural networks and 3D processing. **In LumiScan:** LumiScan VGR and LumiScan VGR Engineering need an NVIDIA GPU that supports CUDA 11.8, LumiScan Training an NVIDIA RTX graphics card. AI Object Matching on a PC can infer on an NVIDIA GPU (`provider` = `CUDA`). The computer for the LumiScan X needs at least an NVIDIA GTX 1650. **Category:** AI & Machine Learning\ **Abbreviation:** Graphics Processing Unit **Related terms:** [CUDA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-cuda), [TPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tpu), [Inference](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-inference) **Related documentation:** [AI Object Matching: Running inference on the GPU](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/models-folder.html#model-json-file), [LumiScan VGR: GPU requirements](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/system-requirements.html), [LumiScan Training: Choosing the training profile for the GPU memory](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/json-settings.html) **Wikipedia:** [Graphics processing unit](https://en.wikipedia.org/wiki/Graphics_processing_unit) ### Grip point {#gl-grip-point} The position and orientation at which a robot gripper takes hold of an object. **In LumiScan:** LumiScan VGR calculates a set of possible grip points for every detected object and returns the best valid one, by grip priority, to the PLC. **Get Best Result** returns it without consuming it; **Grip Best Result** marks it as gripped and moves on to the next candidate. `RESULTS_EMPTY` means no valid grip point is left for the active robot. **Category:** Robotics **Related terms:** [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose), [Tool center point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tool-center-point), [Pipeline](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pipeline), [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr), [Waypoint](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-waypoint) **Related documentation:** [LumiScan VGR: Configuring the grip point calculation](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/pipelines.html), [LumiScan VGR: Requesting the best grip point from the PLC](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/plc-settings.html#process-flow), [LumiScan VGR: Requesting grip poses over OPC UA](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/opcua/opc-ua-client-integration-guide.html), [Get Best Result or Grip Best Result?](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/faq.html#faq-get-vs-grip-best-result) ## H {#h} ### HALCON {#gl-halcon} A commercial machine vision software library by MVTec. **In LumiScan:** LumiScan VGR needs a valid HALCON licence for point cloud matching, and the HALCON `bin` directory must be in the `PATH` environment variable; otherwise no point cloud matching can be performed. **Category:** Software & Integration **Related terms:** [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud) **Related documentation:** [Installing the HALCON licence and setting PATH](https://docs.hdvisionsystems.com/en/faq.html#faq-vgr-no-matching), [LumiScan VGR: Troubleshooting](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/troubleshooting.html) ### Hand-eye calibration {#gl-hand-eye-calibration} Determining where a camera is relative to a robot, so that positions the camera sees can be converted into robot coordinates. **In LumiScan:** Every robot configuration of LumiScan VGR needs a valid hand-eye calibration transformation; without it, a function returns `MISSING_TRANSFORM`. In LumiScan VGR Engineering it is part of the robot element. Repeat the calibration whenever the camera or the robot has been moved, even slightly. The troubleshooting pages describe the **LumiScan Hand-Eye Calibration** program: 6 to 15 images of the calibration plate from clearly different angles, with the robot pose read from the PLC. **Category:** Robotics **Related terms:** [Calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-calibration), [Robot base](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-robot-base), [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose), [URDF](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-urdf) **Related documentation:** [VGR Engineering: Adding the hand-eye calibration to a robot](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/elements.html#robots), [Hand-eye calibration: Fixing a poor result](https://docs.hdvisionsystems.com/en/troubleshooting.html#hand-eye-troubleshooting), [LumiScan VGR: Robot settings](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/robots.html) **Wikipedia:** [Hand eye calibration problem](https://en.wikipedia.org/wiki/Hand_eye_calibration_problem) ### Handshake {#gl-handshake} A way for two programs to take turns on a few signals - request, acknowledge, done - so that a long operation can be started and followed without waiting inside a call. **In LumiScan:** In the Cam Driver, AI Object Matching and Calibration, a function such as `connect-camera` or `inference` is started with the `ready`/`request` handshake: wait for `ready` = `true`, set `request`, wait for `ready` = `false`, reset `request`, wait for `ready` = `true`, then read the status and outputs. Use it for operations longer than about 1 s. LumiScan VGR uses a similar handshake with its PLC signals `Ready`, `Request` and `Running`. **Category:** LumiScan Terminology **Related terms:** [Execute method](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-execute-method), [Stream](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stream), [Status code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-status-code) **Related documentation:** [Running a ready/request handshake](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/handshake.html), [Running a long operation from your program](https://docs.hdvisionsystems.com/en/getting-started/integrating.html#step-5), [LumiScan VGR: The PLC handshake](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/plc-settings.html#process-flow), [Troubleshooting: A handshake does not finish](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/troubleshooting.html#handshake-stuck) **Wikipedia:** [Handshake (computing)](https://en.wikipedia.org/wiki/Handshake_%28computing%29) ### Heartbeat {#gl-heartbeat} A signal that one device toggles regularly and the other mirrors, so that both can see that the connection is alive; also called live bit. **In LumiScan:** LumiScan VGR mirrors the PLC’s `IN_HeartBeat` in `OUT_HeartBeat`. In admin mode, both blink red and green in the **PROFINET** tab while the PROFINET connection is active - the first thing to check when LumiScan VGR does not react to the PLC. **Category:** Industrial Communication **Related terms:** [PROFINET](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-profinet), [PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-plc), [Handshake](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-handshake) **Related documentation:** [LumiScan VGR: The heartbeat signals in the PROFINET interface](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/profinet.html), [Checking the heartbeat when LumiScan VGR does not react](https://docs.hdvisionsystems.com/en/faq.html#faq-vgr-hangs) **Wikipedia:** [Heartbeat (computing)](https://en.wikipedia.org/wiki/Heartbeat_%28computing%29) ## I {#i} ### Inference {#gl-inference} Applying a trained neural network to new data, for example to find objects in a camera image. **In LumiScan:** AI Object Matching runs an inference with the `inference` handshake or execute method, or on every frame of a camera stream. It runs on the CPU, on an NVIDIA GPU on a PC (`CUDA`) or on a Hailo TPU on ctrlX OS (`HAILO`). In LumiScan Training, **Start Inference** applies a trained network to a folder of images. **Category:** AI & Machine Learning **Related terms:** [Neural network](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-neural-network), [Training](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-training), [Model](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-model), [TPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tpu) **Related documentation:** [AI Object Matching: Running an inference](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/initializing-the-inference.html), [AI Object Matching: Inference on every camera image](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/inference-on-an-image-stream.html), [LumiScan Training: Testing a network on images (Start Inference)](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/user-interface.html) ### Intrinsic parameters {#gl-intrinsic-parameters} The parameters that describe the optics of a single camera - focal length, principal point and lens distortion - and thus how a point in space is projected onto the image sensor. **In LumiScan:** The `.hdvcal` calibration file of a LumiScan X contains the intrinsic parameters of all 13 cameras, together with their extrinsic parameters; HD Vision Systems supplies it with the serial number of the camera in its name. The manual describes no procedure for setting them yourself: if the point cloud stays poor despite correct settings and a clean front glass, the camera must be recalibrated by HD Vision Systems. **Category:** Camera Technology **Related terms:** [Extrinsic parameters](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-extrinsic-parameters), [Camera calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-camera-calibration), [Epipolar geometry](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-epipolar-geometry) **Related documentation:** [LumiScan X: Intrinsic parameters](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-intrinsic), [LumiScan X: The calibration file](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-calibration-practice) **Wikipedia:** [Camera resectioning](https://en.wikipedia.org/wiki/Camera_resectioning) ### IPC {#gl-ipc} A PC built for industrial use, for example in a control cabinet. **In LumiScan:** LumiScan VGR runs on a Windows 11 IPC with an NVIDIA GPU, connected to the LumiScan X via Ethernet. A configuration for it can be built with LumiScan VGR Engineering on the same IPC or on a separate engineering PC with the same requirements. A ctrlX IPC is an IPC by Bosch Rexroth with ctrlX OS. **Category:** Software & Integration\ **Abbreviation:** Industrial PC **Related terms:** [ctrlX IPC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-ipc), [GPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-gpu), [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr) **Related documentation:** [Installing LumiScan VGR on the IPC](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/installation.html), [LumiScan VGR: IPC requirements](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/system-requirements.html), [VGR Engineering: IPC requirements](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/system-requirements.html) **Wikipedia:** [Industrial PC](https://en.wikipedia.org/wiki/Industrial_PC) ## J {#j} ### JSON {#gl-json} A text format for structured data made of names, values, lists and nested objects, readable by people and programs. **In LumiScan:** Almost all LumiScan settings are JSON files: the application and module files of the LumiScan apps, the settings of LumiScan VGR, the training configuration of LumiScan Training and the model description (`model.json`) next to the `.onnx` file. The Cam Driver, AI Object Matching and Calibration also show their loaded settings as one JSON document on `system/settings`. **Category:** Software & Integration\ **Abbreviation:** JavaScript Object Notation **Related terms:** [Settings file](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-settings-file), [FlatBuffers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-flatbuffers) **Related documentation:** [Changing the settings of an app](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/settings-and-modules.html), [LumiScan VGR: The JSON settings file](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings.html), [LumiScan Training: Writing the training configuration](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/json-settings.html) **External reference:** [Ecma International - ECMA-404](https://ecma-international.org/publications-and-standards/standards/ecma-404/) **Wikipedia:** [JSON](https://en.wikipedia.org/wiki/JSON) ### Jumbo frames {#gl-jumbo-frames} Ethernet packets larger than the standard 1500 bytes; they carry camera images with less overhead. The largest packet size is called MTU. **In LumiScan:** For the LumiScan X, set jumbo frames of the network adapter to **Maximum (9014 bytes)** and the receive and transmit buffers to 2048. For the Cam Driver, set the MTU to 8000 or 9000; an Ethernet switch between camera and ctrlX CORE X3 must support jumbo frames. **Category:** Industrial Communication **Related terms:** [GigE Vision](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-gige-vision), [Static IP address](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-static-ip-address), [PoE](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-poe) **Related documentation:** [LumiScan X: Setting jumbo frames and buffers](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/installation.html#sec-network-settings), [Cam Driver: Changing the MTU size](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/initializing-the-camera.html#mtu-size-change), [Cam Driver: Choosing a switch for a ctrlX CORE X3](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/hardware-setup-for-ctrlx-x3.html) **Wikipedia:** [Jumbo frame](https://en.wikipedia.org/wiki/Jumbo_frame), [Maximum transmission unit](https://en.wikipedia.org/wiki/Maximum_transmission_unit) ## K {#k} ### Keryx {#gl-keryx} Short name for LumiScan Keryx, the Data Layer of HD Vision Systems for PCs. **In LumiScan:** Keryx is the part of the platform that the LumiScan apps on a PC talk through - it plays the role that the ctrlX Data Layer plays on ctrlX OS. The documentation always writes the full name **LumiScan Keryx**; the full entry is [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx). **Category:** LumiScan Terminology **Related terms:** [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx), [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [Broker](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-broker), [ctrlX Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-data-layer) **Related documentation:** [Installing LumiScan Keryx](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/keryx.html#installing), [Running the apps on a PC with LumiScan Keryx](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/keryx.html) ### Keryx page {#gl-data-layer-page} A web page that shows the tree of nodes of a Data Layer and lets you read, write and call them by hand. **In LumiScan:** Every LumiScan Keryx broker comes with a Keryx page, `http://127.0.0.1:7555/` for the default broker (the broker’s port + 2000). Select a node to see its value, type and permissions, edit a writable node, call a method with **Invoke**, or follow values in a watch list. On ctrlX OS, the Data Layer view of the ctrlX OS web interface does the same. **Category:** LumiScan Terminology **Related terms:** [Broker](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-broker), [krxclient](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-krxclient), [LumiScan Keryx Utilities](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx-utilities) **Related documentation:** [Using the Keryx page](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/tools.html#data-layer-page), [Taking a first image on the Keryx page](https://docs.hdvisionsystems.com/en/getting-started/first-application.html#step-4) ### krxclient {#gl-krxclient} The command-line client of LumiScan Keryx for reading, writing and calling Data Layer nodes from a terminal or a script. **In LumiScan:** `krxclient` stands in for a PLC in tests and scripts: `read`, `write`, `browse`, `metadata`, `tree`, `execute`, `subscribe`, and `handshake`, which runs a whole ready/request handshake. It connects to the broker at `tcp://127.0.0.1:5555` unless you give another one. `krxclient subscribe` shows a FlatBuffers value by its size only. **Category:** LumiScan Terminology **Related terms:** [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx), [Keryx page](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer-page), [Handshake](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-handshake) **Related documentation:** [Using krxclient](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/tools.html#krxclient), [Calling functions with krxclient](https://docs.hdvisionsystems.com/en/getting-started/integrating.html#step-4) ## L {#l} ### Light field imaging {#gl-light-field} Recording not only how bright the light of a scene is, but also the direction from which it arrives - so that the 3D structure of the scene can be calculated from a single shot. Light field imaging builds on the plenoptic function *P*(*x*, *y*, *z*, *θ*, *φ*, *λ*, *t*): the radiance of light at every position, in every direction, for every wavelength and at every time. A conventional camera adds up the light from all directions at each pixel and keeps only a 2D projection. A light field camera also records the direction of the rays. In free space this reduces to the four-dimensional light field *L*(*u*, *v*, *s*, *t*), where (*u*, *v*) and (*s*, *t*) are the points at which a ray crosses two reference planes. Because many perspectives are captured at once, depth, digital refocusing, changes of perspective and 3D measurements can be computed from one acquisition. Stereo vision uses two viewpoints; the dense set of perspectives of a light field adds a high angular redundancy, which makes depth estimation robust even in difficult industrial scenes. **In LumiScan:** The LumiScan X is a 3D light field camera: 13 cameras with 1.2 MPix each in one housing capture the scene from 13 perspectives at the same time, and the LumiScan software computes the depth and a point cloud from them. In the Point Cloud Viewer, the white grid plane is the camera plane, the origin of the light field. **Category:** Camera Technology **Related terms:** [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud), [Depth map](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-depth-map) **Related documentation:** [LumiScan X: How light field imaging works](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/light-field-imaging.html), [LumiScan X: Product description](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/product-description.html) **Wikipedia:** [Light field](https://en.wikipedia.org/wiki/Light_field) ### LumiScan app {#gl-lumiscan-app} One of HD Vision Systems' programs that offer their functions as nodes of the Data Layer, so that a PLC, other apps or your own program can use them. **In LumiScan:** The LumiScan apps are the Cam Driver, the processing apps (Template Finder, Object Finder, Area Detector, Text Reader, the four code readers and AI Object Matching), Calibration and Cockpit. Each one runs either on ctrlX OS (installed as a ctrlX app, using the ctrlX Data Layer) or on a PC with Windows 11 or Ubuntu 24.04 (installed after LumiScan Keryx), with the same node addresses under `hdvisionsystems/`. Overview pages also call them vision apps. **Category:** LumiScan Terminology **Related terms:** [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [Module](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-module), [Finders](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-finders), [Code readers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-code-readers), [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx) **Related documentation:** [Choosing the apps to install](https://docs.hdvisionsystems.com/en/getting-started/platform-overview.html#what-to-install), [Your first vision application](https://docs.hdvisionsystems.com/en/getting-started/first-application.html), [Calling the apps from your own program](https://docs.hdvisionsystems.com/en/getting-started/integrating.html) ### LumiScan Cam Driver {#gl-lumiscan-cam-driver} The LumiScan app that connects industrial cameras and provides their images and camera functions to the other apps. **In LumiScan:** The Cam Driver connects Ethernet-enabled, GenICam-compliant cameras to ctrlX OS or a PC; each configured camera is a module, for example `hdvisionsystems/lumiscan-cam-driver/camera1`, with `connect-camera`, `capture`, `trigger` and its image on `output/image`. It is the start of every chain of vision apps. On ctrlX OS it needs one licence per connected camera. **Category:** LumiScan Terminology **Related terms:** [GenICam](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-genicam), [Module](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-module), [Stream](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stream), [Trigger](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-trigger) **Related documentation:** [Connecting and configuring a camera](https://docs.hdvisionsystems.com/en/getting-started/first-application.html#step-3), [Cam Driver: Connecting the camera and capturing](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/initializing-the-camera.html#connection-steps), [Cam Driver: Editing the camera configuration](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/setup-camera-configuration.html), [Cam Driver: Setting the camera IP address](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/how-tos/setup-camera-ip-address.html) ### LumiScan Cockpit {#gl-lumiscan-cockpit} A viewer that shows the images and results of the running LumiScan apps. **In LumiScan:** Cockpit reads images and results from the Data Layer and draws the findings on the image. On ctrlX OS it opens from the sidebar of the ctrlX web interface in a browser; on a PC it opens its own window (or a browser on the same PC with `--no-gui`). It only displays: it configures nothing and provides no Data Layer output. Calibration is not shown, because it produces coordinates, not an image. **Category:** LumiScan Terminology **Related terms:** [LumiScan app](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-app), [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [Bounding box](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-bounding-box) **Related documentation:** [Opening Cockpit](https://docs.hdvisionsystems.com/en/lumiscan-cockpit/1.2.0/lumiscan-cockpit/opening-the-cockpit.html), [Viewing the results of the apps](https://docs.hdvisionsystems.com/en/lumiscan-cockpit/1.2.0/lumiscan-cockpit/viewing-results.html), [Drawing fixed overlays](https://docs.hdvisionsystems.com/en/lumiscan-cockpit/1.2.0/lumiscan-cockpit/overlays.html), [Setting up the live view](https://docs.hdvisionsystems.com/en/lumiscan-cockpit/1.2.0/lumiscan-cockpit/live-updates.html) ### LumiScan Keryx {#gl-lumiscan-keryx} The Data Layer of HD Vision Systems for PCs; it offers the same interface as the ctrlX Data Layer. **In LumiScan:** On a PC with Windows 11 or Ubuntu 24.04, you install LumiScan Keryx first, then the LumiScan apps. Its broker `krxsystem` connects the apps and is started by the first app that finds none. LumiScan Keryx comes with the Keryx page and `krxclient`; a PLC or SCADA system connects through the OPC UA Connector. The name comes from the Greek *kēryx*, the herald. **Category:** LumiScan Terminology **Related terms:** [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [Broker](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-broker), [OPC UA Connector](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua-connector), [ctrlX Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-data-layer) **Related documentation:** [Installing LumiScan Keryx on Windows](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/keryx.html#installing), [Starting the apps](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/keryx.html#start-order), [Options and environment variables](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/keryx.html#options), [Tools for looking at the nodes](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/tools.html) ### LumiScan Keryx Utilities {#gl-lumiscan-keryx-utilities} A Windows program for watching Data Layer nodes: you subscribe to nodes and read what they publish in one list. **In LumiScan:** LumiScan Keryx Utilities connects to a LumiScan Keryx broker (by default `127.0.0.1`, port `5555`), lets you search and subscribe to nodes and follows one stream result through the chain of apps. It is a client only: it changes nothing on the broker. **Category:** LumiScan Terminology **Related terms:** [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx), [Stream](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stream), [krxclient](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-krxclient) **Related documentation:** [Using LumiScan Keryx Utilities](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/tools.html#utilities) ### LumiScan Key {#gl-lumiscan-key} The USB licence key for LumiScan software. **In LumiScan:** The LumiScan Key is a CodeMeter container (**CmStick/C**, serial number of the form `3-1234567`) and needs CodeMeter Runtime. For software bought from HD Vision Systems it carries the licences; for software bought in the ctrlX Store for Windows 11 it protects the software, while the licence is in ctrlX WORKS. You need one key per device on which the software runs at the same time; keys can be moved between devices. WIBU-SYSTEMS calls such USB keys CmDongles; CodeMeter Control Center shows the LumiScan Key as **CmStick/C**. **Category:** LumiScan Terminology **Related terms:** [CodeMeter Runtime](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-codemeter-runtime), [ctrlX WORKS](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-works), [Engineering app](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-engineering-app) **Related documentation:** [Connecting the key and checking it](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/installing-codemeter.html), [Moving the key to another PC](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/moving-the-key.html), [Requesting a licence update](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/requesting-a-licence-update.html), [Importing a licence update](https://docs.hdvisionsystems.com/en/lumiscan-licensing/1.0.4/importing-a-licence-update.html) ### LumiScan VGR {#gl-lumiscan-vgr} The robot guidance software of HD Vision Systems: it finds objects in 3D camera data and tells a robot where to grip them. **In LumiScan:** LumiScan VGR runs on a Windows 11 IPC with an NVIDIA GPU and a LumiScan X. It detects objects (with neural networks and/or 3D models), calculates their 6-DoF pose and grip points, and sends the best grip point to the PLC over PROFINET or OPC UA. It is configured with a JSON settings file, usually created with LumiScan VGR Engineering. The overview page also names a variant VGR Lite. **Category:** LumiScan Terminology **Related terms:** [Vision-guided robotics](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-vision-guided-robotics), [Pipeline](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pipeline), [Grip point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-grip-point), [LumiScan VGR Engineering](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr-engineering), [Manual mode](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-manual-mode) **Related documentation:** [Installing LumiScan VGR](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/installation.html), [Starting LumiScan VGR](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/start-menu.html), [Connecting the PLC over PROFINET](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/plc-settings.html), [Connecting an OPC UA client](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/opcua/opc-ua-client-integration-guide.html) ### LumiScan VGR Engineering {#gl-lumiscan-vgr-engineering} The configuration tool for LumiScan VGR: it builds, previews and exports the settings. **In LumiScan:** You build the configuration from three kinds of element - cameras, object detections and robots - connect them, check each one in a live preview (image and point cloud) and click **Download** to get a `.zip` file with the settings for LumiScan VGR. It needs the same IPC requirements as LumiScan VGR; without a camera, the preview stays empty. **Category:** LumiScan Terminology **Related terms:** [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr), [Settings file](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-settings-file), [Hand-eye calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-hand-eye-calibration) **Related documentation:** [Building a first configuration](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/getting-started.html), [Configuring cameras, object detections and robots](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/elements.html), [Finding your way around the window](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/user-interface.html) ### LumiScan Viewer {#gl-lumiscan-viewer} The Windows program supplied with the LumiScan X for setting up the camera, capturing images and point clouds, and exporting them. **In LumiScan:** In the LumiScan Viewer you set the IP address of the LumiScan X, its pixel format, exposure, trigger, depth range, filters and calibration file, view the images of all 13 cameras (**Frame**) and the point cloud (**Point Cloud**), and export images and `.ply`/`.pcd` point clouds. It is started with **Start → HD Vision Systems → LumiScan Viewer**. **Category:** LumiScan Terminology **Related terms:** [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud), [Camera calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-camera-calibration) **Related documentation:** [First image in 10 minutes](https://docs.hdvisionsystems.com/en/getting-started/first-image.html), [LumiScan Viewer: Setting up the camera](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-camera-settings-configuration), [LumiScan Viewer: Exporting images and point clouds](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-data-export) ### LumiScan X {#gl-lumiscan-x} The 3D light-field camera of HD Vision Systems. **In LumiScan:** The LumiScan X combines 13 monochrome cameras of 1.2 MPix in one housing (IP54), delivers images and point clouds at up to 6 fps and is powered with 24 V DC or PoE. It comes in three variants (60°, 40°, 30° opening angle) for working distances of 250 to 3000 mm. It is used with the LumiScan Viewer and by LumiScan VGR. **Category:** LumiScan Terminology **Related terms:** [Light field](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-light-field), [LumiScan Viewer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-viewer), [Camera calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-camera-calibration), [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr) **Related documentation:** [First image in 10 minutes](https://docs.hdvisionsystems.com/en/getting-started/first-image.html), [LumiScan X: Mounting and connecting the camera](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/installation.html), [LumiScan X: Setting the IP address](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-camera-ip-configuration) ## M {#m} ### Manual mode {#gl-manual-mode} An operating mode in which a person works with the system directly and the automatic control by the PLC is paused. **In LumiScan:** In manual mode of LumiScan VGR you capture an image, correct or add the detected objects as bounding boxes and export them as training data; you can also continue the workflow by hand when automatic detection fails. While manual mode is active (`OUT_OperationMode` = 2), most functions cannot be started by the PLC. After leaving it, the PLC must set the operation mode back to automatic. Admin mode (**Ctrl + Shift + A**) shows further controls, which are active only in manual mode. **Category:** LumiScan Terminology **Related terms:** [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr), [Annotation](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-annotation), [Training](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-training) **Related documentation:** [LumiScan VGR: Working in manual mode](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/manual-mode.html), [LumiScan VGR: Correcting boxes in manual mode](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/image-annotation.html), [Returning to automatic mode from the PLC](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/faq.html#faq-manual-mode-plc), [Admin and debug modes](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/admin-mode.html) ### Model {#gl-model} The result of training: a neural network with its learned values, stored as a file that a program can load to recognise objects. **In LumiScan:** A LumiScan model consists of two files that belong together: the network (`.onnx`) and its description (`.json`, with classes, thresholds and the inference provider). LumiScan Training creates them; AI Object Matching and LumiScan VGR use them. File Transfer sends new models from the training PC back to the production system. **Category:** AI & Machine Learning **Related terms:** [ONNX](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-onnx), [Neural network](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-neural-network), [Training](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-training), [Runner and Trainer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-runner-trainer) **Related documentation:** [AI Object Matching: Installing a model](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/models-folder.html), [AI Object Matching: Using a newly trained model](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/faq.html#faq-new-model), [LumiScan Training: Converting a model for a Hailo TPU](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/model-conversion.html), [File Transfer: Sending a new model to the production system](https://docs.hdvisionsystems.com/en/lumiscan-file-transfer/1.8.4/lumiscan-file-transfer-trainer.html) ### Module {#gl-module} One self-contained, configured unit inside a program, with its own settings; a program can run several modules side by side. **In LumiScan:** In a LumiScan app, a module is one instance with its own Data Layer address `hdvisionsystems///`: a camera in the Cam Driver, a neural network in AI Object Matching, a calibrated plane in Calibration, a search configuration in a finder. The Cam Driver, AI Object Matching and Calibration take their modules from module files; the finders create them at run time. The code readers have no modules. LumiScan VGR uses the word differently: there, modules are its cameras, pipelines and robots. **Category:** LumiScan Terminology **Related terms:** [LumiScan app](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-app), [Node](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-node), [Settings file](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-settings-file), [Finders](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-finders) **Related documentation:** [Creating, activating and removing modules](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/settings-and-modules.html), [Naming modules](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/addresses.html#module-names), [Cam Driver: Adding a camera module](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/settings-on-the-data-layer.html#adding-and-removing-modules), [Template Finder: Managing modules at run time](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/module-management.html) ## N {#n} ### Neural network {#gl-neural-network} A computing model that learns from examples to recognise patterns, for example which objects an image contains and where they are. **In LumiScan:** AI Object Matching and LumiScan VGR use neural networks to detect objects. You prepare them with the AI tools: annotate images with LumiScan Annotation, train the network with LumiScan Training, and move images and networks between production system and training PC with File Transfer. **Category:** AI & Machine Learning **Related terms:** [Training](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-training), [Inference](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-inference), [Model](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-model), [Annotation](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-annotation) **Related documentation:** [LumiScan Training: Training a network](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/user-interface.html), [LumiScan Training: Configuring classes and network type](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/json-settings.html), [LumiScan Annotation: Annotating training images](https://docs.hdvisionsystems.com/en/lumiscan-annotation/1.8.4/image-annotation.html), [LumiScan VGR: Loading networks](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/networks.html) **Wikipedia:** [Neural network (machine learning)](https://en.wikipedia.org/wiki/Neural_network_%28machine_learning%29) ### Node {#gl-node} One named entry in a tree of data - a value, a folder or a callable method - reached by its address. **In LumiScan:** Every function, input, output and status of a LumiScan app is a node of the Data Layer, for example `hdvisionsystems/lumiscan-cam-driver/camera1/control/capture/execute`. Addresses are lower case and the same on ctrlX OS and a PC. Through the OPC UA Connector, every node is an OPC UA node whose NodeId is its Data Layer address. Each manual lists its app’s nodes in its **Data Layer Reference**. **Category:** LumiScan Terminology **Related terms:** [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [Module](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-module), [OPC UA Connector](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua-connector) **Related documentation:** [Finding the address of a node](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/addresses.html), [Finding the nodes from your program](https://docs.hdvisionsystems.com/en/getting-started/integrating.html#step-2), [Looking at nodes with the Data Layer tools](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/tools.html) **Wikipedia:** [Node (computer science)](https://en.wikipedia.org/wiki/Node_%28computer_science%29) ## O {#o} ### Object detection {#gl-object-detection} Finding objects in sensor data and determining where they are. 2D object detection works on the camera image and gives, for example, a box per object; 3D object detection works on 3D data such as a point cloud and gives the position and orientation in space. **In LumiScan:** In LumiScan VGR every object can have a 2D and a 3D detection; depending on the application, 2D detection, 3D detection or both are used. The 2D detection (`detection2d`) is a list of steps run in order on oriented bounding boxes - for example `SET_NETWORK`, which applies an object detection network and returns the objects with scores above its threshold, or `SET_ROI`, `FEATURE_MATCHING`, `SCALE` and `ROTATE_ANGLE`. The 3D detection (`detection3d`) computes the object pose from the point cloud with one object fit method: `PLANE_FIT`, `RANSAC_PLANE_FIT`, `MIXED_PLANE_FIT`, `RANSAC_CYLINDER_FIT`, `LINE_FIT_LONG_AXIS`, `OBJECT_MATCHING` or `OBJECT_REFINEMENT` (with a CAD model), or `GRIP_FROM_ENVIRONMENT`. Over OPC UA, `ComputeObjects` returns the number of 2D and 3D objects. In LumiScan VGR Engineering, an object detection element configures networks, objects and pipelines. AI Object Matching performs 2D object detection with a neural network on ctrlX OS or a PC. **Category:** Machine Vision **Related terms:** [Neural network](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-neural-network), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud), [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose), [CAD model](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-cad-model), [Oriented bounding box](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-oriented-bounding-box) **Related documentation:** [LumiScan VGR: Configuring 2D and 3D object detection](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/objects.html), [VGR Engineering: Adding an object detection](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/elements.html#object-detections), [LumiScan VGR: 2D detection steps](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/detection-2d-settings.html), [LumiScan VGR: 3D object fit methods](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/detection-3d-settings-base.html) **Wikipedia:** [Object detection](https://en.wikipedia.org/wiki/Object_detection) ### OCR {#gl-ocr} Reading printed or marked text from an image and turning it into characters a computer can process. **In LumiScan:** LumiScan Text Reader reads text such as part numbers, batch and date codes with the Tesseract OCR engine and its language models (`.traineddata`). Unlike a code, OCR always returns something: each word comes with a confidence, so restrict the permitted characters (`input/characters/mode`) and set a minimum score (`input/min-score`). For Data Matrix, QR, Aztec codes and barcodes, use the code readers instead. **Category:** Machine Vision\ **Abbreviation:** Optical Character Recognition **Related terms:** [Confidence](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-confidence), [Code readers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-code-readers), [ROI](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-roi) **Related documentation:** [Text Reader: Reading a part marking from a camera image](https://docs.hdvisionsystems.com/en/lumiscan-text-reader/1.1.0/how-tos/read-a-part-marking-from-a-camera-image.html), [Text Reader: Reading text](https://docs.hdvisionsystems.com/en/lumiscan-text-reader/1.1.0/lumiscan-text-reader/reading-text.html), [Text Reader: Reading accurately](https://docs.hdvisionsystems.com/en/lumiscan-text-reader/1.1.0/lumiscan-text-reader/reading-accurately.html), [Text Reader: Adding language models](https://docs.hdvisionsystems.com/en/lumiscan-text-reader/1.1.0/lumiscan-text-reader/language-models.html) **Wikipedia:** [Optical character recognition](https://en.wikipedia.org/wiki/Optical_character_recognition) ### ONNX {#gl-onnx} An open file format for trained neural networks, so that a network trained with one tool can be run by another. **In LumiScan:** LumiScan Training exports trained networks as ONNX files. AI Object Matching loads the `.onnx` file named by `pathToNetwork` in its model JSON file. For a Hailo TPU, the Hailo PlugIn of LumiScan Training converts the ONNX model into a Hailo model (`.hef`). **Category:** AI & Machine Learning\ **Abbreviation:** Open Neural Network Exchange **Related terms:** [Model](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-model), [Training](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-training), [TPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tpu) **Related documentation:** [LumiScan Training: Converting an ONNX model to Hailo](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/model-conversion.html), [AI Object Matching: Pointing to the .onnx file](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/models-folder.html#model-json-file), [LumiScan Training: Setting the export folder](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/json-settings.html) **External reference:** [ONNX](https://onnx.ai/) **Wikipedia:** [Open Neural Network Exchange](https://en.wikipedia.org/wiki/Open_Neural_Network_Exchange) ### OPC UA {#gl-opc-ua} A vendor-independent standard for industrial communication: a server offers variables and methods in an address space, and clients such as a PLC or SCADA system read, write, call and subscribe to them. **In LumiScan:** On a PC, the OPC UA Connector makes the Data Layer of LumiScan Keryx available as an OPC UA server (`opc.tcp://:4840`). LumiScan VGR has its own OPC UA server (`opc.tcp://:4840`, nodes under `Objects/LumiScanVGR`) as an alternative to PROFINET. Both accept anonymous, unencrypted connections only, so run them on a network you trust. **Category:** Industrial Communication\ **Abbreviation:** Open Platform Communications Unified Architecture **Related terms:** [OPC UA Connector](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua-connector), [PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-plc), [SCADA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-scada), [PROFINET](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-profinet) **Related documentation:** [Connecting a PLC or SCADA system with the OPC UA Connector](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/opc-ua.html), [LumiScan VGR: OPC UA client integration](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/opcua/opc-ua-client-integration-guide.html), [Triggering a vision app from a PLC over OPC UA](https://docs.hdvisionsystems.com/en/getting-started/first-application.html#step-8), [Troubleshooting: OPC UA](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/troubleshooting.html#opc-ua) **External reference:** [OPC Foundation](https://opcfoundation.org/) **Wikipedia:** [OPC Unified Architecture](https://en.wikipedia.org/wiki/OPC_Unified_Architecture) ### OPC UA Connector {#gl-opc-ua-connector} A LumiScan program that presents the Data Layer on a PC as an OPC UA server, so that PLCs and SCADA systems can use the LumiScan apps. **In LumiScan:** The LumiScan OPC UA Connector (`lumiscan_opcua_connector`) shows the tree of LumiScan Keryx at `opc.tcp://:4840`; the NodeId of each node is its Data Layer address in the namespace `urn:hdvisionsystems:datalayer`, and an `execute` node is an OPC UA method. Start it after the apps - it never starts a broker. It has no security: open TCP 4840 only for the PLC’s address. It works with LumiScan Keryx on a PC; on ctrlX OS, the ctrlX PLC on the same device calls the nodes directly. **Category:** LumiScan Terminology **Related terms:** [OPC UA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua), [LumiScan Keryx](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx), [Node](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-node), [Firewall](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-firewall) **Related documentation:** [Starting the OPC UA Connector](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/opc-ua.html#starting), [Calling functions over OPC UA](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/opc-ua.html#calls), [Securing the connector](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/opc-ua.html#security), [Troubleshooting: OPC UA](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/troubleshooting.html#opc-ua) ### Oriented bounding box {#gl-oriented-bounding-box} A bounding box that may be rotated to follow the orientation of the object, described by its centre, width, height and angle. **In LumiScan:** In LumiScan Annotation and in the manual mode of LumiScan VGR you draw oriented bounding boxes in three clicks and rotate them by dragging a corner. AI Object Matching reports each detected object with an oriented bounding box (`oriented_bounding_box`: centre, size, angle), and Template Finder reports every match as one. **Category:** AI & Machine Learning **Related terms:** [Bounding box](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-bounding-box), [Annotation](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-annotation), [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose) **Related documentation:** [LumiScan Annotation: Drawing and rotating boxes](https://docs.hdvisionsystems.com/en/lumiscan-annotation/1.8.4/image-annotation.html), [LumiScan VGR: Drawing boxes in manual mode](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/image-annotation.html), [AI Object Matching: Reading the box of a detected object](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/accessing-flatbuffers-data.html), [Template Finder: Reading the match box](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/finding-a-template.html) **Wikipedia:** [Minimum bounding box](https://en.wikipedia.org/wiki/Minimum_bounding_box) ## P {#p} ### Parallax {#gl-parallax} The apparent displacement of an object when it is observed from different viewpoints; near objects are displaced more than distant ones. **In LumiScan:** Because the 13 cameras of the LumiScan X are physically separated, every scene point appears with parallax between the camera images. Measured as disparity between corresponding image points, this parallax is the geometric information from which the depth map and the point cloud are computed. **Category:** Camera Technology **Related terms:** [Disparity](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-disparity), [Baseline](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-baseline), [Light field imaging](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-light-field), [Stereo vision](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stereo-vision) **Related documentation:** [LumiScan X: From light fields to 3D reconstruction](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/light-field-imaging.html#lf-3d-reconstruction), [LumiScan X: Camera arrangement](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-camera-arrangement) **Wikipedia:** [Parallax](https://en.wikipedia.org/wiki/Parallax) ### Pipeline {#gl-pipeline} A fixed sequence of processing steps through which data passes, one after the other. **In LumiScan:** In LumiScan VGR, a pipeline defines how image and point cloud data are processed to find object poses and grip points: point cloud processing steps (filters such as ROR and SOR), a region of interest and the objects to detect. A project can have several pipelines; together with the active camera and robot, the active pipeline selected by the PLC (or through OPC UA with `SetActivePipeline`) defines how a grip is performed. **Category:** LumiScan Terminology **Related terms:** [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr), [Grip point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-grip-point), [ROI](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-roi), [SOR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-sor), [Object detection](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-object-detection) **Related documentation:** [LumiScan VGR: Configuring pipelines](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/pipelines.html), [LumiScan VGR: Pipeline settings reference](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/pipeline-settings.html), [LumiScan VGR: Selecting the active pipeline](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/faq.html#faq-multiple-components) **Wikipedia:** [Pipeline (computing)](https://en.wikipedia.org/wiki/Pipeline_%28computing%29) ### Pixel format {#gl-pixel-format} How the value of each pixel is stored: grey or colour, the order of the colour channels and the number of bits, for example `Mono8` or `RGB8`. **In LumiScan:** The LumiScan X delivers `Mono8` (6 fps) or `Mono12` (3 fps, more accurate). The image node of the Cam Driver carries the pixel format in `pixel-type`. The finders and code readers accept Mono, RGB, BGR and Bayer formats with 8 or 12 bits; AI Object Matching takes `Mono8` or `RGB8`. The label image of Area Detector is `Mono16`. **Category:** Camera Technology **Related terms:** [Bayer pattern](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-bayer-pattern), [GenICam](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-genicam), [Frame rate](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-frame-rate) **Related documentation:** [LumiScan Viewer: Choosing Mono8 or Mono12](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-camera-settings), [Finders: Supported pixel formats](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/requirements.html), [AI Object Matching: Supported image formats](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/faq.html#faq-image-source) **Wikipedia:** [Color depth](https://en.wikipedia.org/wiki/Color_depth) ### PLC {#gl-plc} The industrial computer that controls a machine or cell: it runs the control program, reads sensors and drives actuators. **In LumiScan:** A PLC triggers the LumiScan apps and reads their results. On ctrlX OS, the ctrlX PLC calls the app nodes directly on the same device; on a PC, any PLC with an OPC UA client connects through the OPC UA Connector. LumiScan VGR exchanges signals with its PLC over PROFINET or OPC UA. Build PLC logic on plain nodes, not on FlatBuffers values. **Category:** Industrial Communication\ **Abbreviation:** Programmable Logic Controller **Related terms:** [ctrlX PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-plc), [OPC UA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua), [PROFINET](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-profinet), [SCADA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-scada) **Related documentation:** [Triggering a vision app from your PLC](https://docs.hdvisionsystems.com/en/getting-started/first-application.html#step-8), [Choosing how the PLC connects](https://docs.hdvisionsystems.com/en/getting-started/platform-overview.html#controller), [LumiScan VGR: PLC settings and process flow](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/plc-settings.html), [Connecting a PLC over OPC UA](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/opc-ua.html) **External reference:** [IEC - International Electrotechnical Commission (IEC 61131)](https://www.iec.ch/) **Wikipedia:** [Programmable logic controller](https://en.wikipedia.org/wiki/Programmable_logic_controller) ### Plenoptic function {#gl-plenoptic-function} A function that describes all the light in a scene: its radiance at every position, in every direction, for every wavelength and at every time. **In LumiScan:** The plenoptic function *P*(*x*, *y*, *z*, *θ*, *φ*, *λ*, *t*) is the theoretical basis of light field imaging. For one moment, a defined spectral range and light travelling in straight lines through free space, it reduces to the four-dimensional light field *L*(*u*, *v*, *s*, *t*), which the LumiScan X samples with its 13 cameras. **Category:** Camera Technology **Related terms:** [Light field imaging](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-light-field), [Parallax](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-parallax), [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x) **Related documentation:** [LumiScan X: The plenoptic function](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/light-field-imaging.html#lf-plenoptic-function), [LumiScan X: The four-dimensional light field](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/light-field-imaging.html#lf-four-dimensional) **Wikipedia:** [Light field](https://en.wikipedia.org/wiki/Light_field) ### PoE {#gl-poe} Power supply over the Ethernet cable, so that a device such as a camera needs no separate power cable. **In LumiScan:** The LumiScan X can be powered with PoE (IEEE 802.3af) from a PoE port of the computer or a PoE injector instead of 24 V DC. The 2D cameras of the Cam Driver are powered by PoE or an external supply. **Category:** Industrial Communication\ **Abbreviation:** Power over Ethernet **Related terms:** [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x), [GigE Vision](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-gige-vision) **Related documentation:** [LumiScan X: Connecting the camera with PoE](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/installation.html#sec-connecting-the-camera-system), [First image: Powering the camera](https://docs.hdvisionsystems.com/en/getting-started/first-image.html#step-3) **External reference:** [IEEE Standards Association (IEEE 802.3)](https://standards.ieee.org/) **Wikipedia:** [Power over Ethernet](https://en.wikipedia.org/wiki/Power_over_Ethernet) ### Point cloud {#gl-point-cloud} A set of points in 3D space, each with X, Y and Z coordinates, that describes the surface of the captured scene. **In LumiScan:** The LumiScan X delivers a point cloud of the scene. In the LumiScan Viewer you view it in the **Point Cloud** tab, clean it with the confidence threshold, box and ROR filters, and export it as `.ply` or `.pcd`; the coordinate system has the camera at its origin and the unit metre. LumiScan VGR uses the point cloud to calculate the 6-DoF pose of each object. **Category:** Machine Vision **Related terms:** [Depth map](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-depth-map), [Light field](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-light-field), [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose), [LumiScan Viewer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-viewer), [ROR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ror), [SOR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-sor) **Related documentation:** [LumiScan Viewer: Viewing the point cloud](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-point-cloud-viewer), [LumiScan X: How depth maps and point clouds are computed](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/lumiscan-x-architecture.html#lsx-depth-maps-point-clouds), [LumiScan Viewer: Filtering the point cloud](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-processing), [LumiScan Viewer: Exporting .ply and .pcd files](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-data-export), [LumiScan VGR: Recording and filtering point clouds](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/recordings.html) **Wikipedia:** [Point cloud](https://en.wikipedia.org/wiki/Point_cloud) ### Pose {#gl-pose} The position and orientation of an object in space; a 6-DoF pose has three values for the position and three for the rotation. **In LumiScan:** In its workflow, LumiScan VGR calculates the 6-DoF pose of every detected object using the point cloud (after detecting the objects in the image) and returns grip poses as seven numbers - three for the translation and up to four for the rotation, whose convention depends on the robot configuration (`OUT_PoseMoveInRobot` over PROFINET, `GripPointPose` over OPC UA). AI Object Matching reports position and orientation in pixel coordinates of the image. **Category:** Robotics **Related terms:** [Grip point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-grip-point), [Robot base](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-robot-base), [Tool center point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tool-center-point), [Hand-eye calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-hand-eye-calibration) **Related documentation:** [LumiScan VGR: Reading the grip pose over PROFINET](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/profinet.html), [LumiScan VGR: Reading GripPointPose over OPC UA](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/opcua/opc-ua-client-integration-guide.html), [LumiScan VGR: From image to 6-DoF pose](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/description.html) **Wikipedia:** [Pose (computer vision)](https://en.wikipedia.org/wiki/Pose_%28computer_vision%29), [Six degrees of freedom](https://en.wikipedia.org/wiki/Six_degrees_of_freedom) ### PROFINET {#gl-profinet} An Ethernet-based fieldbus standard over which a PLC exchanges input and output data with field devices in a fixed cycle. **In LumiScan:** LumiScan VGR talks to the PLC over PROFINET: the PLC writes `IN_*` signals, LumiScan VGR answers with `OUT_*` signals, organised in slots, and each function follows a Ready/Request/Running handshake. In admin mode, the **PROFINET** tab shows the exchanged data. The troubleshooting of LumiScan Hand-Eye Calibration refers to a Hilscher cifX card (card name usually `cifx0;0`). For the other LumiScan apps the manuals describe the ctrlX PLC on the same device and OPC UA instead. **Category:** Industrial Communication **Related terms:** [PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-plc), [Heartbeat](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-heartbeat), [Handshake](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-handshake), [OPC UA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua), [cifX card](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-cifx-card) **Related documentation:** [LumiScan VGR: PLC process flow and return values](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/plc-settings.html), [LumiScan VGR: PROFINET interface reference](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/profinet.html), [LumiScan VGR: Simulating the PLC (--simulate-sps)](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/start-menu.html), [When LumiScan VGR does not react to the PLC](https://docs.hdvisionsystems.com/en/faq.html#faq-vgr-hangs) **External reference:** [PROFIBUS & PROFINET International](https://www.profibus.com/) **Wikipedia:** [PROFINET](https://en.wikipedia.org/wiki/PROFINET) ## Q {#q} ### QR code {#gl-qr-code} A square 2D code with a finder pattern in three corners; it can hold a long text such as a URL or a serial number. **In LumiScan:** LumiScan QR Code Reader finds every QR code in an image and reports its text, centre, outline and score. It needs no template and no configuration; Cockpit draws the codes in the view `qr-code`. **Category:** Machine Vision\ **Abbreviation:** Quick Response code **Related terms:** [Code readers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-code-readers), [Data Matrix code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-matrix-code), [Aztec code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-aztec-code) **Related documentation:** [QR Code Reader: Reading a code](https://docs.hdvisionsystems.com/en/lumiscan-qr-code-reader/1.0.0/lumiscan-qr-code-reader/reading-a-code.html), [QR Code Reader: Reading the result](https://docs.hdvisionsystems.com/en/lumiscan-qr-code-reader/1.0.0/lumiscan-qr-code-reader/the-result.html), [QR Code Reader: Reading codes on an image stream](https://docs.hdvisionsystems.com/en/lumiscan-qr-code-reader/1.0.0/lumiscan-qr-code-reader/reading-codes-on-an-image-stream.html) **Wikipedia:** [QR code](https://en.wikipedia.org/wiki/QR_code) ## R {#r} ### REST API {#gl-rest-api} A web interface through which a program reads and changes data with ordinary HTTP requests. **In LumiScan:** On ctrlX OS, the Data Layer can also be reached through the ctrlX REST API. The manuals note two differences: a FlatBuffers result arrives there as JSON with its numbers quoted as strings, and a refused write answers with a bare HTTP status code (`400`). **Category:** Software & Integration\ **Abbreviation:** REST: Representational State Transfer; API: Application Programming Interface **Related terms:** [API](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-api), [ctrlX Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-data-layer), [FlatBuffers](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-flatbuffers) **Related documentation:** [DMC Reader: Reading a result over the ctrlX REST API](https://docs.hdvisionsystems.com/en/lumiscan-dmc-reader/1.1.0/lumiscan-dmc-reader/the-result.html), [Template Finder: Calling a method (answer over REST)](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/execute-a-method.html) **Wikipedia:** [REST](https://en.wikipedia.org/wiki/REST) ### Robot base {#gl-robot-base} The fixed foot of a robot; its coordinate system is the reference in which robot positions are usually given. **In LumiScan:** LumiScan VGR returns grip poses in robot coordinates; its settings name the robot base coordinate system (`ROBOT`) as a reference frame. The hand-eye calibration places the robot relative to the camera; the robot settings also define which direction is "up" in the robot base coordinate system, used to find the topmost objects. **Category:** Robotics **Related terms:** [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose), [Tool center point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tool-center-point), [Hand-eye calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-hand-eye-calibration) **Related documentation:** [LumiScan VGR: Robot settings](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/robots.html), [LumiScan VGR: Setting the base frame](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/robot-settings.html#robot-settings-base-frame) ### ROI {#gl-roi} The part of an image that is processed; everything outside it is ignored, which makes processing faster and avoids false results. **In LumiScan:** In LumiScan VGR the ROI is the purple rectangle in which the network searches, defined per pipeline; LumiScan Annotation sets it for training. Template Finder, Object Finder, Area Detector and Text Reader take a region to search in `input/crop` (status `-5` if it does not fit the image). The code readers have no ROI and always search the whole image. Cockpit can draw a fixed ROI as an overlay. **Category:** Machine Vision\ **Abbreviation:** Region of interest **Related terms:** [Field of view](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-field-of-view), [Pipeline](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pipeline), [Annotation](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-annotation) **Related documentation:** [Template Finder: Restricting the search region (crop)](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/finding-a-template.html), [Text Reader: Cropping to the text](https://docs.hdvisionsystems.com/en/lumiscan-text-reader/1.1.0/lumiscan-text-reader/reading-accurately.html), [LumiScan Annotation: Setting the ROI for training](https://docs.hdvisionsystems.com/en/lumiscan-annotation/1.8.4/menu.html#roi-settings), [LumiScan VGR: Setting the image ROI of a pipeline](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/pipeline-settings.html#pipeline-settings-image-roi) **Wikipedia:** [Region of interest](https://en.wikipedia.org/wiki/Region_of_interest) ### ROR {#gl-ror} A point cloud filter that removes every point with too few neighbouring points within a given radius, so that isolated outliers disappear. **In LumiScan:** The LumiScan Viewer offers it as **ROR Filter** with **Minimum number of neighbors** and **Radius** (in metres). In LumiScan VGR, a pipeline applies it with `radiusOutlierRemoval` (`radius` default 0.01, `minNeighbors` default 10), as the second filter in the order box filters → ROR → downsampling → RemoveNaN → SOR; the recording settings list it among their point cloud filters as well. **Category:** Machine Vision\ **Abbreviation:** Radius outlier removal **Related terms:** [SOR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-sor), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud), [Pipeline](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pipeline) **Related documentation:** [LumiScan Viewer: Setting the ROR filter](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-processing), [LumiScan VGR: ROR in a pipeline](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/pipeline-settings.html#pipeline-settings-radius-outlier-removal), [LumiScan VGR: ROR parameters](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/radius-outlier-removal-parameters.html) **Wikipedia:** [Outlier](https://en.wikipedia.org/wiki/Outlier) ### Runner and Trainer {#gl-runner-trainer} The two roles of LumiScan File Transfer: the Runner on the production system and the Trainer on the training workstation. **In LumiScan:** The Runner sends annotated images from the production system to the Trainer and receives trained networks back; the Trainer stores the images for training and sends new networks to the Runner. Each role has its own folder structure and network settings (port, destination IP, destination port); the roles can be switched in the settings file. **Category:** LumiScan Terminology **Related terms:** [Training](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-training), [Model](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-model), [Firewall](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-firewall) **Related documentation:** [File Transfer: Creating the folder structure](https://docs.hdvisionsystems.com/en/lumiscan-file-transfer/1.8.4/before-starting-the-program.html), [File Transfer: Setting up and starting the Runner](https://docs.hdvisionsystems.com/en/lumiscan-file-transfer/1.8.4/lumiscan-file-transfer-runner.html), [File Transfer: Setting up and starting the Trainer](https://docs.hdvisionsystems.com/en/lumiscan-file-transfer/1.8.4/lumiscan-file-transfer-trainer.html), [File Transfer: Switching roles](https://docs.hdvisionsystems.com/en/lumiscan-file-transfer/1.8.4/switching-roles.html) ## S {#s} ### SCADA {#gl-scada} Software for monitoring and operating plants from a control room: it collects data from PLCs and devices and shows them to the operators. **In LumiScan:** A SCADA system with OPC UA reaches the LumiScan apps on a PC through the OPC UA Connector. For a client that only observes, run a second, read-only connector instance on its own port. **Category:** Industrial Communication\ **Abbreviation:** Supervisory Control and Data Acquisition **Related terms:** [OPC UA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua), [OPC UA Connector](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua-connector), [PLC](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-plc) **Related documentation:** [Connecting a SCADA system with the OPC UA Connector](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/opc-ua.html), [Running a read-only connector for observing clients](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/opc-ua.html#security) **Wikipedia:** [SCADA](https://en.wikipedia.org/wiki/SCADA) ### SDK {#gl-sdk} A package of libraries, tools and documentation for developing software for a particular platform or device. **In LumiScan:** The LumiScan apps have no SDK of their own: every function is a Data Layer node, so any client that can read, write and call Data Layer or OPC UA nodes can use them. A program that runs on a ctrlX device is built like any ctrlX app, for example with the ctrlX AUTOMATION SDK. **Category:** Software & Integration\ **Abbreviation:** Software Development Kit **Related terms:** [API](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-api), [Data Layer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-data-layer), [OPC UA](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-opc-ua) **Related documentation:** [Choosing the interface for your program](https://docs.hdvisionsystems.com/en/getting-started/integrating.html#step-1) **Wikipedia:** [Software development kit](https://en.wikipedia.org/wiki/Software_development_kit) ### Settings file {#gl-settings-file} A file that stores how a program is configured, so that the configuration is kept and can be copied. **In LumiScan:** Each LumiScan app has an application settings file that lists its module files, for example `lumiscan-cam-driver.json` with `camera1.json`. On ctrlX OS you edit them under **Manage app data** or upload them with WebDAV; on Windows they are in `C:\ProgramData\HD Vision Systems GmbH\LumiScan Vision Suite\\etc\`, and `--generate-settings` writes an example. The Cam Driver, AI Object Matching and Calibration also show and accept their settings on `system/settings` (a restart is then required). **Category:** LumiScan Terminology **Related terms:** [JSON](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-json), [Module](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-module), [WebDAV](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-webdav) **Related documentation:** [Changing settings files and restarting](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/settings-and-modules.html), [Where the settings files are on Windows](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/keryx.html#files), [Cam Driver: Creating camera settings files](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/creating-new-camera-settings-files.html), [Cam Driver: Uploading settings files](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/uploading-data.html) **Wikipedia:** [Configuration file](https://en.wikipedia.org/wiki/Configuration_file) ### SOR {#gl-sor} A point cloud filter that compares each point’s mean distance to its nearest neighbours with that of all points and removes the points that lie too far away from the rest. **In LumiScan:** In LumiScan VGR, `enableSOR` in the pipeline settings switches on the statistical outlier removal filter for the recorded point cloud (off by default). It removes outliers for a better grip computation but increases the processing time. `sorMeanK` sets the number of neighbours considered (default 5), `sorStddevMulThresh` the threshold from which a point counts as an outlier (default 0.2). SOR is the last filter in the order box filters → ROR → downsampling → RemoveNaN → SOR. **Category:** Machine Vision\ **Abbreviation:** Statistical outlier removal **Related terms:** [ROR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ror), [Point cloud](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-point-cloud), [Pipeline](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pipeline), [Grip point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-grip-point) **Related documentation:** [LumiScan VGR: Switching on SOR (enableSOR)](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/pipeline-settings.html#pipeline-settings-enable-sor), [LumiScan VGR: Pipeline settings](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/pipelines.html) **Wikipedia:** [Outlier](https://en.wikipedia.org/wiki/Outlier) ### Static IP address {#gl-static-ip-address} A network address that is set permanently on a device instead of being assigned automatically by a DHCP server. **In LumiScan:** For the LumiScan X, a static IP address is strongly recommended over DHCP; set it in the LumiScan Viewer under **Menu → IP Configuration**, in the same subnet as the network adapter but not the same address. A 2D camera must be in the same local network as the ctrlX CORE or the PC; the Cam Driver can set its address with the `system/force-ip` handshake. **Category:** Industrial Communication **Related terms:** [Jumbo frames](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-jumbo-frames), [Firewall](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-firewall), [LumiScan Viewer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-viewer) **Related documentation:** [LumiScan Viewer: Setting a static IP address](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-camera-ip-configuration), [Cam Driver: Setting the camera IP address](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/how-tos/setup-camera-ip-address.html), [Cam Driver: Forcing an IP address](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/initializing-the-camera.html#force-ip-configuration-of-camera) **Wikipedia:** [IP address](https://en.wikipedia.org/wiki/IP_address) ### Status code {#gl-status-code} A number with which a program reports the state of an operation, for example ready, running or a specific error. **In LumiScan:** The Cam Driver, AI Object Matching and Calibration report the state of each module on `control/status/code` (`0` ready, `2` running, `3` waitingForClient, negative values are errors). The finders write the outcome of each method to `/output/status-code` with their own values (`1` ok, negative values are errors). A method call also has a result of its own (for example `Ok`, `DL_OK` or `Good`). LumiScan VGR reports return codes such as `SUCCESS` and `RESULTS_EMPTY`. Use the numbers, never the texts, in program logic. **Category:** LumiScan Terminology **Related terms:** [Execute method](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-execute-method), [Handshake](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-handshake), [TooManyOperations](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-too-many-operations) **Related documentation:** [Reading status codes and method results](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/status-codes.html), [Data Layer: Troubleshooting](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/troubleshooting.html), [Template Finder: Execution status](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/execution-status.html), [LumiScan VGR: Return values](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/plc-settings.html#status-information) ### Stereo vision {#gl-stereo-vision} Computing depth from two images of the same scene, taken by two cameras at a known distance from each other, by measuring the disparity of corresponding points. **In LumiScan:** The LumiScan X is not a stereo camera but a light field camera with 13 cameras: it extends the stereo principle to many viewpoints and baselines. Evaluating correspondences across several images instead of two adds geometric constraints, can make the depth reconstruction more robust, and lets a surface that is hidden from one camera be seen by another. **Category:** Machine Vision **Related terms:** [Light field imaging](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-light-field), [Disparity](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-disparity), [Baseline](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-baseline), [Epipolar geometry](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-epipolar-geometry) **Related documentation:** [LumiScan X: From stereo to many viewpoints](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/light-field-imaging.html#lf-parallax-disparity), [LumiScan X: Camera arrays](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/technology/acquisition-architectures.html#arch-camera-array) **Wikipedia:** [Computer stereo vision](https://en.wikipedia.org/wiki/Computer_stereo_vision) ### Stream {#gl-stream} A continuous flow of data: the source pushes every new item, for example each camera image, and the receiver processes it as it arrives, without a request per item. **In LumiScan:** In the LumiScan apps, streams are experimental: the Cam Driver publishes every frame, and AI Object Matching, the finders and code readers subscribe to it; Calibration can subscribe to points or to another app’s result. Each consumer has one source and is started with `control/subscribe/execute`. A stream is faster than one execute call per image. In the LumiScan Viewer, the trigger mode **Stream (trigger off)** means the LumiScan X captures continuously. **Category:** LumiScan Terminology **Related terms:** [Handshake](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-handshake), [Execute method](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-execute-method), [Frame rate](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-frame-rate), [LumiScan Keryx Utilities](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-keryx-utilities) **Related documentation:** [Starting and stopping a stream](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/streams.html#running), [Cam Driver: Streaming images](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/streaming-images.html#running-a-stream), [Template Finder: Searching every image of a stream](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/processing-an-image-stream.html#setting-up), [Troubleshooting: A stream delivers nothing](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/troubleshooting.html#stream-nothing) **Wikipedia:** [Stream (computing)](https://en.wikipedia.org/wiki/Stream_%28computing%29) ## T {#t} ### Template matching {#gl-template-matching} Finding a known object in an image by comparing it with a small reference picture of the object, the template. **In LumiScan:** LumiScan Template Finder compares brightness and searches a range of scales and rotations; it reports an oriented box, a confidence, the scale and the rotation. LumiScan Object Finder compares the outline (shape) of the object, which is more robust to lighting, but needs one template per orientation or working distance. Both cut their templates from a live camera image. **Category:** Machine Vision **Related terms:** [Confidence](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-confidence), [Finders](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-finders), [Oriented bounding box](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-oriented-bounding-box) **Related documentation:** [Template Finder: Matching a part from a camera image](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/how-tos/match-a-part-from-a-camera-image.html), [Object Finder: Finding a part from a camera image](https://docs.hdvisionsystems.com/en/lumiscan-object-finder/1.1.0/how-tos/find-a-part-from-a-camera-image.html), [Template Finder: Creating a template](https://docs.hdvisionsystems.com/en/lumiscan-template-finder/1.1.0/lumiscan-template-finder/creating-a-template.html), [Object Finder: Teaching an object](https://docs.hdvisionsystems.com/en/lumiscan-object-finder/1.1.0/lumiscan-object-finder/creating-an-object.html) **Wikipedia:** [Template matching](https://en.wikipedia.org/wiki/Template_matching) ### Thresholding {#gl-thresholding} Dividing an image into foreground and background by comparing each pixel’s brightness with a limit, the threshold. **In LumiScan:** LumiScan Area Detector thresholds the image once at a level you set (method `FIXED`) and measures every connected region by counting its pixels. **Analysing a Scene** measures the image, suggests a level and publishes the grey-level histogram. **Category:** Machine Vision **Related terms:** [Blob](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-blob), [ROI](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-roi) **Related documentation:** [Area Detector: Finding the threshold level](https://docs.hdvisionsystems.com/en/lumiscan-area-detector/1.2.0/lumiscan-area-detector/analysing-a-scene.html), [Area Detector: Measuring part area from a camera image](https://docs.hdvisionsystems.com/en/lumiscan-area-detector/1.2.0/how-tos/measure-part-area-from-a-camera-image.html), [Area Detector: Tuning the detection](https://docs.hdvisionsystems.com/en/lumiscan-area-detector/1.2.0/lumiscan-area-detector/tuning-the-detection.html) **Wikipedia:** [Thresholding (image processing)](https://en.wikipedia.org/wiki/Thresholding_%28image_processing%29) ### Tool center point {#gl-tool-center-point} The reference point of the tool on a robot, for example the point between the gripper fingers; robot motions are planned for this point. **In LumiScan:** In LumiScan VGR the TCP is a link in the robot description (`tcpFrame` in the URDF). Over PROFINET, `OUT_PoseObjectInTcp` gives the pose of the object in TCP coordinates. **Category:** Robotics\ **Abbreviation:** TCP **Related terms:** [Robot base](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-robot-base), [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose), [URDF](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-urdf), [Grip point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-grip-point) **Related documentation:** [LumiScan VGR: Setting the TCP frame](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/robot-settings.html#robot-settings-tcp-frame), [LumiScan VGR: Object pose in TCP coordinates (PROFINET)](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/profinet.html) ### TooManyOperations {#gl-too-many-operations} The answer "busy": the operation was refused because another operation is still running. **In LumiScan:** A module of a LumiScan app runs one operation at a time. A method called while another operation of the same module runs - an execute, a handshake or, in the finders, a stream frame - is refused as busy: `TooManyOperations` on LumiScan Keryx, `DL_TOO_MANY_OPERATIONS` on the ctrlX Data Layer, `BadTooManyOperations` over OPC UA. Nothing is queued; retry once the running operation has finished. **Category:** LumiScan Terminology **Related terms:** [Execute method](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-execute-method), [Status code](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-status-code), [Module](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-module) **Related documentation:** [Troubleshooting: A call is refused](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/troubleshooting.html#refused), [One operation at a time: retrying](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/execute.html#busy), [Results of a method call](https://docs.hdvisionsystems.com/en/lumiscan-keryx/1.0.0/status-codes.html#method-results) ### TPU {#gl-tpu} A processor built to run neural networks quickly and with little power; in this documentation, the Hailo AI accelerator. **In LumiScan:** AI Object Matching can run its inference on a Hailo TPU of a ctrlX CORE X3 (app version 1.2 or later) or X7 (1.1 or later) with Hardware Support 2.6.2; set `provider` to `HAILO`. The TPU is optional. LumiScan Training converts an ONNX model into a Hailo model (`.hef`) with the optional Hailo PlugIn. **Category:** AI & Machine Learning\ **Abbreviation:** Tensor Processing Unit **Related terms:** [GPU](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-gpu), [ONNX](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-onnx), [Inference](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-inference), [Container](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-container) **Related documentation:** [AI Object Matching: Using a Hailo TPU on ctrlX OS](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/requirements.html), [LumiScan Training: Converting a model for the Hailo TPU](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/model-conversion.html), [LumiScan Training: Installing the Hailo PlugIn](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/lumiscan-training-installation.html#installing-hailo-plugin) **Wikipedia:** [AI accelerator](https://en.wikipedia.org/wiki/AI_accelerator) ### Training {#gl-training} Teaching a neural network with annotated example images until it recognises the objects reliably. **In LumiScan:** LumiScan Training trains networks from scratch or continues training an existing one. A JSON configuration defines training and validation data, classes, network type and training profile; the result is exported as ONNX. It needs Windows 11 Pro or Enterprise and an NVIDIA RTX graphics card. Training data comes from LumiScan Annotation or from the manual mode of LumiScan VGR. **Category:** AI & Machine Learning **Related terms:** [Annotation](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-annotation), [Neural network](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-neural-network), [Model](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-model), [Runner and Trainer](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-runner-trainer) **Related documentation:** [LumiScan Training: Starting training and testing](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/user-interface.html), [LumiScan Training: Writing the training configuration](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/json-settings.html), [LumiScan Training: Installing the software](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/lumiscan-training-installation.html#installing-lumiscan-training), [LumiScan Training: Sharing a training backend](https://docs.hdvisionsystems.com/en/lumiscan-training/2.3.0/app-settings.html) **Wikipedia:** [Training, validation, and test data sets](https://en.wikipedia.org/wiki/Training,_validation,_and_test_data_sets) ### Trigger {#gl-trigger} The signal that tells a camera to take an image: a hardware trigger is an electrical pulse on an input of the camera, a software trigger is a command sent over the network. **In LumiScan:** The LumiScan X can be triggered by hardware (**Trigger IN**, minimum 5 V, optimum 24 V), by software, or capture continuously; its **Trigger OUT** can fire a flash such as the LumiScan SL. The Cam Driver never triggers a camera by itself: `control/trigger/execute` sends a software trigger only while the camera is in software trigger mode (`TriggerMode` `On`, `TriggerSource` `Software`); otherwise the camera is triggered by hardware or runs freely. **Category:** Camera Technology **Related terms:** [Exposure time](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-exposure-time), [Frame rate](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-frame-rate), [Stream](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-stream), [GenICam](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-genicam) **Related documentation:** [Cam Driver: Sending a software trigger](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/execute-a-method.html#software-trigger), [Cam Driver: Choosing the trigger mode](https://docs.hdvisionsystems.com/en/lumiscan-cam-driver/2.2.1/lumiscan-camdriver/streaming-images.html#triggering), [LumiScan Viewer: Trigger settings](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/lumiscan-software.html#sec-camera-settings), [LumiScan X: Wiring the trigger input](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/product-description.html#sec-trigger-input-signal) ## U {#u} ### URDF {#gl-urdf} An XML file format that describes a robot: its links, joints and their geometry. **In LumiScan:** Every robot configuration of LumiScan VGR references a robot description file in `.urdf` format, which names, among others, the move frame and the TCP frame. Robots and grippers can additionally be shown with CAD models in `.stl` format. In LumiScan VGR Engineering, the robot description belongs to the robot element. **Category:** Robotics\ **Abbreviation:** Unified Robot Description Format **Related terms:** [Tool center point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tool-center-point), [Hand-eye calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-hand-eye-calibration), [Robot base](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-robot-base), [CAD model](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-cad-model) **Related documentation:** [LumiScan VGR: Setting the robot description file](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/robot-settings.html#robot-settings-urdf-path), [VGR Engineering: Configuring a robot](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/elements.html#robots) ## V {#v} ### Vision-guided robotics {#gl-vision-guided-robotics} Robot applications in which a camera tells the robot where the parts are, so that it can pick or place parts whose position is not fixed. **In LumiScan:** LumiScan VGR is the 3D vision-guided robotics software of HD Vision Systems for bin picking and automated assembly; LumiScan VGR Engineering configures it. For 2D applications, the results of a finder or AI Object Matching can be converted into 3D coordinates with LumiScan Calibration. **Category:** Robotics\ **Abbreviation:** VGR **Related terms:** [LumiScan VGR](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-vgr), [Bin picking](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-bin-picking), [Grip point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-grip-point), [Calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-calibration) **Related documentation:** [VGR Engineering: Building a first configuration](https://docs.hdvisionsystems.com/en/lumiscan-vgr-engineering/1.0.0/getting-started.html), [LumiScan VGR: How it works](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/description.html), [What to install for robot picking](https://docs.hdvisionsystems.com/en/getting-started/platform-overview.html#what-to-install) ## W {#w} ### Waypoint {#gl-waypoint} A named pose that a robot moves to or through, for example a position above a part before it grips. **In LumiScan:** Each robot configuration of LumiScan VGR defines its waypoints (`waypoints` in the robot settings): `WP_GRIP_POINT` is the grip point of each object, `WP_ABSOLUTE` a fixed pose in the robot coordinate system, `WP_RELATIVE` a pose relative to other waypoints (for example the grip point), applied in robot coordinates (`LEFT`) or in object coordinates (`RIGHT`), and `WP_CLONE` a copy of another waypoint. Path segments define the motion from the current pose to a destination waypoint - linear in state space (the other segment types are not implemented) - with a collision check per segment (on by default) and an optional `sendActionId` that is transmitted to the PLC when the waypoint is returned. **Category:** Robotics **Related terms:** [Grip point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-grip-point), [Pose](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-pose), [Robot base](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-robot-base), [Tool center point](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-tool-center-point) **Related documentation:** [LumiScan VGR: Defining waypoints and path segments](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/json-settings/robots.html), [LumiScan VGR: Waypoint types](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/waypoint-settings-base.html), [LumiScan VGR: Path segment settings](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/path-segment-settings.html) **Wikipedia:** [Motion planning](https://en.wikipedia.org/wiki/Motion_planning) ### WebDAV {#gl-webdav} An extension of HTTP for uploading, downloading and managing files on a server over the network. **In LumiScan:** On ctrlX OS, settings files, models and calibration files are usually uploaded through the ctrlX web interface; where that is not possible, use WebDAV, for example with WinSCP (**WebDAV**, **TLS/SSL**, path `/solutions/webdav/appdata`). The model files of AI Object Matching must be uploaded with WebDAV. **Category:** Software & Integration\ **Abbreviation:** Web Distributed Authoring and Versioning **Related terms:** [Settings file](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-settings-file), [ctrlX OS](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-ctrlx-os), [Model](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-model) **Related documentation:** [Uploading files with WebDAV (WinSCP)](https://docs.hdvisionsystems.com/en/lumiscan-ai-object-matching/2.1.0/lumiscan-ai-object-matching/uploading-data.html#upload-using-webdav), [Calibration: Uploading the TIFF file to ctrlX OS](https://docs.hdvisionsystems.com/en/lumiscan-calibration/2.0.0/lumiscan-calibration/uploading-data.html#uploading-on-ctrlx-os) **External reference:** [IETF RFC 4918](https://www.rfc-editor.org/rfc/rfc4918) **Wikipedia:** [WebDAV](https://en.wikipedia.org/wiki/WebDAV) ### Working distance {#gl-working-distance} The distance between the camera and the object it observes. **In LumiScan:** The LumiScan X works at distances of 250 to 3000 mm; each standard configuration has its own focus, calibration range and field of view at the minimum and maximum working distance. A calibration file that does not match the current measurement distance gives a poor point cloud. Template Finder and Object Finder templates are cut at the real working distance; Object Finder needs one template per working distance it should recognise. **Category:** Camera Technology **Related terms:** [Field of view](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-field-of-view), [LumiScan X](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-lumiscan-x), [Camera calibration](https://docs.hdvisionsystems.com/en/glossary/index.html#gl-camera-calibration) **Related documentation:** [LumiScan X: Choosing a configuration by working distance](https://docs.hdvisionsystems.com/en/lumiscan-x/2.0.0/product-description.html#sec-standard-configurations)