[MVTec Software GmbH] [Image]
MVTec HORUS for FreeBSD
(demo version)
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A recent copy of this document can be obtained under
http://www.mvtec.com/mvtec-products.html.
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Table of contents
Starting note
1. Overview
2. Installation
3. Quick Start
o Hdevelop
+ The "HORUS develop" window
+ The "Variables" window
+ The "Graphics Window" window
+ Further hdevelop hints
o Hinspector
+ The "HORUS Inspector1" window
+ The "HORUS Display Manager" window
4. Examples
o diff_seq.dev
o eyes.dev
o ic.dev
o marks.dev
o meteor_grab.dev
o particles.dev
o stamps.dev
o vessel.dev
o arithmetic.dev
o comparisons.dev
o sine.dev
o string.dev
5. Known bugs
6. Further Information
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Starting note:
Please consider this version of MVTec HORUS still beta. This version is our
first port to FreeBSD and there are still some problems, mostly regarding
Motif. MVTec HORUS is a very sophisticated tool. Up to now it consists of
more than 21 MB source code. Please forgive us the bugs in the first
version, report them to us, and the next version will be even better!
Thank you.
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Overview
The MVTec HORUS system is a very sophisticated tool for computer aided
vision engineering. Whether your goals are industrial inspection, quality
control, remote sensing, medical image analysis, or camera calibration -
MVTec HORUS can help you.
Most vision applications are in the field of manufacturing, industrial
inspection, and quality control. MVTec HORUS offers a wide range of realtime
operators to help you improve your manufacturing process.
Remote sensing is a growing market. If you want to start in this business,
you need a tool for processing multi-channel images. MVTec HORUS eases the
interpretation with powerful segmentation techniques.
MVTec HORUS offers operators to process a wide range of medical images from
different modalities. Image segmentation is not easy in this area due to
noise and other artifacts. However, a few minutes of interactive MVTec HORUS
programming can solve most of the typical problems you might consider.
Camera calibration is the key to obtain exact 3D measurements from video
images. MVTec HORUS calibrates your camera with a few lines of code.
Color is a key feature for many applications. MVTec HORUS gives you a set of
easy-to-use operators for handling color images.
For Further Information, please go to the end of this document or contact
MVTec Software GmbH directly under the address http://www.mvtec.com/.
Installation
Installing the MVTec HORUS demo is quite simple. Note, that only steps 6, 7,
and 8 are mandatory. So if you just want to give MVTec HORUS a try there is
no need to recompile the kernel.
You need approx. 28 MB space on your harddisk to install MVTec HORUS.
1. if you like to use hinspector along with hdevelop configure a kernel
with
options SYSVSHM
options SYSVSEM
options SYSVMSG
enabled.
2. if you have a Matrox Meteor framegrabber in your system, add the
following to your kernel configuration if you haven't done so yet (see
'man meteor'):
device meteor0
options METEOR_SYSTEM_DEFAULT=METEOR_PAL
options METEOR_ALLOC_PAGES="433"
The system default to choose (PAL/NTSC) depends on your local TV
standard.
The correct number of pages to allocate is computed the following way:
largest width to grab: 768 pixel (PAL)
largest height to grab: 576 pixel (PAL)
max. byte per pixel: 4 (RGB_24)
size of page (byte): 4096
If you want to grab PAL signals in full resolution the correct number
of pages to allocate is (768*576*4/4096)+1 = 433. If you don't have
enough memory or intend to grab smaller images only you may decrease
this value.
hdevelop is capable of grabbing full, half and quarter resolution of
PAL or NTSC signals in RGB_24 or YUV_16. See the help pages for
'query_framegrabber' etc. for more info. Then do a 'cd /dev; ./MAKEDEV
meteor0'.
The Matrox Meteor framegrabber won't work with Pentium Pro boards using
the Intel Natoma chipset revision 1. This is due to a bug in the Natoma
chipset. There is no software workaround.
3. If you plan to use a b/w QuickCam, add
device qcam0 at isa? port "IO_LPT1" conflicts flags 1
to the kernel configuration. Then do a 'cd /dev; ./MAKEDEV qcam0'.
Please note that the QuikCam code in hdevelop is untested. (Since we
don't own a QuickCam, we programed it from the specs only ...)
4. If necessary, compile and install the new kernel and reboot.
5. If you own a 486DX or better you may want to recompile the math
library. The overall performance gain of MVTec HORUS with an optimized
math library is about 20 percent. To recompile, first install the
library sources from the CD (unter /usr/src/lib). Then uncomment the
following line in '/etc/make.conf':
#HAVE_FPU= yes
Finally do
cd /usr/src/lib/msun
make depend
make all
make install
The new math library is now in place and ready to be used.
6. cd into the parent directory of the directory you want to install MVTec
HORUS in (e.g. /usr/local, if you want to install MVTec HORUS into
/usr/local/horus, which is recommended). Then untar the distribution
file:
cd /usr/local
tar xvf {path to HORUS demo archive}/horusdemo.tar.gz
The tar file should have created the directories
horus/README
horus/app-defaults
horus/bin
horus/doc -> doc_english
horus/doc_english
horus/examples
horus/help
horus/images
horus/filter
7. link the binaries in /usr/local/horus/bin (or wherever you installed
the demo) to a directory in your path, e.g. /usr/local/bin, or put the
HORUS binary directory itself in your path.
8. set some environment variables. For tcsh user:
setenv HORUSROOT /usr/local/horus
The HORUSROOT variable points to the root directory of the MVTec HORUS
installation. Setting it is mandatory.
setenv HORUSIMAGES /usr/local/horus/images
The HORUSIMAGES variable points to a directory hierarchy containing
images you intend to use with MVTec HORUS. This way, images can be
loaded without stating the absolute directory path. Of course, even
with the use of HORUSIMAGES it is still possible to load images via
their absolute path. HORUSIMAGES is optional.
Put these variables in your .login or .profile
9. If you use the HORUSIMAGES variable and the directory contains
subdirectories, put this or a similar script in the HORUSIMAGES
directory and run it every time you add or remove images.
#! /bin/sh
# do not list LS-R
rm LS-R
# follow symlinks
find * -type f -follow -print | sort > LS-R
hdevelop reads the contents of LS-R to locate images on disk.
10. install the application defaults in your application defaults directory
(normally /usr/X11R6/lib/X11/app-defaults). You can use the environment
variable XAPPLRESDIR to use a specific directory. This step is optional
and only recommended if you want to change default values.
11. Install a HTML browser, if you haven't done so yet. Hdevelop uses the
HTML format for the online-help pages. The default browser is netscape.
This can be changed in the application defaults.
12. Enable 'Backing Store' in your X-Server, if it isn't enabled by
default. MVTec HORUS doesn't redraw temporally occluded graphics
windows and relies on the X-Server instead. If 'Backing Store' is
disabled, you have to redraw explicitely (click on the image icon - see
below).
If you use Accelerated-X (like we do), a
[SETTINGS]
BackingStore = YES;
in /etc/Xaccel.ini is sufficient. Restart the X-Server afterwards.
13. That's it.
Quick Start
The demo package contains two executables: hdevelop and hinspector. Hdevelop
is started from the command line, hinspector is started from inside
hdevelop.
Hdevelop is a highly interactive programming environment faciliating the
rapid prototyping of typical image analysis and machine vision applications.
Hinspector is an interactive visualization environment fully integrated into
hdevelop allowing all the analysis of two-dimensional data (images and
segmentation results) in order to determine parameters of operators rapidly.
Hdevelop
Hdevelop is the main tool to work with. When started, it presents three
windows: The "HORUS develop" window, the "Variables" window and the
"Graphics Window" window.
The "HORUS develop" window
This is the main window. Here you create, run, and debug all programs
written in hdevelop. At the top row of the window you should see the
following menu entries:
* File: This menu contains functions to load images and existing
programs, and to save newly developed or modified programs. Note, that
saving of programs is restricted to C++ and ASCII in the demo version.
Neither of them can be loaded by hdevelop. (The example programs can be
loaded of course.)
* Visualization: From this menu, graphics windows can be opened, the
hinspector can be started, or options that influence the visualization
while a program is running can be set.
* Control: This menu contains functions concerned with the control flow
of a program (if-then-else, for, while, etc.), assignments and
comments.
* Develop: This menu contains hdevelop-specific functions that influence
how a program is executed. Some of them correspond to MVTec
HORUS-library operators (e.g. dev_set_lut vs. set_lut). Please use the
hdevelop operators for your programs, the MVTec HORUS operators are
designed to be used via the library interface.
* HORUS: This menu contains all MVTec HORUS operators (currently more
than 700) sorted by their chapter. The menu has a cascading structure
that corresponds exactly to the chapter structure of the MVTec HORUS
manual. Just click on an operator to open it for interactive
programming.
* Suggestions: From this menu, suggestions to the current operator can be
obtained (successors, alternatives etc.)
* Help: From this menu the MVTec HORUS-manual can be browsed on-line. To
be able to do this, some additional programs (hhelp or netscape) must
have been installed. Please use netscape in the demo version: The hhelp
program is not included. If you don't have access to netscape you can
use the help buttons connected to every selected operator.
The second row shows some additional fields:
* Operator name: This text field allows the selection of an operator by
entering some part of its name.
* step: By pressing this button, the line of the program, on which the
program counter (PC) is located, is executed.
* run: By pressing this button, the program is executed, starting at the
current program counter (PC) location. It can be stopped by:
* stop: By pressing this button, a currently executing program is
stopped.
* replace/delete/insert/comment: From this menu, the effect of clicking
on a line in the program text can be selected.
The next two adjacent areas show the current program. On the left side is an
area containing breakpoints (set by clicking with the left button), the
program counter (set with middle button) and the insert mark (set with right
button). On the right side the current program is displayed. The effects of
clicking on a line of code depend on the the settings of the
replace/delete/insert/comment menu. New operators are always inserted at the
insert mark.
The last area holds the parameters of the selected operator. If no operator
is selected, this area is empty.
The "Variables" window
This window is used to inspect the numerical and iconic variables that are
currently used by the program. In the top row to the right the iconic
variables are displayed. Click on a variable to display it in the Graphics
window. Do not drag and drop (middle button) variables to the Graphics
window: That code is currently broken in the FreeBSD port, sorry. In the
lower variable area, numerical variables are displayed.
To the left of the variable window, four icons are displayed:
* Desk: Variables can be stored in this desk by dragging them onto the
desk with the middle mouse button. This helps to keep the amount of
variables in the variable area manageable. The contents of the desk can
be displayed by clicking on the desk. Variables can be put back into
the variable area by the same mechanism.
* Trash can: Unused variables can be deleted by dragging them here.
* Magnifying glass: By dragging numerical variables onto the magnifying
glass, they can be displayed more closely. A scrolled window containing
each component of the variable is popped up. The variables can be used
as parameters simply by dragging them into a parameter input field.
* Desk: (see above)
The "Graphics Window" window
This window is used to display iconic data. Multiple graphics windows can be
open at the same time. The active window is indicated by the 'Active'
button.
At the top of the window there are four buttons:
* Active: By pressing this button, the respective window is made the
active window. All output takes place in the active window.
Additionally the colormap of this window is installed with the window
manager.
* Clear: By pressing this button, the window is cleared.
* Close: By pressing this button, the window is closed.
* Parameters: By pressing this button, a dialog window is opened, which
can be used to configure the way how images and regions are displayed:
In that window, different output modes can be selected for the graphics
windows. (They are valid for all windows.) The selection takes effect
with the next output of an iconic variable. Three different
configurations can be adapted.
Further hdevelop hints
* If 'Program interaction' is selected via the
'Visualization'/'Options...' menu, all parameters set in 'graphics
window'/'Parameters' are directly inserted into the current program
* The menus in the 'HORUS Develop' window are 'tear off' menus. Just
click on the dotted line and you can drag the menu to any screen
position you like.
Hinspector
hinspector is started from hdevelop via the "Visualization"/"Start
Inspector" menu. When started, two windows appear on the screen: The "HORUS
Display Manager" window and the "HORUS Inspector1" window.
The "HORUS Inspector1" window
This window replaces the hdevelop "Graphics window".
We're still working on further information for this chapter, sorry. The
documentation will be published on the Web, as soon as it is finished.
The "HORUS Display Manager" window
We're still working on further information for this chapter, sorry. The
documentation will be published on the Web, as soon as it is finished.
Examples
In this chapter a few of the hdevelop examples provided with this demo are
explained. It is not possible to cover all of them in detail but it is
straightforward to load the programs and view the operators' help texts.
diff_seq.dev
This program does simple image sequence processing: The aim is to detect
movements. To do this, two succeding images of the sequence are subtracted
and the resulting image is postprocessed by suitable operators (e.g. texture
operators like laws followed by a threshold would work too). The result is
satisfying. However, this approach only works for constant illumination.
eyes.dev
The aim of this program is finding the eyes of a mandrill. Actually, this
task could also be done with only three MVTec HORUS operators:
01 read_image (Image, 'monkey')
02 threshold__ (Image, Region, 128, 255)
03 connection (Region, ConnectedRegions)
04 select_shape(ConnectedRegions, SelectedRegions, ['area','anisometry'], 'and', [500,1], [50000,1.7])
The example mainly intends to teach loop programming in hdevelop (In
hdevelop loops are seldom needed. There are better solutions in nearly all
cases imaginable).
The program looks like this (line numbers added for reading convenience):
01 dev_close_window ()
02 read_image (Image, 'monkey')
03 get_image_pointer__ (Image, Pointer, Type, Width, Height)
04 dev_open_window (0, 0, Width, Height, 'black', WindowID)
05 dev_set_draw ('fill')
06 dev_set_part (0, 0, Height-1, Width-1)
07 threshold__ (Image, Region, 128, 255)
08 dev_set_color ('white')
09 connection (Region, ConnectedRegions)
10 select_shape (ConnectedRegions, SelectedRegions, 'anisometry', 'and', 1.0, 1.7)
11 Number := |SelectedRegions|
12 Eyes := []
13 for i := 1 to Number by 1
14 ObjectSelected := SelectedRegions[i]
15 area_center (ObjectSelected, Area, Row, Column)
16 excentricity (ObjectSelected, Anisometry, Bulkiness, StructureFactor)
17 dev_set_color ('green')
18 if ((Area > 500) and (Area < 50000))
19 dev_set_color ('red')
20 Eyes := [ObjectSelected,Eyes]
21 endif
22 endfor
23 dev_display (Image)
24 dev_set_color ('red')
25 dev_display (Eyes)
The steps in detail:
1. Close all leftover graphics windows
2. Load the image
3. Get the image size for the graphics window
4. Open a new graphics window
5. Set the display style for regions to "filled"
6. Select the image part to display in the graphics window
7. Since the eyes are light, all dark patches of the image considered
irrelevant and are masked out by means of a binarization threshold of
greyvalue 128.
8. Set region output to 'white'
9. The light patches (currently one logical region) are split into several
regions (one per connection component)
10. All connection components with an anisometry between 1.0 and 1.7 are
selected for further processing. Compare this line to the select_shape
call in the first version of affe.dev. The first version shows how to
avoid loops completely.
11. Count the connection components
12. Initialize the result variable
13. Loop over all the connection components
14. Select the current component
15. Compute the component's area
16. Compute the components excentricity and anisometry
17. Turn the region output color to green
18. Eyes are considered 'not too big' (Area) and 'quite round'
(Anisometry). If both conditions match:
19. Turn the region output color to red
20. Set the output variable
21. The last three lines of the example redraw the image and display the
mandrill's eyes in red.
ic.dev
Here is a longer example of color image processing. The goal is to detect
and distinguish the resistors, capacitors, chips, and chip pins on a board.
Here is the program (line numbers added for reading convenience):
01 dev_close_window ()
02 read_image (Image, 'ic')
03 get_image_pointer__ (Image, Pointer, Type, Width, Height)
04 dev_open_window (0, 0, Width, Height, 'black', WindowID)
05 dev_set_draw ('fill')
06 dev_set_part (0, 0, Height-1, Width-1)
07 dev_display (Image)
08 dev_set_colored (12)
09 decompose3 (Image, Red, Green, Blue)
10 trans_from_rgb (Red, Green, Blue, Hue, Saturation, Intensity, 'hsv')
11 threshold__ (Saturation, Colored, 100, 255)
12 reduce_domain (Hue, Colored, HueColored)
13 threshold__ (HueColored, Red, 10, 19)
14 connection (Red, RedConnect)
15 select_shape (RedConnect, RedLarge, 'area', 'and', 150.000000, 99999.000000)
16 shape_trans (RedLarge, Resistors, 'rectangle2')
17 threshold__ (HueColored, Blue, 114, 137)
18 connection (Blue, BlueConnect)
19 select_shape (BlueConnect, BlueLarge, 'area', 'and', 150.000000, 99999.000000)
20 shape_trans (BlueLarge, Capacitors, 'rectangle2')
21 threshold__ (Intensity, Dark, 0, 50)
22 dilation_rectangle1 (Dark, DarkDilation, 14, 14)
23 connection (DarkDilation, ICLarge)
24 add_channels (ICLarge, Intensity, ICLargeGray)
25 threshold__ (ICLargeGray, ICDark, 0, 50)
26 shape_trans (ICDark, IC, 'rectangle2')
27 dilation_rectangle1 (IC, ICDilation, 5, 1)
28 difference (ICDilation, IC, SearchSpace)
29 dilation_rectangle1 (SearchSpace, SearchSpaceDilation, 14, 1)
30 union1 (SearchSpaceDilation, SearchSpaceUnion)
31 reduce_domain (Intensity, SearchSpaceUnion, SearchGray)
32 mean__ (SearchGray, SearchMean, 15, 15)
33 dyn_threshold__ (SearchGray, SearchMean, PinsRaw, 5.000000, 'light')
34 connection (PinsRaw, PinsConnect)
35 fill_up (PinsConnect, PinsFilled)
36 select_shape (PinsFilled, Pins, 'area', 'and', 10, 100)
37 dev_display (Image)
38 dev_set_draw ('margin')
39 dev_set_line_width (3)
40 dev_set_color ('red')
41 dev_display (IC)
42 dev_set_color ('green')
43 dev_display (Resistors)
44 dev_set_color ('blue')
45 dev_display (Capacitors)
46 dev_set_color ('yellow')
47 dev_display (Pins)
First, any leftover graphics windows are closed, then the color image is
read and displayed in a new graphics window with the right size (lines 1-8).
In lines 5 and 8, some output mode initialization is done. Then the RGB
image is decomposed into its R, G, and B channels (lines 9). It is easiest
to detect resistors and capacitors by color (reddish and blueish). The
channels are therefore transformed into HSI coding (Hue, Saturation,
Intensity). That way, a classification by color is much simpler than in RGB,
if the colors are not pure. Colored objects (i.e. high saturation) are
detected (line 11) and distinguished in red and blue objects (lines 13 and
17). After a little postprocessing to filter artifacts (lines 15 and 19),
the resistors (variable Resistors) and capacitors (variable Capacitors) are
identified correctly.
The chips are the darkest patches of the image, so a simple threshold (line
21) should yield good results. Problems arise, if the chip area is not
homogenous enough. Therefore the threshold result is morphologically
enlarged (line 22), split into connection components (line 23) and
thresholded again (line 25). The result are several logical regions, each of
which consist of one or more physical regions - you can best verify this
with by observing variable ICDark in 12 color mode (enabled via the
"Graphics window"/"Parameters" menu. The surrounding rectangles (line 26) of
the logical regions match the chips exactly.
Finally the chip pins have to be detected. Since they are in the direct
vicinity of the chips, the search space is limited to the areas a few pixels
to the left and right of the chips. This search space is computed by
morphological operators using the detected chip regions (lines 27 to 30).
Since the greyvalue of the pins is not very stable, it can't be used as a
feature. However, the greyvalue differences between neighbouring pixels can
be used (line 33). Finally the artifacts are filtered (lines 34 to 36) and
the pins are identified (variable Pins).
Finally the results are displayed in lines 37 to 47.
marks.dev
Here the goal is to detect the marks on the walking person. The algorithm is
similar to the examples above. A very powerful operator in this example is
fill_interlaced__. This operator is needed, if image sequences with large
interlacing effects are processed. fill_interlaced__ filters these effects,
resulting in a smooth image for further processing.
meteor_grab.dev
This is a minimalist framegrabber application: The program opens a Meteor
grabber and displays the grabbed images in an infinite loop.
particles.dev
In this program, blood cells have to be counted. This is quite difficult,
because there are large artifacts in the image and the image itself is very
noisy. Nevertheless, the solution in hdevelop takes only a few lines of
code.
stamps.dev
This little program shows how easy programming in hdevelop is and how
powerful five lines of code can be: The program recognizes stamps in a stamp
catalogue. The algorithm is as follows: Stamps are darker than the
background (white page), therefore white is mapped out. And stamps are
larger than letters, therefore all the small regions are mapped out. The
leftover objects are the stamps (variable Stamps).
vessel.dev
This program requires a little interaction: It tries to distiguish the
inside of a capillary tube from its outside. Since the image is very bad,
some user support is needed. First, the texture is enhanced with a texture
filter (laws_byte), then the user is asked to mark the inside and outside
with a polygon (set points with the left mouse button, close the polygon
with the right mouse button). From the mean greyvalues, a suitable threshold
boundary is computed and the capillary borders are found (variable Vessel).
arithmetic.dev
The rest of the examples shows some capabilities of hdevelop, that are
sometimes needed but are not related to actual image processing. Error
messages that may occur in these examples are intended!
This program provides some mathematical operators to demonstrate the
mathematical capabilities of hdevelop. Basically all the operators from the
C math library can be used. Step through the example program and watch the
variables-window. As you see, hdevelop can do simple arithmetics, vector
arithmetics and string processing. On errors, hdevelop provides you with
warnings.
comparisons.dev
By stepping through this example, you can see the results of several
comparisons in the variables-window.
sine.dev
Plots a sine curve in the graphics-window.
string.dev
The last example: Shows some string formating. Watch the variables-window:
The format options are the same as in the C printf function.
Known Bugs
Please bear in mind that this version of MVTec HORUS is our first port to
FreeBSD. The main development platforms of MVTec HORUS are HP/UX and
Solaris, so there may still be some flaws in the code (notably because of
the BSD vs. SysV differences and the different Motif versions: FreeBSD is
our only platform running Motif 2.0 - The code is well tested on 1.2 but 2.0
seems to be something totally different). However, we continue our work on
the BSD port and plan to release bugfix updates over the Net (see below).
The Bugs:
1. Sometimes hdevelop and hinspector crash during startup due to Motif
problems.
2. Drag and Drop (middle button) from the hdevelop variable window to the
hdevelop graphics window is buggy. Just click on the icons in the
variable window instead. Drag and Drop from the hdevelop variable
window to the hinspector graphics window works as expected.
Generally: Avoid Drag and Drop at this stage of the port. Motif 2.0
seems to have some incompatibilities to 1.2. Use clicks/double
clicks/etc. instead. Sorry for the inconvenience.
3. Draging the recycle-button in the hdevelop variable window (clicking
with the middle mouse button) causes a segmentation fault.
4. Loading of images in .ima format may very rarely cause a floating
exception.
5. On standalone computers without ethernet connection, hinspector has
difficulties connecting to hdevelop (rpc client/server communication).
Adding
static_routes="loopback"
route_loopback="${hostname} localhost"
in the /etc/sysconfig networking section seems to cure this problem
(further testing needed).
6. Not really a bug, but an inconveniece for the user: Not all of the
online documentation is translated yet and some of the existing
translations may sound a little awkward. We're working on it.
Translating 2.2MB German text needs time ...
Further Information
This demonstration package of MVTec HORUS is limited to the tools hdevelop
and hinspector. The whole MVTec HORUS package covers a lot more:
* Interactive MVTec HORUS tools, suited for rapid prototyping:
hdevelop, hinspector, hhelp, and hvideo.
* The MVTec HORUS Libraries with the whole MVTec HORUS functionality for:
C, C++, Smalltalk, Lisp, and Prolog.
* Manuals, tutorials and help-pages in HTML, PostScript or as Hardcopy
(over 800 pages).
MVTec HORUS is tested to run on the following hard- and software platforms:
SUN Sparc (SunOS and Solaris), SUN Sparc Ultra (Solaris), HP 9000 (HP/UX
9.*, 10.*) Silicon Graphics (Irix), ALPHA (OSF/1), Intel x86 (FreeBSD,
Linux), IBM RS6000 (AIX), and others (upon request). The MVTec HORUS also
run on Windows NT. A port of the interactive MVTec tools is on its way.
MVTec HORUS is developed and sold by MVTec Software GmbH:
* Mailing Address:
MVTec Software GmbH
Orleansstraße 34
D-81667 München
Germany - Deutschland
* Phone:
++49 - (89) - 48095 291
* Fax:
++49 - (89) - 48095 292
* Electronic Mail:
General: mvtec@mvtec.com
Sales: sales@mvtec.com
Technical Support: support@mvtec.com
For FreeBSD related bug reports and questions (but only those, please) send
a mail to Walter Hafner. I did the FreeBSD port, but I am only marginally
involved in the further MVTec HORUS development otherwise.
[Image] [MVTec Software GmbH]
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Walter Hafner
Last modified: Thu Mar 6 14:39:02 MET