Halcon shape based matching and command another programme for pick and place

we are a glass manufacturer. the project helps in the intermediate process in which flat glass of all shapes and sizes, with holes, w/o holes, etc will pass through a scanner. Images of the respective glasses will be formed and Halcon should be able to calculate the center position which will be used by another program to pick and place for further processing. the process is run continuously. the porcess is rather similar to the video as follow, except on a much larger scale. https://www.youtube.com/watch?v=35ge321ppr4 Halcon programming skills are definitely needed.