static void DepthCorrectionExample(MIL_ID MilSystem, MIL_ID MilDisplay)
{
MIL_ID MilOverlayImage = MIL.M_NULL; // Overlay image buffer identifier.
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier (for processing).
MIL_ID MilDepthMap = MIL.M_NULL; // Image buffer identifier (for results).
MIL_ID MilLaser = MIL.M_NULL; // 3dmap laser profiling context identifier.
MIL_ID MilScan = MIL.M_NULL; // 3dmap result buffer identifier.
MIL_INT SizeX = 0; // Width of grabbed images.
MIL_INT SizeY = 0; // Height of grabbed images.
MIL_INT NbReferencePlanes = 0; // Number of reference planes of known heights.
MIL_INT NbObjectImages = 0; // Number of frames for scanned objects.
MIL_INT n = 0; // Counter.
double FrameRate = 0.0; // Number of grabbed frames per second (in AVI).
double StartTime = 0.0; // Time at the beginning of each iteration.
double EndTime = 0.0; // Time after processing for each iteration.
double WaitTime = 0.0; // Time to wait for next frame.
// Inquire characteristics of the input sequences.
MIL.MbufDiskInquire(REFERENCE_PLANES_SEQUENCE_FILE, MIL.M_SIZE_X, ref SizeX);
MIL.MbufDiskInquire(REFERENCE_PLANES_SEQUENCE_FILE, MIL.M_SIZE_Y, ref SizeY);
MIL.MbufDiskInquire(REFERENCE_PLANES_SEQUENCE_FILE, MIL.M_NUMBER_OF_IMAGES, ref NbReferencePlanes);
MIL.MbufDiskInquire(REFERENCE_PLANES_SEQUENCE_FILE, MIL.M_FRAME_RATE, ref FrameRate);
MIL.MbufDiskInquire(OBJECT_SEQUENCE_FILE, MIL.M_NUMBER_OF_IMAGES, ref NbObjectImages);
// Allocate buffer to hold images.
MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_DISP + MIL.M_PROC, ref MilImage);
MIL.MbufClear(MilImage, 0.0);
Console.WriteLine();
Console.WriteLine("DEPTH ANALYSIS:");
Console.WriteLine("---------------");
Console.WriteLine();
Console.WriteLine("This program performs a surface inspection to detect depth");
Console.WriteLine("defects on a wood surface using a laser profiling system.");
Console.WriteLine();
Console.WriteLine("Press <Enter> to continue.");
Console.WriteLine();
Console.ReadKey();
// Select display.
MIL.MdispSelect(MilDisplay, MilImage);
// Prepare for overlay annotations.
MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_ENABLE);
MIL.MdispInquire(MilDisplay, MIL.M_OVERLAY_ID, ref MilOverlayImage);
MIL.MgraControl(MIL.M_DEFAULT, MIL.M_BACKGROUND_MODE, MIL.M_TRANSPARENT);
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_WHITE);
// Allocate 3dmap objects.
MIL.M3dmapAlloc(MilSystem, MIL.M_LASER, MIL.M_DEPTH_CORRECTION, ref MilLaser);
MIL.M3dmapAllocResult(MilSystem, MIL.M_LASER_DATA, MIL.M_DEFAULT, ref MilScan);
// Set laser line extraction options.
MIL.M3dmapControl(MilLaser, MIL.M_DEFAULT, MIL.M_PEAK_WIDTH, MAX_LINE_WIDTH);
MIL.M3dmapControl(MilLaser, MIL.M_DEFAULT, MIL.M_MIN_INTENSITY, MIN_INTENSITY);
// Open the calibration sequence file for reading.
MIL.MbufImportSequence(REFERENCE_PLANES_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_OPEN);
// Read and process all images in the input sequence.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref StartTime);
for (n = 0; n < NbReferencePlanes; n++)
{
string CalibString;
// Read image from sequence.
MIL.MbufImportSequence(REFERENCE_PLANES_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_LOAD, MIL.M_NULL, ref MilImage, MIL.M_DEFAULT, 1, MIL.M_READ);
// Annotate the image with the calibration height.
MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT);
CalibString = string.Format("Reference plane {0}: {1:0.00} mm", n + 1, CORRECTED_DEPTHS[n]);
MIL.MgraText(MIL.M_DEFAULT, MilOverlayImage, CALIB_TEXT_POS_X, CALIB_TEXT_POS_Y, CalibString);
// Set desired corrected depth of next reference plane.
MIL.M3dmapControl(MilLaser, MIL.M_DEFAULT, MIL.M_CORRECTED_DEPTH, CORRECTED_DEPTHS[n] * SCALE_FACTOR);
// Analyze the image to extract laser line.
MIL.M3dmapAddScan(MilLaser, MilScan, MilImage, MIL.M_NULL, MIL.M_NULL, MIL.M_DEFAULT, MIL.M_DEFAULT);
// Wait to have a proper frame rate, if necessary.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref EndTime);
WaitTime = (1.0 / FrameRate) - (EndTime - StartTime);
if (WaitTime > 0)
{
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_WAIT, ref WaitTime);
}
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref StartTime);
}
// Close the calibration sequence file.
MIL.MbufImportSequence(REFERENCE_PLANES_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_CLOSE);
// Calibrate the laser profiling context using reference planes of known heights.
MIL.M3dmapCalibrate(MilLaser, MilScan, MIL.M_NULL, MIL.M_DEFAULT);
Console.WriteLine("The laser profiling system has been calibrated using 4 reference");
Console.WriteLine("planes of known heights.");
Console.WriteLine();
Console.WriteLine("Press <Enter> to continue.");
Console.WriteLine();
Console.ReadKey();
Console.WriteLine("The wood surface is being scanned.");
Console.WriteLine();
// Empty all result buffer contents.
// It will now be reused for extracting corrected depths.
MIL.M3dmapAddScan(MIL.M_NULL, MilScan, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_DEFAULT, MIL.M_RESET);
// Open the object sequence file for reading.
MIL.MbufDiskInquire(OBJECT_SEQUENCE_FILE, MIL.M_FRAME_RATE, ref FrameRate);
MIL.MbufImportSequence(OBJECT_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_OPEN);
// Read and process all images in the input sequence.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref StartTime);
MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT);
for (n = 0; n < NbObjectImages; n++)
{
// Read image from sequence.
MIL.MbufImportSequence(OBJECT_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_LOAD, MIL.M_NULL, ref MilImage, MIL.M_DEFAULT, 1, MIL.M_READ);
// Analyze the image to extract laser line and correct its depth.
MIL.M3dmapAddScan(MilLaser, MilScan, MilImage, MIL.M_NULL, MIL.M_NULL, MIL.M_DEFAULT, MIL.M_DEFAULT);
// Wait to have a proper frame rate, if necessary.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref EndTime);
WaitTime = (1.0 / FrameRate) - (EndTime - StartTime);
if (WaitTime > 0)
{
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_WAIT, ref WaitTime);
}
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref StartTime);
}
// Close the object sequence file.
MIL.MbufImportSequence(OBJECT_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_CLOSE);
// Allocate the image for a partially corrected depth map.
MIL.MbufAlloc2d(MilSystem, SizeX, NbObjectImages, 16 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP, ref MilDepthMap);
// Get partially corrected depth map from accumulated information in the result buffer.
MIL.M3dmapExtract(MilScan, MilDepthMap, MIL.M_NULL, MIL.M_CORRECTED_DEPTH_MAP, MIL.M_DEFAULT, MIL.M_DEFAULT);
// Show partially corrected depth map and find defects.
SetupColorDisplay(MilSystem, MilDisplay, MIL.MbufInquire(MilDepthMap, MIL.M_SIZE_BIT, MIL.M_NULL));
// Display partially corrected depth map.
MIL.MdispSelect(MilDisplay, MilDepthMap);
MIL.MdispInquire(MilDisplay, MIL.M_OVERLAY_ID, ref MilOverlayImage);
Console.WriteLine("The pseudo-color depth map of the surface is displayed.");
Console.WriteLine();
Console.WriteLine("Press <Enter> to continue.");
Console.WriteLine();
Console.ReadKey();
PerformBlobAnalysis(MilSystem, MilDisplay, MilOverlayImage, MilDepthMap);
Console.WriteLine("Press <Enter> to continue.");
Console.WriteLine();
Console.ReadKey();
// Disassociates display LUT and clear overlay.
MIL.MdispLut(MilDisplay, MIL.M_DEFAULT);
MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT);
// Free all allocations.
MIL.M3dmapFree(MilScan);
MIL.M3dmapFree(MilLaser);
MIL.MbufFree(MilDepthMap);
MIL.MbufFree(MilImage);
}
const double MIN_HEIGHT_THRESHOLD = -1.0; // in mm
static void CalibratedCameraExample(MIL_ID MilSystem, MIL_ID MilDisplay)
{
MIL_ID MilOverlayImage = MIL.M_NULL; // Overlay image buffer identifier.
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier (for processing).
MIL_ID MilCalibration = MIL.M_NULL; // Calibration context.
MIL_ID DepthMapId = MIL.M_NULL; // Image buffer identifier (for results).
MIL_ID LaserId = MIL.M_NULL; // 3dmap laser profiling context identifier.
MIL_ID ScanId = MIL.M_NULL; // 3dmap result buffer identifier.
MIL_INT CalibrationStatus = 0; // Used to ensure if McalGrid() worked.
MIL_INT SizeX = 0; // Width of grabbed images.
MIL_INT SizeY = 0; // Height of grabbed images.
MIL_INT NumberOfImages = 0; // Number of frames for scanned objects.
MIL_INT n = 0; // Counter.
double FrameRate = 0.0; // Number of grabbed frames per second (in AVI).
double StartTime = 0.0; // Time at the beginning of each iteration.
double EndTime = 0.0; // Time after processing for each iteration.
double WaitTime = 0.0; // Time to wait for next frame.
double Volume = 0.0; // Volume of scanned object.
Console.WriteLine();
Console.WriteLine("3D PROFILING AND VOLUME ANALYSIS:");
Console.WriteLine("---------------------------------");
Console.WriteLine();
Console.WriteLine("This program generates fully corrected 3d data of a scanned");
Console.WriteLine("cookie and computes its volume.The laser profiling system uses");
Console.WriteLine("a 3d-calibrated camera.");
Console.WriteLine();
// Load grid image for camera calibration.
MIL.MbufRestore(GRID_FILENAME, MilSystem, ref MilImage);
// Select display.
MIL.MdispSelect(MilDisplay, MilImage);
Console.WriteLine("Calibrating the camera...");
Console.WriteLine();
MIL.MbufInquire(MilImage, MIL.M_SIZE_X, ref SizeX);
MIL.MbufInquire(MilImage, MIL.M_SIZE_Y, ref SizeY);
// Allocate calibration context in 3D mode.
MIL.McalAlloc(MilSystem, MIL.M_TSAI_BASED, MIL.M_DEFAULT, ref MilCalibration);
// Calibrate the camera.
MIL.McalGrid(MilCalibration, MilImage, 0.0, 0.0, 0.0, GRID_NB_ROWS, GRID_NB_COLS, GRID_ROW_SPACING, GRID_COL_SPACING, MIL.M_DEFAULT, MIL.M_CHESSBOARD_GRID);
MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_STATUS + MIL.M_TYPE_MIL_INT, ref CalibrationStatus);
if (CalibrationStatus != MIL.M_CALIBRATED)
{
MIL.McalFree(MilCalibration);
MIL.MbufFree(MilImage);
Console.WriteLine("Camera calibration failed.");
Console.WriteLine("Press <Enter> to end.");
Console.WriteLine();
Console.ReadKey();
return;
}
// Prepare for overlay annotations.
MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_ENABLE);
MIL.MdispInquire(MilDisplay, MIL.M_OVERLAY_ID, ref MilOverlayImage);
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_GREEN);
// Draw camera calibration points.
MIL.McalDraw(MIL.M_DEFAULT, MilCalibration, MilOverlayImage, MIL.M_DRAW_IMAGE_POINTS, MIL.M_DEFAULT, MIL.M_DEFAULT);
Console.WriteLine("The camera was calibrated using a chessboard grid.");
Console.WriteLine();
Console.WriteLine("Press <Enter> to continue.");
Console.WriteLine();
Console.ReadKey();
// Disable overlay.
MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_DISABLE);
// Load laser line image.
MIL.MbufLoad(LASERLINE_FILENAME, MilImage);
// Allocate 3dmap objects.
MIL.M3dmapAlloc(MilSystem, MIL.M_LASER, MIL.M_CALIBRATED_CAMERA_LINEAR_MOTION, ref LaserId);
MIL.M3dmapAllocResult(MilSystem, MIL.M_LASER_DATA, MIL.M_DEFAULT, ref ScanId);
// Set laser line extraction options.
MIL.M3dmapControl(LaserId, MIL.M_DEFAULT, MIL.M_PEAK_WIDTH, MAX_LINE_WIDTH_2);
MIL.M3dmapControl(LaserId, MIL.M_DEFAULT, MIL.M_MIN_INTENSITY, MIN_INTENSITY_2);
// Calibrate laser profiling context.
MIL.M3dmapAddScan(LaserId, ScanId, MilImage, MIL.M_NULL, MIL.M_NULL, MIL.M_DEFAULT, MIL.M_DEFAULT);
MIL.M3dmapCalibrate(LaserId, ScanId, MilCalibration, MIL.M_DEFAULT);
Console.WriteLine("The laser profiling system has been calibrated using the image");
Console.WriteLine("of one laser line.");
Console.WriteLine();
Console.WriteLine("Press <Enter> to continue.");
Console.WriteLine();
Console.ReadKey();
// Empty all result buffer contents.
// It will now be reused for extracting 3d points.
MIL.M3dmapAddScan(MIL.M_NULL, ScanId, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_DEFAULT, MIL.M_RESET);
// Set speed of scanned object (speed in mm/frame is constant).
MIL.M3dmapControl(LaserId, MIL.M_DEFAULT, MIL.M_SCAN_SPEED, CONVEYOR_SPEED);
// Inquire characteristics of the input sequence.
MIL.MbufDiskInquire(OBJECT2_SEQUENCE_FILE, MIL.M_NUMBER_OF_IMAGES, ref NumberOfImages);
MIL.MbufDiskInquire(OBJECT2_SEQUENCE_FILE, MIL.M_FRAME_RATE, ref FrameRate);
// Open the object sequence file for reading.
MIL.MbufImportSequence(OBJECT2_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_OPEN);
Console.WriteLine("The cookie is being scanned to generate 3d data.");
Console.WriteLine();
// Read and process all images in the input sequence.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref StartTime);
for (n = 0; n < NumberOfImages; n++)
{
// Read image from sequence.
MIL.MbufImportSequence(OBJECT2_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_LOAD, MIL.M_NULL, ref MilImage, MIL.M_DEFAULT, 1, MIL.M_READ);
// Analyze the image to extract laser line and correct its depth.
MIL.M3dmapAddScan(LaserId, ScanId, MilImage, MIL.M_NULL, MIL.M_NULL, MIL.M_DEFAULT, MIL.M_DEFAULT);
// Wait to have a proper frame rate, if necessary.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref EndTime);
WaitTime = (1.0 / FrameRate) - (EndTime - StartTime);
if (WaitTime > 0)
{
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_WAIT, ref WaitTime);
}
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref StartTime);
}
// Close the object sequence file.
MIL.MbufImportSequence(OBJECT2_SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_CLOSE);
// Allocate image for the fully corrected depth map.
MIL.MbufAlloc2d(MilSystem, DEPTH_MAP_SIZE_X, DEPTH_MAP_SIZE_Y, 16 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP, ref DepthMapId);
// Set fully corrected depth map generation parameters.
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_FILL_MODE, MIL.M_X_THEN_Y);
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_FILL_SHARP_ELEVATION, MIL.M_MIN);
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_FILL_SHARP_ELEVATION_DEPTH, GAP_DEPTH);
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_PIXEL_SIZE_X, SCALE_X);
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_PIXEL_SIZE_Y, SCALE_Y);
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_GRAY_LEVEL_SIZE_Z, SCALE_Z);
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_WORLD_POS_X, WORLD_OFFSET_X);
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_WORLD_POS_Y, WORLD_OFFSET_Y);
MIL.M3dmapControl(ScanId, MIL.M_DEFAULT, MIL.M_WORLD_POS_Z, WORLD_OFFSET_Z);
// Get fully corrected depth map from accumulated information in the result buffer.
MIL.M3dmapExtract(ScanId, DepthMapId, MIL.M_NULL, MIL.M_CORRECTED_DEPTH_MAP, MIL.M_DEFAULT, MIL.M_DEFAULT);
// Remove noise.
// Set all small values to 0, so that all remaining non-zeros are part of the cookie.
MIL.MimClip(DepthMapId, DepthMapId, MIL.M_LESS, (MIN_HEIGHT_THRESHOLD - WORLD_OFFSET_Z) / SCALE_Z, MIL.M_NULL, 0.0, MIL.M_NULL);
// Compute the volume of the cookie.
MIL.M3dmapStat(DepthMapId, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_VOLUME, MIL.M_DEFAULT, MIL.M_DEFAULT, ref Volume);
Console.WriteLine("Fully corrected 3d data of the cookie is displayed.");
Console.WriteLine();
// Try to allocate D3D display.
IntPtr DispHandle;
DispHandle = MdepthD3DAlloc(DepthMapId, MIL.M_NULL, D3D_DISPLAY_SIZE_X, D3D_DISPLAY_SIZE_Y, SCALE_X, SCALE_Y, -SCALE_Z, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_DEFAULT, IntPtr.Zero);
if (DispHandle != IntPtr.Zero)
{
// Hide Mil Display.
MIL.MdispControl(MilDisplay, MIL.M_WINDOW_SHOW, MIL.M_DISABLE);
MdispD3DShow(DispHandle);
Console.WriteLine("D3D display controls:");
Console.WriteLine(" .Left click\tmove object");
Console.WriteLine(" .Right click\trotate object");
Console.WriteLine(" .Scroll wheel\tzoom");
Console.WriteLine(" .R\t\tstart/stop animation");
Console.WriteLine(" .P\t\tenable/disable point cloud");
Console.WriteLine();
}
else
{
MIL.MdispControl(MilDisplay, MIL.M_VIEW_MODE, MIL.M_AUTO_SCALE);
MIL.MdispSelect(MilDisplay, DepthMapId);
}
Console.WriteLine("Volume of the cookie is {0,4:0.0} cm^3.", -Volume / 1000.0);
Console.WriteLine();
Console.WriteLine("Press <Enter> to end.");
Console.WriteLine();
Console.ReadKey();
if (DispHandle != IntPtr.Zero)
{
MdispD3DHide(DispHandle);
MdispD3DFree(DispHandle);
}
// Free all allocations.
MIL.M3dmapFree(ScanId);
MIL.M3dmapFree(LaserId);
MIL.McalFree(MilCalibration);
MIL.MbufFree(DepthMapId);
MIL.MbufFree(MilImage);
}
