/// <summary>
/// Pattern Maching으로 Mark의 위치를 검색함
/// </summary>
/// <param name="iCam"></param>
/// <param name="pSdata"></param>
/// <param name="pRData"></param>
/// <returns></returns>
public int SearchByNGC(int iCamNo, CVisionPatternData pSdata, out CResultData pRData)
{
MIL_ID m_MilImage = m_pDisplay[iCamNo].GetImage();
MIL_ID m_DisplayGraph = m_pDisplay[iCamNo].GetViewGraph();
CResultData pResult = new CResultData();
Point RectOffset = new Point();
// Mark Search Timer Reset
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Mark Search Command
MIL.MpatFindModel(m_MilImage, pSdata.m_milModel, m_SearchResult);
// Mark Search Timer Check
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref pResult.m_dTime);
if (MIL.MpatGetNumber(m_SearchResult) == 1L)
{
// Display Mark Area
//MIL.MgraClear(MIL.M_DEFAULT, m_DisplayGraph);
m_pDisplay[iCamNo].ClearOverlay();
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_GREEN);
MIL.MpatDraw(MIL.M_DEFAULT, m_SearchResult, m_DisplayGraph, MIL.M_DRAW_BOX, MIL.M_DEFAULT, MIL.M_DEFAULT);
//DisplaySearchResult();
MIL.MpatGetResult(m_SearchResult, MIL.M_POSITION_X, ref pResult.m_dPixelX);
MIL.MpatGetResult(m_SearchResult, MIL.M_POSITION_Y, ref pResult.m_dPixelY);
MIL.MpatGetResult(m_SearchResult, MIL.M_SCORE, ref pResult.m_dScore);
RectOffset.X = (int)pResult.m_dPixelX - pSdata.m_pointReference.X - pSdata.m_rectSearch.X;
RectOffset.Y = (int)pResult.m_dPixelY - pSdata.m_pointReference.Y - pSdata.m_rectSearch.Y;
pResult.m_rectFindedModel = pSdata.m_rectModel;
pResult.m_rectFindedModel.Offset(RectOffset);
pResult.m_rectSearch = pSdata.m_rectSearch;
if (pResult.m_dScore > pSdata.m_dAcceptanceThreshold)
{
pResult.m_bSearchSuccess = true;
// Result Data 전달
pRData = pResult;
return(SUCCESS);
}
}
// Search Data를 초기화 한다.
pResult.m_bSearchSuccess = false;
pResult.m_dPixelX = 0.0;
pResult.m_dPixelY = 0.0;
pResult.m_rectSearch = new Rectangle(0, 0, 0, 0);
pResult.m_rectFindedModel = new Rectangle(0, 0, 0, 0);
// Result Data 전달
pRData = pResult;
return(GenerateErrorCode(ERR_VISION_PATTERN_SEARCH_FAIL));
}
//*****************************************************************************
// Benchmark function.
//*****************************************************************************
private static void Benchmark(ref PROC_PARAM ProcParamPtr, ref double Time, ref double FramesPerSecond)
{
MIL_INT EstimatedNbLoop = DEFAULT_NB_LOOP;
double StartTime = 0.0;
double EndTime = 0.0;
double MinTime = 0;
MIL_INT n;
// Wait for the completion of all functions in this thread.
MIL.MthrWait(MIL.M_DEFAULT, MIL.M_THREAD_WAIT, MIL.M_NULL);
// Call the processing once before benchmarking for a more accurate time.
// This compensates for Dll load time, etc.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref StartTime);
ProcessingExecute(ref ProcParamPtr);
MIL.MthrWait(MIL.M_DEFAULT, MIL.M_THREAD_WAIT, MIL.M_NULL);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref EndTime);
MinTime = EndTime - StartTime;
// Estimate the number of loops required to benchmark the processing for
// the specified minimum time.
for (n = 0; n < ESTIMATION_NB_LOOP; n++)
{
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref StartTime);
ProcessingExecute(ref ProcParamPtr);
MIL.MthrWait(MIL.M_DEFAULT, MIL.M_THREAD_WAIT, MIL.M_NULL);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref EndTime);
Time = EndTime - StartTime;
MinTime = (Time < MinTime) ? Time : MinTime;
}
if (MinTime > 0)
{
EstimatedNbLoop = (MIL_INT)(MINIMUM_BENCHMARK_TIME / MinTime) + 1;
}
// Benchmark the processing according to the estimated number of loops.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref StartTime);
for (n = 0; n < EstimatedNbLoop; n++)
{
ProcessingExecute(ref ProcParamPtr);
}
MIL.MthrWait(MIL.M_DEFAULT, MIL.M_THREAD_WAIT, MIL.M_NULL);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref EndTime);
Time = EndTime - StartTime;
FramesPerSecond = EstimatedNbLoop / Time;
Time = Time * 1000 / EstimatedNbLoop;
}
/// <summary>
/// Call Back 함수로 Image가 새로 들어올때 마다 Event를 발생시킴.
/// </summary>
/// <param Camera="callBackOwner"></param>
/// <param name="image"></param>
/// <returns></returns>
public int ImageCallback(object callBackOwner, ref BGAPI.Image image)
{
// get image to IntPtr
image.get(ref m_ImageBuffer);
// Copy to Byte[]
Marshal.Copy(m_ImageBuffer, m_ImgBits, 0, m_CameraWidth * m_CameraHeight);
// MIL Buffer에 Copy
MIL.MbufPut(m_MilImage, m_ImgBits);
MIL.MbufControl(m_MilImage, MIL.M_MODIFIED, MIL.M_DEFAULT);
// Timer 확인
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref dGrabInterval);
String strResult = String.Format(" Scan Time : {0:0.00} ", dGrabInterval);
// Timer Reset
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET, ref dGrabInterval);
// new image 호출 (Image Grab 지령)
m_pCamera.GetCamera().setImage(ref image);
return(SUCCESS);
}
static void Main(string[] args)
{
MIL_ID MilApplication = MIL.M_NULL; // Application identifier.
MIL_ID MilSystem = MIL.M_NULL; // System identifier.
MIL_ID MilDisplay = MIL.M_NULL; // Display identifier.
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID MilOverlayImage = MIL.M_NULL; // Overlay image.
MIL_ID MilStrContext = MIL.M_NULL; // String context identifier.
MIL_ID MilStrResult = MIL.M_NULL; // String result buffer identifier.
MIL_INT NumberOfStringRead = 0; // Total number of strings to read.
double Score = 0.0; // String score.
StringBuilder StringResult = new StringBuilder(STRING_MAX_SIZE + 1); // String of characters read.
double Time = 0.0; // Time variable.
// Print module name.
Console.Write("\nSTRING READER MODULE:\n");
Console.Write("---------------------\n\n");
// Allocate defaults
MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL);
// Restore the font definition image
MIL.MbufRestore(IMAGE_FILE_DEFINITION, MilSystem, ref MilImage);
// Display the image and prepare for overlay annotations.
MIL.MdispSelect(MilDisplay, MilImage);
MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_ENABLE);
MIL.MdispInquire(MilDisplay, MIL.M_OVERLAY_ID, ref MilOverlayImage);
// Allocate a new empty String Reader context.
MIL.MstrAlloc(MilSystem, MIL.M_FONT_BASED, MIL.M_DEFAULT, ref MilStrContext);
// Allocate a new empty String Reader result buffer.
MIL.MstrAllocResult(MilSystem, MIL.M_DEFAULT, ref MilStrResult);
MIL.MstrControl(MilStrContext, MIL.M_CONTEXT, MIL.M_ENCODING, MIL.M_UNICODE);
// Add a new empty user defined font to the context.
MIL.MstrControl(MilStrContext, MIL.M_CONTEXT, MIL.M_FONT_ADD, MIL.M_USER_DEFINED);
// Add user defined characters from the license plate mosaic image.
MIL.MstrEditFont(MilStrContext, MIL.M_FONT_INDEX(0), MIL.M_CHAR_ADD, MIL.M_USER_DEFINED + MIL.M_FOREGROUND_BLACK, MilImage, TEXT_DEFINITION);
// Draw all the characters in the font in the overlay image.
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_GREEN);
MIL.MstrDraw(MIL.M_DEFAULT, MilStrContext, MilOverlayImage, MIL.M_DRAW_CHAR, MIL.M_FONT_INDEX(0), MIL.M_ORIGINAL);
// Normalize the characters of the font to an appropriate size.
MIL.MstrEditFont(MilStrContext, MIL.M_FONT_INDEX(0), MIL.M_CHAR_NORMALIZE, MIL.M_SIZE_Y, NORMALIZATION_SIZE_Y);
// Add 2 new empty strings models to the context for the 2 valid types of
// plates (3 letters followed by 3 numbers or 3 numbers followed by 3 letters)
// Note that the read time increases with the number of strings in the context.
MIL.MstrControl(MilStrContext, MIL.M_CONTEXT, MIL.M_STRING_ADD, MIL.M_USER_DEFINED);
MIL.MstrControl(MilStrContext, MIL.M_CONTEXT, MIL.M_STRING_ADD, MIL.M_USER_DEFINED);
// Set number of strings to read.
MIL.MstrControl(MilStrContext, MIL.M_CONTEXT, MIL.M_STRING_NUMBER, 1);
// Set number of expected characters for all string models to 6 characters.
MIL.MstrControl(MilStrContext, MIL.M_STRING_INDEX(MIL.M_ALL), MIL.M_STRING_SIZE_MIN, 6);
MIL.MstrControl(MilStrContext, MIL.M_STRING_INDEX(MIL.M_ALL), MIL.M_STRING_SIZE_MAX, 6);
// Set default constraint to uppercase letter for all string models
MIL.MstrSetConstraint(MilStrContext, MIL.M_STRING_INDEX(0), MIL.M_DEFAULT, MIL.M_LETTER + MIL.M_UPPERCASE, IntPtr.Zero);
MIL.MstrSetConstraint(MilStrContext, MIL.M_STRING_INDEX(1), MIL.M_DEFAULT, MIL.M_LETTER + MIL.M_UPPERCASE, IntPtr.Zero);
// Set constraint of 3 last characters to digit for the first string model
MIL.MstrSetConstraint(MilStrContext, MIL.M_STRING_INDEX(0), 3, MIL.M_DIGIT, IntPtr.Zero);
MIL.MstrSetConstraint(MilStrContext, MIL.M_STRING_INDEX(0), 4, MIL.M_DIGIT, IntPtr.Zero);
MIL.MstrSetConstraint(MilStrContext, MIL.M_STRING_INDEX(0), 5, MIL.M_DIGIT, IntPtr.Zero);
// Set constraint of 3 first characters to digit for the second string model
MIL.MstrSetConstraint(MilStrContext, MIL.M_STRING_INDEX(1), 0, MIL.M_DIGIT, IntPtr.Zero);
MIL.MstrSetConstraint(MilStrContext, MIL.M_STRING_INDEX(1), 1, MIL.M_DIGIT, IntPtr.Zero);
MIL.MstrSetConstraint(MilStrContext, MIL.M_STRING_INDEX(1), 2, MIL.M_DIGIT, IntPtr.Zero);
// Pause to show the font definition.
Console.Write("This program has defined a font with this Quebec plates mosaic image.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Clear the display overlay.
MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT);
// Load image to read into image buffer.
MIL.MbufLoad(IMAGE_FILE_TO_READ, MilImage);
// Preprocess the String Reader context.
MIL.MstrPreprocess(MilStrContext, MIL.M_DEFAULT);
// Dummy first call for bench measure purpose only (bench stabilization, cache effect, etc...). This first call is NOT required by the application.
MIL.MstrRead(MilStrContext, MilImage, MilStrResult);
// Reset the timer.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Perform the read operation on the specified target image.
MIL.MstrRead(MilStrContext, MilImage, MilStrResult);
// Read the time.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
// Get number of strings read and show the result.
MIL.MstrGetResult(MilStrResult, MIL.M_GENERAL, MIL.M_STRING_NUMBER + MIL.M_TYPE_MIL_INT, ref NumberOfStringRead);
if (NumberOfStringRead >= 1)
{
Console.Write("The license plate was read successfully ({0:#.##} ms)\n\n", Time * 1000);
// Draw read result.
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_BLUE);
MIL.MstrDraw(MIL.M_DEFAULT, MilStrResult, MilOverlayImage, MIL.M_DRAW_STRING, MIL.M_ALL, MIL.M_DEFAULT);
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_GREEN);
MIL.MstrDraw(MIL.M_DEFAULT, MilStrResult, MilOverlayImage, MIL.M_DRAW_STRING_BOX, MIL.M_ALL, MIL.M_DEFAULT);
// Print the read result.
Console.Write(" String Score\n");
Console.Write(" -----------------------------------\n");
MIL.MstrGetResult(MilStrResult, 0, MIL.M_STRING + MIL.M_TYPE_TEXT_CHAR, StringResult);
MIL.MstrGetResult(MilStrResult, 0, MIL.M_STRING_SCORE, ref Score);
Console.Write(" {0} {1:0.0}\n", StringResult.ToString(), Score);
}
else
{
Console.Write("Error: Plate was not read.\n");
}
// Pause to show results.
Console.Write("\nPress <Enter> to end.\n\n");
Console.ReadKey();
// Free all allocations.
MIL.MstrFree(MilStrContext);
MIL.MstrFree(MilStrResult);
MIL.MbufFree(MilImage);
// Free defaults.
MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL);
}
// Main function.
static void Main(string[] args)
{
MIL_ID MilApplication = MIL.M_NULL;
MIL_ID MilSystem = MIL.M_NULL;
MIL_ID MilDigitizer = MIL.M_NULL;
MIL_ID MilDisplay = MIL.M_NULL;
MIL_ID[] MilImage = new MIL_ID[2];
MIL_ID MilImageDisp = MIL.M_NULL;
MIL_ID Default = MIL.M_DEFAULT;
int NbProc = 0;
int n = 0;
double Time = 0.0;
StringBuilder Text = new StringBuilder("0", STRING_LENGTH_MAX);
UserDataObject userObject = new UserDataObject();
// Allocate defaults.
MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, ref MilDigitizer, ref MilImageDisp);
// Allocate 2 grab buffers.
for (n = 0; n < 2; n++)
{
MIL.MbufAlloc2d(MilSystem,
MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_X, MIL.M_NULL),
MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_Y, MIL.M_NULL),
8 + MIL.M_UNSIGNED,
MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC,
ref MilImage[n]);
}
// Hook a function to the start of each frame to print the current frame index.
userObject.NbGrabStart = 0;
GCHandle userObjectHandle = GCHandle.Alloc(userObject);
MIL_DIG_HOOK_FUNCTION_PTR grabStartDelegate = new MIL_DIG_HOOK_FUNCTION_PTR(GrabStart);
MIL.MdigHookFunction(MilDigitizer, MIL.M_GRAB_START, grabStartDelegate, GCHandle.ToIntPtr(userObjectHandle));
// Print a message.
Console.WriteLine();
Console.WriteLine("DOUBLE BUFFERING ACQUISITION AND PROCESSING:");
Console.WriteLine("--------------------------------------------");
Console.WriteLine();
Console.WriteLine("Press <Enter> to stop.");
Console.WriteLine();
// Put the digitizer in asynchronous mode to be able to process while grabbing.
MIL.MdigControl(MilDigitizer, MIL.M_GRAB_MODE, MIL.M_ASYNCHRONOUS);
// Grab the first buffer.
MIL.MdigGrab(MilDigitizer, MilImage[0]);
// Process one buffer while grabbing the other.
n = 0;
do
{
// Grab the other buffer while processing the previous one.
MIL.MdigGrab(MilDigitizer, MilImage[1 - n]);
// Synchronize and start the timer.
if (NbProc == 0)
{
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
}
// Write the frame counter.
MIL.MgraText(Default, MilImage[n], 32, 32, string.Format("{0}", NbProc + 1));
// Process the first buffer already grabbed.
MIL.MimArith(MilImage[n], MIL.M_NULL, MilImageDisp, MIL.M_NOT);
// Count processed buffers.
NbProc++;
// Toggle grab buffers.
n = 1 - n;
} while (!Console.KeyAvailable);
// Wait until the end of the last grab and stop the timer.
MIL.MdigGrabWait(MilDigitizer, MIL.M_GRAB_END);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
Console.ReadKey();
// Print statistics.
Console.WriteLine("{0} frames grabbed, at a frame rate of {1:0.00} frames/sec ({2:0.00} ms/frame).", NbProc, NbProc / Time, 1000.0 * Time / NbProc);
Console.WriteLine("Press <Enter> to end.");
Console.WriteLine();
Console.ReadKey();
// Unhook the function at the start of each frame.
MIL.MdigHookFunction(MilDigitizer, MIL.M_GRAB_START + MIL.M_UNHOOK, grabStartDelegate, GCHandle.ToIntPtr(userObjectHandle));
// Free GCHandle to allow the garbage collector to reclaim the object.
userObjectHandle.Free();
// Free allocations.
for (n = 0; n < 2; n++)
{
MIL.MbufFree(MilImage[n]);
}
MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MilDigitizer, MilImageDisp);
}
static void Main(string[] args)
{
MIL_ID MilApplication = MIL.M_NULL; // Application identifier.
MIL_ID MilSystem = MIL.M_NULL; // System identifier.
MIL_ID MilDisplay = MIL.M_NULL; // Display identifier.
MIL_ID MilDisplayImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID MilKernel = MIL.M_NULL; // Custom kernel identifier.
int n = 0;
double Time = 0.0;
// Allocate defaults.
MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL);
// Restore source image into an automatically allocated image buffers.
MIL.MbufRestore(IMAGE_FILE, MilSystem, ref MilImage);
MIL.MbufRestore(IMAGE_FILE, MilSystem, ref MilDisplayImage);
// Zoom display to see the result of image processing better.
MIL.MdispZoom(MilDisplay, ZOOM_VALUE, ZOOM_VALUE);
// Display the image buffer.
MIL.MdispSelect(MilDisplay, MilDisplayImage);
// Pause to show the original image.
Console.Write("\nIMAGE PROCESSING:\n");
Console.Write("-----------------\n\n");
Console.Write("This program performs a convolution on the displayed image.\n");
Console.Write("It uses a custom smoothing kernel.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Allocate a MIL kernel.
MIL.MbufAlloc2d(MilSystem, KERNEL_WIDTH, KERNEL_HEIGHT, KERNEL_DEPTH + MIL.M_UNSIGNED, MIL.M_KERNEL, ref MilKernel);
// Put the custom data in it.
MIL.MbufPut(MilKernel, KernelData);
// Set a normalization (divide) factor to have a kernel with
// a sum equal to one.
MIL.MbufControlNeighborhood(MilKernel, MIL.M_NORMALIZATION_FACTOR, 16);
// Convolve the image using the kernel.
MIL.MimConvolve(MilImage, MilDisplayImage, MilKernel);
// Now time the convolution (MimConvolve()):
// Overscan calculation is disabled and a destination image that
// is not displayed is used to have the real convolution time. Also the
// function must be called once before the timing loop for more accurate
// time (dll load, ...).
MIL.MbufControlNeighborhood(MilKernel, MIL.M_OVERSCAN, MIL.M_DISABLE);
MIL.MimConvolve(MilDisplayImage, MilImage, MilKernel);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
for (n = 0; n < NB_LOOP; n++)
{
MIL.MimConvolve(MilDisplayImage, MilImage, MilKernel);
}
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
// Pause to show the result.
Console.Write("Convolve time: {0:0.000} ms.\n", Time * 1000 / NB_LOOP);
Console.Write("Press <Enter> to terminate.\n");
Console.ReadKey();
// Free all allocations.
MIL.MbufFree(MilKernel);
MIL.MbufFree(MilImage);
MIL.MbufFree(MilDisplayImage);
MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL);
}
// Main function:
// --------------
static void Main(string[] args)
{
MIL_ID MilApplication = MIL.M_NULL; // Application identifier.
MIL_ID MilRemoteApplication = MIL.M_NULL; // Remote Application identifier if running on a remote computer
MIL_ID MilSystem = MIL.M_NULL; // System identifier.
MIL_ID MilDisplay = MIL.M_NULL; // Display identifier.
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifiers.
MIL_ID MilOrgImage = MIL.M_NULL;
THREAD_PARAM TParTopLeft = new THREAD_PARAM(); // Parameters passed to top left thread.
THREAD_PARAM TParBotLeft = new THREAD_PARAM(); // Parameters passed to bottom left thread.
THREAD_PARAM TParTopRight = new THREAD_PARAM(); // Parameters passed to top right thread.
THREAD_PARAM TParBotRight = new THREAD_PARAM(); // Parameters passed to bottom right thread.
double Time = 0.0; // Timer variables.
double FramesPerSecond = 0.0;
MIL_INT LicenseModules = 0; // List of available MIL modules.
// Allocate defaults.
MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL);
// Allocate and display the main image buffer.
MIL.MbufAlloc2d(MilSystem, IMAGE_WIDTH * 2, IMAGE_HEIGHT * 2, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP, ref MilImage);
MIL.MbufClear(MilImage, 0);
MIL.MdispSelect(MilDisplay, MilImage);
// Allocate an image buffer to keep the original.
MIL.MbufAlloc2d(MilSystem, IMAGE_WIDTH, IMAGE_HEIGHT, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilOrgImage);
// Allocate a destination child buffer for each thread.
MIL.MbufChild2d(MilImage, 0, 0, IMAGE_WIDTH, IMAGE_HEIGHT, ref TParTopLeft.SrcImage);
MIL.MbufChild2d(MilImage, 0, IMAGE_HEIGHT, IMAGE_WIDTH, IMAGE_HEIGHT, ref TParBotLeft.DstImage);
MIL.MbufChild2d(MilImage, IMAGE_WIDTH, 0, IMAGE_WIDTH, IMAGE_HEIGHT, ref TParTopRight.SrcImage);
MIL.MbufChild2d(MilImage, IMAGE_WIDTH, IMAGE_HEIGHT, IMAGE_WIDTH, IMAGE_HEIGHT, ref TParBotRight.DstImage);
// Allocate synchronization events.
MIL.MthrAlloc(MilSystem, MIL.M_EVENT, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, ref TParTopLeft.DoneEvent);
MIL.MthrAlloc(MilSystem, MIL.M_EVENT, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, ref TParBotLeft.DoneEvent);
MIL.MthrAlloc(MilSystem, MIL.M_EVENT, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, ref TParTopRight.DoneEvent);
MIL.MthrAlloc(MilSystem, MIL.M_EVENT, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, ref TParBotRight.DoneEvent);
// Inquire MIL licenses.
MIL.MsysInquire(MilSystem, MIL.M_OWNER_APPLICATION, ref MilRemoteApplication);
MIL.MappInquire(MilRemoteApplication, MIL.M_LICENSE_MODULES, ref LicenseModules);
// Initialize remaining thread parameters.
TParTopLeft.System = MilSystem;
TParTopLeft.OrgImage = MilOrgImage;
TParTopLeft.DstImage = TParTopLeft.SrcImage;
TParTopLeft.ReadyEvent = TParBotLeft.DoneEvent;
TParTopLeft.NumberOfIteration = 0;
TParTopLeft.Radius = 0;
TParTopLeft.Exit = 0;
TParTopLeft.LicenseModules = LicenseModules;
TParTopLeft.SlaveThreadParam = TParBotLeft;
TParBotLeft.System = MilSystem;
TParBotLeft.OrgImage = 0;
TParBotLeft.SrcImage = TParTopLeft.DstImage;
TParBotLeft.ReadyEvent = TParTopLeft.DoneEvent;
TParBotLeft.NumberOfIteration = 0;
TParBotLeft.Radius = 0;
TParBotLeft.Exit = 0;
TParBotLeft.LicenseModules = LicenseModules;
TParBotLeft.SlaveThreadParam = null;
TParTopRight.System = MilSystem;
TParTopRight.OrgImage = MilOrgImage;
TParTopRight.DstImage = TParTopRight.SrcImage;
TParTopRight.ReadyEvent = TParBotRight.DoneEvent;
TParTopRight.NumberOfIteration = 0;
TParTopRight.Radius = 0;
TParTopRight.Exit = 0;
TParTopRight.LicenseModules = LicenseModules;
TParTopRight.SlaveThreadParam = TParBotRight;
TParBotRight.System = MilSystem;
TParBotRight.OrgImage = 0;
TParBotRight.SrcImage = TParTopRight.DstImage;
TParBotRight.ReadyEvent = TParTopRight.DoneEvent;
TParBotRight.NumberOfIteration = 0;
TParBotRight.Radius = 0;
TParBotRight.Exit = 0;
TParBotRight.LicenseModules = LicenseModules;
TParBotRight.SlaveThreadParam = null;
// Initialize the original image to process.
MIL.MbufLoad(IMAGE_FILE, MilOrgImage);
// Start the 4 threads.
MIL_THREAD_FUNCTION_PTR TopThreadDelegate = new MIL_THREAD_FUNCTION_PTR(TopThread);
MIL_THREAD_FUNCTION_PTR BotLeftThreadDelegate = new MIL_THREAD_FUNCTION_PTR(BotLeftThread);
MIL_THREAD_FUNCTION_PTR BotRightThreadDelegate = new MIL_THREAD_FUNCTION_PTR(BotRightThread);
GCHandle TParTopLeftHandle = GCHandle.Alloc(TParTopLeft);
GCHandle TParBotLeftHandle = GCHandle.Alloc(TParBotLeft);
GCHandle TParTopRightHandle = GCHandle.Alloc(TParTopRight);
GCHandle TParBotRightHandle = GCHandle.Alloc(TParBotRight);
MIL.MthrAlloc(MilSystem, MIL.M_THREAD, MIL.M_DEFAULT, TopThreadDelegate, GCHandle.ToIntPtr(TParTopLeftHandle), ref TParTopLeft.Id);
MIL.MthrAlloc(MilSystem, MIL.M_THREAD, MIL.M_DEFAULT, BotLeftThreadDelegate, GCHandle.ToIntPtr(TParBotLeftHandle), ref TParBotLeft.Id);
MIL.MthrAlloc(MilSystem, MIL.M_THREAD, MIL.M_DEFAULT, TopThreadDelegate, GCHandle.ToIntPtr(TParTopRightHandle), ref TParTopRight.Id);
MIL.MthrAlloc(MilSystem, MIL.M_THREAD, MIL.M_DEFAULT, BotRightThreadDelegate, GCHandle.ToIntPtr(TParBotRightHandle), ref TParBotRight.Id);
// Start the timer.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Set events to start operation of top left and top right threads.
MIL.MthrControl(TParTopLeft.ReadyEvent, MIL.M_EVENT_SET, MIL.M_SIGNALED);
MIL.MthrControl(TParTopRight.ReadyEvent, MIL.M_EVENT_SET, MIL.M_SIGNALED);
// Report that the threads are started and wait for a key press to stop them.
Console.Write("\nMULTI-THREADING:\n");
Console.Write("----------------\n\n");
Console.Write("4 threads running...\n");
Console.Write("Press <Enter> to stop.\n\n");
Console.ReadKey();
// Signal the threads to exit.
TParTopLeft.Exit = 1;
TParTopRight.Exit = 1;
// Wait for all threads to terminate.
MIL.MthrWait(TParTopLeft.Id, MIL.M_THREAD_END_WAIT);
MIL.MthrWait(TParBotLeft.Id, MIL.M_THREAD_END_WAIT);
MIL.MthrWait(TParTopRight.Id, MIL.M_THREAD_END_WAIT);
MIL.MthrWait(TParBotRight.Id, MIL.M_THREAD_END_WAIT);
// Stop the timer and calculate the number of frames per second processed.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
FramesPerSecond = (TParTopLeft.NumberOfIteration + TParBotLeft.NumberOfIteration + TParTopRight.NumberOfIteration + TParBotRight.NumberOfIteration) / Time;
// Print statistics.
Console.Write("Top left iterations done: {0,4}.\n", TParTopLeft.NumberOfIteration);
Console.Write("Bottom left iterations done: {0,4}.\n", TParBotLeft.NumberOfIteration);
Console.Write("Top right iterations done: {0,4}.\n", TParTopRight.NumberOfIteration);
Console.Write("Bottom right iterations done: {0,4}.\n\n", TParBotRight.NumberOfIteration);
Console.Write("Processing speed for the 4 threads: {0:0.0} Images/Sec.\n\n", FramesPerSecond);
Console.Write("Press <Enter> to end.\n\n");
Console.ReadKey();
// Free threads.
MIL.MthrFree(TParTopLeft.Id);
MIL.MthrFree(TParBotLeft.Id);
MIL.MthrFree(TParTopRight.Id);
MIL.MthrFree(TParBotRight.Id);
// Free events.
MIL.MthrFree(TParTopLeft.DoneEvent);
MIL.MthrFree(TParBotLeft.DoneEvent);
MIL.MthrFree(TParTopRight.DoneEvent);
MIL.MthrFree(TParBotRight.DoneEvent);
// Free buffers.
MIL.MbufFree(TParTopLeft.SrcImage);
MIL.MbufFree(TParTopRight.SrcImage);
MIL.MbufFree(TParBotLeft.DstImage);
MIL.MbufFree(TParBotRight.DstImage);
MIL.MbufFree(MilOrgImage);
MIL.MbufFree(MilImage);
// Free the GCHandles
TParTopLeftHandle.Free();
TParBotLeftHandle.Free();
TParTopRightHandle.Free();
TParBotRightHandle.Free();
// Free defaults.
MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL);
}
static void SingleModelExample(MIL_ID MilSystem, MIL_ID MilDisplay)
{
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID GraphicList = MIL.M_NULL; // Graphic list indentifier.
MIL_ID MilSearchContext = MIL.M_NULL; // Search context.
MIL_ID MilResult = MIL.M_NULL; // Result identifier.
double ModelDrawColor = MIL.M_COLOR_RED; // Model draw color.
MIL_INT[] Model = new MIL_INT[MODEL_MAX_OCCURRENCES]; // Model index.
MIL_INT NumResults = 0; // Number of results found.
double[] Score = new double[MODEL_MAX_OCCURRENCES]; // Model correlation score.
double[] XPosition = new double[MODEL_MAX_OCCURRENCES]; // Model X position.
double[] YPosition = new double[MODEL_MAX_OCCURRENCES]; // Model Y position.
double[] Angle = new double[MODEL_MAX_OCCURRENCES]; // Model occurrence angle.
double[] Scale = new double[MODEL_MAX_OCCURRENCES]; // Model occurrence scale.
double Time = 0.0; // Bench variable.
int i = 0; // Loop variable.
// Restore the model image and display it.
MIL.MbufRestore(SINGLE_MODEL_IMAGE, MilSystem, ref MilImage);
MIL.MdispSelect(MilDisplay, MilImage);
// Allocate a graphic list to hold the subpixel annotations to draw.
MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, ref GraphicList);
// Associate the graphic list to the display for annotations.
MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList);
// Allocate a Geometric Model Finder context.
MIL.MmodAlloc(MilSystem, MIL.M_GEOMETRIC, MIL.M_DEFAULT, ref MilSearchContext);
// Allocate a result buffer.
MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, ref MilResult);
// Define the model.
MIL.MmodDefine(MilSearchContext, MIL.M_IMAGE, MilImage, MODEL_OFFSETX, MODEL_OFFSETY, MODEL_SIZEX, MODEL_SIZEY);
// Set the search speed.
MIL.MmodControl(MilSearchContext, MIL.M_CONTEXT, MIL.M_SPEED, SINGLE_MODEL_SEARCH_SPEED);
// Preprocess the search context.
MIL.MmodPreprocess(MilSearchContext, MIL.M_DEFAULT);
// Draw box and position it in the source image to show the model.
MIL.MgraColor(MIL.M_DEFAULT, ModelDrawColor);
MIL.MmodDraw(MIL.M_DEFAULT, MilSearchContext, GraphicList,
MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, 0, MIL.M_ORIGINAL);
// Pause to show the model.
Console.Write("\nGEOMETRIC MODEL FINDER:\n");
Console.Write("-----------------------\n\n");
Console.Write("A model context was defined with the model in the displayed image.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Clear annotations.
MIL.MgraClear(MIL.M_DEFAULT, GraphicList);
// Load the single model target image.
MIL.MbufLoad(SINGLE_MODEL_TARGET_IMAGE, MilImage);
// Dummy first call for bench measure purpose only (bench stabilization, cache effect, etc...). This first call is NOT required by the application.
MIL.MmodFind(MilSearchContext, MilImage, MilResult);
// Reset the timer.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Find the model.
MIL.MmodFind(MilSearchContext, MilImage, MilResult);
// Read the find time.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
// Get the number of models found.
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, ref NumResults);
// If a model was found above the acceptance threshold.
if ((NumResults >= 1) && (NumResults <= MODEL_MAX_OCCURRENCES))
{
// Get the results of the single model.
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_INDEX + MIL.M_TYPE_MIL_INT, Model);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_POSITION_X, XPosition);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_POSITION_Y, YPosition);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_ANGLE, Angle);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_SCALE, Scale);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_SCORE, Score);
// Print the results for each model found.
Console.Write("The model was found in the target image:\n\n");
Console.Write("Result Model X Position Y Position Angle Scale Score\n\n");
for (i = 0; i < NumResults; i++)
{
Console.Write("{0,-9}{1,-8}{2,-13:0.00}{3,-13:0.00}{4,-8:0.00}{5,-8:0.00}{6,-5:0.00}%\n", i, Model[i], XPosition[i], YPosition[i], Angle[i], Scale[i], Score[i]);
}
Console.Write("\nThe search time is {0:0.0} ms\n\n", Time * 1000.0);
// Draw edges, position and box over the occurrences that were found.
for (i = 0; i < NumResults; i++)
{
MIL.MgraColor(MIL.M_DEFAULT, ModelDrawColor);
MIL.MmodDraw(MIL.M_DEFAULT, MilResult, GraphicList, MIL.M_DRAW_EDGES + MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, i, MIL.M_DEFAULT);
}
}
else
{
Console.Write("The model was not found or the number of models found is greater than\n");
Console.Write("the specified maximum number of occurrence !\n\n");
}
// Wait for a key to be pressed.
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Free MIL objects.
MIL.MgraFree(GraphicList);
MIL.MbufFree(MilImage);
MIL.MmodFree(MilSearchContext);
MIL.MmodFree(MilResult);
}
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);
}
// Main function.
// --------------
static void Main(string[] args)
{
MIL_ID MilApplication = MIL.M_NULL;
MIL_ID MilRemoteApplication = MIL.M_NULL; // Remote Application identifier if running on a remote computer
MIL_ID MilSystem = MIL.M_NULL;
MIL_ID MilDigitizer = MIL.M_NULL;
MIL_ID MilDisplay = MIL.M_NULL;
MIL_ID MilImageDisp = MIL.M_NULL;
MIL_ID[] MilGrabImages = new MIL_ID[NB_GRAB_IMAGE_MAX];
MIL_ID MilCompressedImage = MIL.M_NULL;
ConsoleKeyInfo Selection = new ConsoleKeyInfo('1', ConsoleKey.D1, false, false, false);
int NbFrames = 0;
int n = 0;
int NbFramesReplayed = 0;
double FrameRate = 0;
double TimeWait = 0;
double TotalReplay = 0;
double GrabScale = GRAB_SCALE;
HookDataObject UserHookData = new HookDataObject();
MIL_INT LicenseModules = 0;
MIL_INT FrameCount = 0;
MIL_INT FrameMissed = 0;
MIL_INT CompressAttribute = 0;
// Allocate defaults.
MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, ref MilDigitizer, MIL.M_NULL);
// Allocate an image and display it.
MIL.MbufAllocColor(MilSystem,
MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_BAND, MIL.M_NULL),
(MIL_INT)(MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_X) * GrabScale),
(MIL_INT)(MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_Y) * GrabScale),
8 + MIL.M_UNSIGNED,
MIL.M_IMAGE + MIL.M_GRAB + MIL.M_DISP,
ref MilImageDisp);
MIL.MbufClear(MilImageDisp, 0x0);
MIL.MdispSelect(MilDisplay, MilImageDisp);
// Grab continuously on display at the specified scale.
MIL.MdigControl(MilDigitizer, MIL.M_GRAB_SCALE, GrabScale);
MIL.MdigGrabContinuous(MilDigitizer, MilImageDisp);
// Print a message
Console.WriteLine();
Console.WriteLine("SEQUENCE ACQUISITION:");
Console.WriteLine("--------------------");
Console.WriteLine();
// Inquire MIL licenses.
MIL.MsysInquire(MilSystem, MIL.M_OWNER_APPLICATION, ref MilRemoteApplication);
MIL.MappInquire(MilRemoteApplication, MIL.M_LICENSE_MODULES, ref LicenseModules);
// If sequence is saved to disk, select between grabbing an
// uncompressed, JPEG or JPEG2000 sequence.
if (SAVE_SEQUENCE_TO_DISK && ((LicenseModules & (MIL.M_LICENSE_JPEGSTD | MIL.M_LICENSE_JPEG2000)) != 0))
{
Console.WriteLine("Choose the sequence format:");
Console.WriteLine("1) Uncompressed images.");
if ((LicenseModules & MIL.M_LICENSE_JPEGSTD) != 0)
{
Console.WriteLine("2) Compressed images with a lossy JPEG algorithm.");
}
if ((LicenseModules & MIL.M_LICENSE_JPEG2000) != 0)
{
Console.WriteLine("3) Compressed images with a lossy JPEG 2000 algorithm.");
}
Selection = Console.ReadKey();
}
else
{
Console.WriteLine("Press <Enter> to record images.");
Console.ReadKey();
}
// Set the buffer attribute.
switch (Selection.Key)
{
case ConsoleKey.NumPad1:
case ConsoleKey.D1:
case ConsoleKey.Enter:
Console.WriteLine();
Console.WriteLine("Recording uncompressed images...");
Console.WriteLine();
CompressAttribute = MIL.M_NULL;
break;
case ConsoleKey.NumPad2:
case ConsoleKey.D2:
Console.WriteLine();
Console.WriteLine("Recording JPEG images...");
Console.WriteLine();
CompressAttribute = MIL.M_COMPRESS + MIL.M_JPEG_LOSSY;
break;
case ConsoleKey.NumPad3:
case ConsoleKey.D3:
Console.WriteLine();
Console.WriteLine("Recording JPEG 2000 images...");
Console.WriteLine();
CompressAttribute = MIL.M_COMPRESS + MIL.M_JPEG2000_LOSSY;
break;
default:
Console.WriteLine();
Console.WriteLine("Invalid selection !.");
Console.WriteLine();
Console.WriteLine("Using uncompressed images.");
Console.WriteLine();
CompressAttribute = MIL.M_NULL;
while (Console.KeyAvailable)
{
Console.ReadKey();
}
break;
}
// Allocate a compressed buffer if required.
if (CompressAttribute != MIL.M_NULL)
{
MIL.MbufAllocColor(MilSystem,
MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_BAND, MIL.M_NULL),
(int)(MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_X, MIL.M_NULL) * GrabScale),
(int)(MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_Y, MIL.M_NULL) * GrabScale),
8 + MIL.M_UNSIGNED,
MIL.M_IMAGE + CompressAttribute,
ref MilCompressedImage);
MIL.MbufControl(MilCompressedImage, MIL.M_Q_FACTOR, COMPRESSION_Q_FACTOR);
}
// Allocate the grab buffers to hold the sequence buffering.
MIL.MappControl(MIL.M_DEFAULT, MIL.M_ERROR, MIL.M_PRINT_DISABLE);
for (NbFrames = 0, n = 0; n < NB_GRAB_IMAGE_MAX; n++)
{
MIL.MbufAllocColor(MilSystem,
MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_BAND, MIL.M_NULL),
(int)(MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_X, MIL.M_NULL) * GrabScale),
(int)(MIL.MdigInquire(MilDigitizer, MIL.M_SIZE_Y, MIL.M_NULL) * GrabScale),
8 + MIL.M_UNSIGNED,
MIL.M_IMAGE + MIL.M_GRAB,
ref MilGrabImages[n]);
if (MilGrabImages[n] != MIL.M_NULL)
{
NbFrames++;
MIL.MbufClear(MilGrabImages[n], 0xFF);
}
else
{
break;
}
}
MIL.MappControl(MIL.M_DEFAULT, MIL.M_ERROR, MIL.M_PRINT_ENABLE);
// Free buffers to leave some space for possible temporary buffers.
for (n = 0; n < 2 && NbFrames > 0; n++)
{
NbFrames--;
MIL.MbufFree(MilGrabImages[NbFrames]);
}
// Halt continuous grab.
MIL.MdigHalt(MilDigitizer);
// Open the AVI file if required.
if (SAVE_SEQUENCE_TO_DISK)
{
Console.WriteLine("Saving the sequence to an AVI file...");
Console.WriteLine();
MIL.MbufExportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_DEFAULT, MIL.M_OPEN);
}
// Initialize User's archiving function hook data structure.
UserHookData.MilSystem = MilSystem;
UserHookData.MilDisplay = MilDisplay;
UserHookData.MilImageDisp = MilImageDisp;
UserHookData.MilCompressedImage = MilCompressedImage;
UserHookData.SaveSequenceToDisk = SAVE_SEQUENCE_TO_DISK;
UserHookData.NbGrabbedFrames = 0;
UserHookData.NbArchivedFrames = 0;
// get a handle to the DigHookUserData object in the managed heap, we will use this
// handle to get the object back in the callback function
GCHandle UserHookDataHandle = GCHandle.Alloc(UserHookData);
MIL_DIG_HOOK_FUNCTION_PTR UserHookFunctionDelegate = new MIL_DIG_HOOK_FUNCTION_PTR(ArchiveFunction);
// Acquire the sequence. The processing hook function will
// be called for each image grabbed to archive and display it.
// If sequence is not saved to disk, stop after NbFrames.
MIL.MdigProcess(MilDigitizer, MilGrabImages, NbFrames, SAVE_SEQUENCE_TO_DISK ? MIL.M_START : MIL.M_SEQUENCE, MIL.M_DEFAULT, UserHookFunctionDelegate, GCHandle.ToIntPtr(UserHookDataHandle));
// Wait for a key press.
Console.WriteLine("Press <Enter> to continue.");
Console.WriteLine();
Console.ReadKey(true);
// Stop the sequence acquisition.
MIL.MdigProcess(MilDigitizer, MilGrabImages, NbFrames, MIL.M_STOP, MIL.M_DEFAULT, UserHookFunctionDelegate, GCHandle.ToIntPtr(UserHookDataHandle));
// Free the GCHandle when no longer used
UserHookDataHandle.Free();
// Read and print final statistics.
MIL.MdigInquire(MilDigitizer, MIL.M_PROCESS_FRAME_COUNT, ref FrameCount);
MIL.MdigInquire(MilDigitizer, MIL.M_PROCESS_FRAME_RATE, ref FrameRate);
MIL.MdigInquire(MilDigitizer, MIL.M_PROCESS_FRAME_MISSED, ref FrameMissed);
Console.WriteLine();
Console.WriteLine();
Console.WriteLine("{0} frames archived ({1} missed), at {2:0.0} frames/sec ({3:0.0}ms/frame).", UserHookData.NbArchivedFrames, FrameMissed, FrameRate, 1000.0 / FrameRate);
// Sequence file closing if required.
if (SAVE_SEQUENCE_TO_DISK)
{
MIL.MbufExportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, FrameRate, MIL.M_CLOSE);
}
// Playback the sequence until a key is pressed.
if (UserHookData.NbArchivedFrames > 0)
{
do
{
// If sequence must be loaded.
if (SAVE_SEQUENCE_TO_DISK)
{
// Inquire information about the sequence.
Console.WriteLine();
Console.WriteLine("Playing back sequence from the AVI file...");
Console.WriteLine();
Console.WriteLine("Press <Enter> to end.");
Console.WriteLine();
Console.WriteLine();
MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_NUMBER_OF_IMAGES, ref FrameCount);
MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_FRAME_RATE, ref FrameRate);
MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_COMPRESSION_TYPE, ref CompressAttribute);
// Open the sequence file.
MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_OPEN);
}
// Copy the images to the screen respecting the sequence frame rate.
TotalReplay = 0.0;
NbFramesReplayed = 0;
for (n = 0; n < FrameCount; n++)
{
// Reset the time.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET, MIL.M_NULL);
// If image was saved to disk.
if (SAVE_SEQUENCE_TO_DISK)
{
// Load image directly to the display.
MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_LOAD, MIL.M_NULL, ref MilImageDisp, n, 1, MIL.M_READ);
NbFramesReplayed++;
Console.Write("Frame #{0} \r", NbFramesReplayed);
}
else
{
// Copy the grabbed image to the display.
MIL.MbufCopy(MilGrabImages[n], MilImageDisp);
NbFramesReplayed++;
Console.Write("Frame #{0} \r", NbFramesReplayed);
}
// Check for a pressed key to exit.
if (Console.KeyAvailable && (n >= (NB_GRAB_IMAGE_MAX - 1)))
{
Console.ReadKey(true);
break;
}
// Wait to have a proper frame rate.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref TimeWait);
TotalReplay += TimeWait;
TimeWait = (1 / FrameRate) - TimeWait;
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_WAIT, ref TimeWait);
TotalReplay += (TimeWait > 0) ? TimeWait : 0.0;
}
// Close the sequence file.
if (SAVE_SEQUENCE_TO_DISK)
{
MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_CLOSE);
}
// Print statistics.
Console.WriteLine();
Console.WriteLine();
Console.WriteLine("{0} frames replayed, at a frame rate of {1:0.0} frames/sec ({2:0.0} ms/frame).", NbFramesReplayed, n / TotalReplay, 1000.0 * TotalReplay / n);
Console.WriteLine();
Console.WriteLine("Press <Enter> to end (or any other key to playback again).");
Console.WriteLine();
}while (Console.ReadKey(true).Key != ConsoleKey.Enter);
}
// Free all allocated buffers.
MIL.MbufFree(MilImageDisp);
for (n = 0; n < NbFrames; n++)
{
MIL.MbufFree(MilGrabImages[n]);
}
if (MilCompressedImage != MIL.M_NULL)
{
MIL.MbufFree(MilCompressedImage);
}
// Free defaults.
MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MilDigitizer, MIL.M_NULL);
}
static void Main(string[] args)
{
MIL_ID MilApplication = MIL.M_NULL; // Application identifier.
MIL_ID MilSystem = MIL.M_NULL; // System identifier.
MIL_ID MilDisplay = MIL.M_NULL; // Display identifier.
MIL_ID MilDisplayImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID MilPosYImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID MilValImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID MilExtreme = MIL.M_NULL; // Result buffer identifier.
double FrameRate = 0.0;
int n = 0;
double PreviousTime = 0.0;
double StartTime = 0.0;
double EndTime = 0.0;
double TotalProcessTime = 0.0;
double WaitTime = 0.0;
MIL_INT SizeX = 0;
MIL_INT SizeY = 0;
MIL_INT NumberOfImages = 0;
MIL_INT[] ExtremePosY = new MIL_INT[2];
ExtremePosY[0] = 0;
ExtremePosY[1] = 0;
// Allocate defaults.
MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL);
// Inquire characteristics of the input sequence.
MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_SIZE_X, ref SizeX);
MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_SIZE_Y, ref SizeY);
MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_NUMBER_OF_IMAGES, ref NumberOfImages);
MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_FRAME_RATE, ref FrameRate);
// Allocate buffers to hold images.
MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilImage);
MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_DISP, ref MilDisplayImage);
MIL.MbufAlloc2d(MilSystem, SizeX, NumberOfImages, 16 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilPosYImage);
MIL.MbufAlloc2d(MilSystem, SizeX, NumberOfImages, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilValImage);
// Select display.
MIL.MdispSelect(MilDisplay, MilDisplayImage);
// Print a message.
Console.Write("\nEXTRACTING 3D IMAGE FROM A LASER LINE:\n");
Console.Write("--------------------------------------\n\n");
Console.Write("The position of a laser line is being extracted from an image\n");
Console.Write("to generate a depth image.\n\n");
// Open the sequence file for reading.
MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_OPEN);
// The function must be called once before the timing loop for more accurate
// time (dll load, ...).
MIL.MimLocatePeak1d(MilImage, MilPosYImage, MilValImage, 0, MAX_LINE_WIDTH, MIN_INTENSITY, MIL.M_1D_COLUMNS + MIL.M_FIXED_POINT + NB_FIXED_POINT, MIL.M_DEFAULT);
// Read and process all images in the input sequence.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref PreviousTime);
TotalProcessTime = 0.0;
for (n = 0; n < NumberOfImages; n++)
{
// Read image from sequence.
MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_LOAD, MIL.M_NULL, ref MilImage, MIL.M_DEFAULT, 1, MIL.M_READ);
// Display the image.
MIL.MbufCopy(MilImage, MilDisplayImage);
// Locate the peak in each column of the image.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref StartTime);
MIL.MimLocatePeak1d(MilImage, MilPosYImage, MilValImage, n, MAX_LINE_WIDTH, MIN_INTENSITY, MIL.M_1D_COLUMNS + MIL.M_FIXED_POINT + NB_FIXED_POINT, MIL.M_DEFAULT);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref EndTime);
TotalProcessTime += EndTime - StartTime;
// Wait to have a proper frame rate.
WaitTime = (1.0 / FrameRate) - (EndTime - PreviousTime);
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 PreviousTime);
}
// Close the sequence file.
MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_CLOSE);
Console.Write("{0} images processed in {1,7:0.00} s ({2,7:0.00} ms/image).\n", NumberOfImages, TotalProcessTime, TotalProcessTime / (double)NumberOfImages * 1000.0);
// Pause to show the result.
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
Console.Write("The reconstructed images are being displayed.\n");
// Draw extracted peak position in each column of each image.
for (n = 0; n < NumberOfImages; n++)
{
MIL.MbufClear(MilImage, 0);
MIL.MimDraw(MIL.M_DEFAULT, MilPosYImage, MilValImage, MilImage, MIL.M_DRAW_PEAKS + MIL.M_1D_COLUMNS + MIL.M_LINES, (double)n, 1, MIL.M_FIXED_POINT + NB_FIXED_POINT);
// Display the result image.
MIL.MbufCopy(MilImage, MilDisplayImage);
}
// Pause to show the result.
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Try to allocate D3D display
IntPtr DispHandle;
DispHandle = MdepthD3DAlloc(MilPosYImage, MilValImage, D3D_DISPLAY_SIZE_X, D3D_DISPLAY_SIZE_Y, D3D_MESH_SCALING_X, D3D_MESH_SCALING_Y, D3D_MESH_SCALING_Z, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_DEFAULT, IntPtr.Zero);
if (DispHandle != IntPtr.Zero)
{
Console.Write("The depth buffer is displayed using D3D.\n");
// Hide Mil Display
MIL.MdispControl(MilDisplay, MIL.M_WINDOW_SHOW, MIL.M_DISABLE);
MdispD3DShow(DispHandle);
MdispD3DPrintHelp(DispHandle);
// Pause to show the result.
Console.Write("Press <Enter> to end.\n");
Console.ReadKey();
MdispD3DHide(DispHandle);
MdispD3DFree(DispHandle);
}
else
{
Console.Write("The depth buffer is displayed using MIL.\n");
// Find the reMIL.Mapping for result buffers.
MIL.MimAllocResult(MilSystem, MIL.M_DEFAULT, MIL.M_STAT_LIST, ref MilExtreme);
MIL.MimStat(MilPosYImage, MilExtreme, MIL.M_MIN + MIL.M_MAX, MIL.M_NOT_EQUAL, 0xFFFF, MIL.M_NULL);
MIL.MimGetResult(MilExtreme, MIL.M_MIN + MIL.M_TYPE_MIL_INT, ref ExtremePosY[0]);
MIL.MimGetResult(MilExtreme, MIL.M_MAX + MIL.M_TYPE_MIL_INT, ref ExtremePosY[1]);
MIL.MimFree(MilExtreme);
// Free the display and reallocate a new one of the proper dimension for results.
MIL.MbufFree(MilDisplayImage);
MIL.MbufAlloc2d(MilSystem,
(MIL_INT)((double)SizeX * (D3D_MESH_SCALING_X > 0 ? D3D_MESH_SCALING_X : -D3D_MESH_SCALING_X)),
(MIL_INT)((double)NumberOfImages * D3D_MESH_SCALING_Y),
8 + MIL.M_UNSIGNED,
MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP,
ref MilDisplayImage);
MIL.MdispSelect(MilDisplay, MilDisplayImage);
// Display the height buffer.
MIL.MimClip(MilPosYImage, MilPosYImage, MIL.M_GREATER, (double)ExtremePosY[1], MIL.M_NULL, (double)ExtremePosY[1], MIL.M_NULL);
MIL.MimArith(MilPosYImage, (double)ExtremePosY[0], MilPosYImage, MIL.M_SUB_CONST);
MIL.MimArith(MilPosYImage, ((ExtremePosY[1] - ExtremePosY[0]) / 255.0) + 1, MilPosYImage, MIL.M_DIV_CONST);
MIL.MimResize(MilPosYImage, MilDisplayImage, MIL.M_FILL_DESTINATION, MIL.M_FILL_DESTINATION, MIL.M_BILINEAR);
// Pause to show the result.
Console.Write("Press <Enter> to end.\n");
Console.ReadKey();
}
// Free all allocations.
MIL.MbufFree(MilImage);
MIL.MbufFree(MilDisplayImage);
MIL.MbufFree(MilPosYImage);
MIL.MbufFree(MilValImage);
MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL);
}
static void MmodTrackingExample(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage)
{
MIL_ID[] MilImage = new MIL_ID[2] {
MIL.M_NULL, MIL.M_NULL
}; // Processing image buffer identifiers.
MIL_ID SearchContext = MIL.M_NULL; // Search context identifier.
MIL_ID Result = MIL.M_NULL; // Result identifier.
double DrawColor = DRAW_COLOR; // Model drawing color.
MIL_INT Found = 0; // Number of models found.
int NbFindDone = 0; // Number of loops to find model done.
double OrgX = 0.0; // Original center of model.
double OrgY = 0.0;
double[] Score = new double[MODEL_MAX_OCCURRENCES]; // Model correlation score.
double[] x = new double[MODEL_MAX_OCCURRENCES]; // Model X position.
double[] y = new double[MODEL_MAX_OCCURRENCES]; // Model Y position.
double[] Angle = new double[MODEL_MAX_OCCURRENCES]; // Model occurrence angle.
double[] Scale = new double[MODEL_MAX_OCCURRENCES]; // Model occurrence scale.
double Time = 0.0; // Timer.
// Print a start message.
Console.Write("\nGEOMETRIC MODEL FINDER (scale and rotation independent):\n");
Console.Write("--------------------------------------------------------\n\n");
// Display model image.
MIL.MbufCopy(MilModelImage, MilDisplayImage);
// Allocate a context and define a geometric model.
MIL.MmodAlloc(MilSystem, MIL.M_GEOMETRIC, MIL.M_DEFAULT, ref SearchContext);
MIL.MmodDefine(SearchContext, MIL.M_IMAGE, MilModelImage, (double)MODEL_POS_X_INIT(MilModelImage) - (MODEL_WIDTH / 2), (double)MODEL_POS_Y_INIT(MilModelImage) - (MODEL_HEIGHT / 2), MODEL_WIDTH, MODEL_HEIGHT);
// Allocate result.
MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, ref Result);
// Draw a box around the model.
MIL.MgraColor(MIL.M_DEFAULT, DrawColor);
MIL.MmodDraw(MIL.M_DEFAULT, SearchContext, MilDisplayImage, MIL.M_DRAW_BOX, MIL.M_DEFAULT, MIL.M_ORIGINAL);
// Set speed to VERY HIGH for fast but less precise search.
MIL.MmodControl(SearchContext, MIL.M_CONTEXT, MIL.M_SPEED, MIL.M_VERY_HIGH);
// Set minimum acceptance for the search.
MIL.MmodControl(SearchContext, MIL.M_DEFAULT, MIL.M_ACCEPTANCE, MODEL_MIN_MATCH_SCORE);
// Preprocess model.
MIL.MmodPreprocess(SearchContext, MIL.M_DEFAULT);
// Inquire about center of model.
MIL.MmodInquire(SearchContext, MIL.M_DEFAULT, MIL.M_ORIGINAL_X, ref OrgX);
MIL.MmodInquire(SearchContext, MIL.M_DEFAULT, MIL.M_ORIGINAL_Y, ref OrgY);
// Print the original position.
Console.Write("The Geometric target model was defined.\n");
Console.Write("Model dimensions: {0} x {1}.\n", MODEL_WIDTH, MODEL_HEIGHT);
Console.Write("Model center: X={0:0.00}, Y={0:0.00}.\n", OrgX, OrgY);
Console.Write("Model is scale and rotation independent.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Allocate 2 grab buffers.
MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilModelImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilModelImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC, ref MilImage[0]);
MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilModelImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilModelImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC, ref MilImage[1]);
// Grab continuously grab and perform the find operation using double buffering.
Console.Write("\nContinuously finding the Geometric Model.\n");
Console.Write("Press a <Enter> to stop.\n\n");
// Grab a first target image into first buffer (done twice for timer reset accuracy).
MIL.MdigControl(MilDigitizer, MIL.M_GRAB_MODE, MIL.M_ASYNCHRONOUS);
MIL.MdigGrab(MilDigitizer, MilImage[NbFindDone % 2]);
MIL.MdigGrab(MilDigitizer, MilImage[NbFindDone % 2]);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET, ref Time);
// Loop, processing one buffer while grabbing the other.
do
{
// Grab a target image into the other buffer.
MIL.MdigGrab(MilDigitizer, MilImage[(NbFindDone + 1) % 2]);
// Read the time.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref Time);
// Find model.
MIL.MmodFind(SearchContext, MilImage[NbFindDone % 2], Result);
// Get the number of occurrences found.
MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, ref Found);
// Print a message based on the score.
if ((Found >= 1) && (Found < MODEL_MAX_OCCURRENCES))
{
// Get results.
MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_POSITION_X, x);
MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_POSITION_Y, y);
MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_SCALE, Scale);
MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_ANGLE, Angle);
MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_SCORE, Score);
// Draw a box and a cross where the model was found and print the results.
MIL.MmodDraw(MIL.M_DEFAULT, Result, MilImage[NbFindDone % 2], MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION + MIL.M_DRAW_EDGES, MIL.M_DEFAULT, MIL.M_DEFAULT);
Console.Write("Found: X={0,6:0.0}, Y={1,6:0.0}, Angle={2,6:0.0}, Scale={3,5:0.00}, Score={4,5:0.0}% ({5,5:0.0} fps).\r", x[0], y[0], Angle[0], Scale[0], Score[0], (NbFindDone + 1) / Time);
}
else
{
// Print the "not found" message.
Console.Write("Not found! (score<{0,5:0.0}%) ({1,5:0.0} fps).\r", MODEL_MIN_MATCH_SCORE, (NbFindDone + 1) / Time);
}
// Copy target image to the display.
MIL.MbufCopy(MilImage[NbFindDone % 2], MilDisplayImage);
// Increment the counter.
NbFindDone++;
}while (!Console.KeyAvailable);
Console.ReadKey();
Console.Write("\n\n");
// Wait for the end of last grab.
MIL.MdigGrabWait(MilDigitizer, MIL.M_GRAB_END);
// Free all allocations.
MIL.MmodFree(Result);
MIL.MmodFree(SearchContext);
MIL.MbufFree(MilImage[1]);
MIL.MbufFree(MilImage[0]);
}
//****************************************************************************
// Tracking object with pattern matching module.
//****************************************************************************
static void MpatTrackingExample(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage)
{
MIL_ID[] MilImage = new MIL_ID[2] {
MIL.M_NULL, MIL.M_NULL
}; // Processing image buffer identifiers.
MIL_ID Model = MIL.M_NULL; // Model identifier.
MIL_ID Result = MIL.M_NULL; // Result identifier.
double DrawColor = DRAW_COLOR; // Model drawing color.
MIL_INT Found = 0; // Number of found models.
int NbFindDone = 0; // Number of loops to find model done.
double OrgX = 0.0; // Original center of model.
double OrgY = 0.0;
double x = 0.0; // Result variables.
double y = 0.0;
double Score = 0.0;
double Time = 0.0; // Timer.
// Print a start message.
Console.Write("\nGRAYSCALE PATTERN MATCHING:\n");
Console.Write("---------------------------\n\n");
// Display the model image.
MIL.MbufCopy(MilModelImage, MilDisplayImage);
// Allocate normalized grayscale type model.
MIL.MpatAllocModel(MilSystem, MilModelImage, MODEL_POS_X_INIT(MilModelImage) - (MODEL_WIDTH / 2), MODEL_POS_Y_INIT(MilModelImage) - (MODEL_HEIGHT / 2), MODEL_WIDTH, MODEL_HEIGHT, MIL.M_NORMALIZED, ref Model);
// Allocate result.
MIL.MpatAllocResult(MilSystem, 1, ref Result);
// Draw box around the model.
MIL.MgraColor(MIL.M_DEFAULT, DrawColor);
MIL.MpatDraw(MIL.M_DEFAULT, Model, MilDisplayImage, MIL.M_DRAW_BOX, MIL.M_DEFAULT, MIL.M_ORIGINAL);
// Set minimum acceptance for search.
MIL.MpatSetAcceptance(Model, MODEL_MIN_MATCH_SCORE);
// Set speed.
MIL.MpatSetSpeed(Model, MIL.M_HIGH);
// Set accuracy.
MIL.MpatSetAccuracy(Model, MIL.M_LOW);
// Preprocess model.
MIL.MpatPreprocModel(MilModelImage, Model, MIL.M_DEFAULT);
// Inquire about center of model.
MIL.MpatInquire(Model, MIL.M_ORIGINAL_X, ref OrgX);
MIL.MpatInquire(Model, MIL.M_ORIGINAL_Y, ref OrgY);
// Print the original position.
Console.Write("A Grayscale Model was defined.\n");
Console.Write("Model dimensions: {0} x {1}.\n", MODEL_WIDTH, MODEL_HEIGHT);
Console.Write("Model center: X={0:0.00}, Y={0:0.00}.\n", OrgX, OrgY);
Console.Write("Model is scale and rotation dependant.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Allocate 2 grab buffers.
MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilModelImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilModelImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC, ref MilImage[0]);
MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilModelImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilModelImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC, ref MilImage[1]);
// Grab continuously and perform the find operation using double buffering.
Console.Write("\nContinuously finding the Grayscale model.\n");
Console.Write("Press <Enter> to stop.\n\n");
// Grab a first target image into first buffer (done twice for timer reset accuracy).
MIL.MdigControl(MilDigitizer, MIL.M_GRAB_MODE, MIL.M_ASYNCHRONOUS);
MIL.MdigGrab(MilDigitizer, MilImage[NbFindDone % 2]);
MIL.MdigGrab(MilDigitizer, MilImage[NbFindDone % 2]);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET, ref Time);
// Loop, processing one buffer while grabbing the other.
do
{
// Grab a target image into the other buffer.
MIL.MdigGrab(MilDigitizer, MilImage[(NbFindDone + 1) % 2]);
// Read the time.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref Time);
// Find model.
MIL.MpatFindModel(MilImage[NbFindDone % 2], Model, Result);
// Get results.
MIL.MpatGetNumber(Result, ref Found);
MIL.MpatGetResult(Result, MIL.M_POSITION_X, ref x);
MIL.MpatGetResult(Result, MIL.M_POSITION_Y, ref y);
MIL.MpatGetResult(Result, MIL.M_SCORE, ref Score);
// Print a message based upon the score.
if (Found > 0)
{
// Draw a box around the model and print the results.
MIL.MpatDraw(MIL.M_DEFAULT, Result, MilImage[NbFindDone % 2], MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, MIL.M_DEFAULT, MIL.M_DEFAULT);
Console.Write("Found: X={0,7:0.00}, Y={1,7:0.00}, Score={2,5:0.0}% ({3:0.0} fps). \r", x, y, Score, (NbFindDone + 1) / Time);
}
else
{
// Print the "not found" message.
Console.Write("Not found ! (score<{0,5:0.0}%) ({1:0.0} fps). \r", MODEL_MIN_MATCH_SCORE, (NbFindDone + 1) / Time);
}
// Copy target image to the display.
MIL.MbufCopy(MilImage[NbFindDone % 2], MilDisplayImage);
// Increment find count
NbFindDone++;
}while (!Console.KeyAvailable);
Console.ReadKey();
Console.Write("\n\n");
// Wait for end of last grab.
MIL.MdigGrabWait(MilDigitizer, MIL.M_GRAB_END);
// Free all allocated objects.
MIL.MpatFree(Result);
MIL.MpatFree(Model);
MIL.MbufFree(MilImage[1]);
MIL.MbufFree(MilImage[0]);
}
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);
}
static void SearchRotatedModelExample(MIL_ID MilSystem, MIL_ID MilDisplay)
{
MIL_ID MilSourceImage = MIL.M_NULL; // Model image buffer identifier.
MIL_ID MilTargetImage = MIL.M_NULL; // Target image buffer identifier.
MIL_ID MilDisplayImage = MIL.M_NULL; // Target image buffer identifier.
MIL_ID GraphicList = MIL.M_NULL; // Graphic list.
MIL_ID MilModel = MIL.M_NULL; // Model identifier.
MIL_ID MilResult = MIL.M_NULL; // Result identifier.
double RealX = 0.0; // Model real position in x.
double RealY = 0.0; // Model real position in y.
double RealAngle = 0.0; // Model real angle.
double X = 0.0; // Model position in x found.
double Y = 0.0; // Model position in y found.
double Angle = 0.0; // Model angle found.
double Score = 0.0; // Model correlation score.
double Time = 0.0; // Model search time.
double ErrX = 0.0; // Model error position in x.
double ErrY = 0.0; // Model error position in y.
double ErrAngle = 0.0; // Model error angle.
double SumErrX = 0.0; // Model total error position in x.
double SumErrY = 0.0; // Model total error position in y.
double SumErrAngle = 0.0; // Model total error angle.
double SumTime = 0.0; // Model total search time.
int NbFound = 0; // Number of models found.
double AnnotationColor = MIL.M_COLOR_GREEN; // Drawing color.
// Load target image into image buffers and display it.
MIL.MbufRestore(ROTATED_FIND_IMAGE_FILE, MilSystem, ref MilSourceImage);
MIL.MbufRestore(ROTATED_FIND_IMAGE_FILE, MilSystem, ref MilTargetImage);
MIL.MbufRestore(ROTATED_FIND_IMAGE_FILE, MilSystem, ref MilDisplayImage);
MIL.MdispSelect(MilDisplay, MilDisplayImage);
// Allocate a graphic list to hold the subpixel annotations to draw.
MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, ref GraphicList);
// Associate the graphic list to the display for annotations.
MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList);
// Allocate a normalized grayscale model.
MIL.MpatAllocModel(MilSystem, MilSourceImage, ROTATED_FIND_MODEL_X_POS, ROTATED_FIND_MODEL_Y_POS, ROTATED_FIND_MODEL_WIDTH, ROTATED_FIND_MODEL_HEIGHT, MIL.M_NORMALIZED + MIL.M_CIRCULAR_OVERSCAN, ref MilModel);
// Set the search model speed.
MIL.MpatSetSpeed(MilModel, MIL.M_MEDIUM);
// Set the position search accuracy.
MIL.MpatSetAccuracy(MilModel, MIL.M_HIGH);
// Activate the search model angle mode.
MIL.MpatSetAngle(MilModel, MIL.M_SEARCH_ANGLE_MODE, MIL.M_ENABLE);
// Set the search model range angle.
MIL.MpatSetAngle(MilModel, MIL.M_SEARCH_ANGLE_DELTA_NEG, ROTATED_FIND_ANGLE_DELTA_NEG);
MIL.MpatSetAngle(MilModel, MIL.M_SEARCH_ANGLE_DELTA_POS, ROTATED_FIND_ANGLE_DELTA_POS);
// Set the search model angle accuracy.
MIL.MpatSetAngle(MilModel, MIL.M_SEARCH_ANGLE_ACCURACY, ROTATED_FIND_MIN_ANGLE_ACCURACY);
// Set the search model angle interpolation mode to bilinear.
MIL.MpatSetAngle(MilModel, MIL.M_SEARCH_ANGLE_INTERPOLATION_MODE, MIL.M_BILINEAR);
// Preprocess the model.
MIL.MpatPreprocModel(MilSourceImage, MilModel, MIL.M_DEFAULT);
// Allocate a result buffer.
MIL.MpatAllocResult(MilSystem, 1, ref MilResult);
// Draw the original model position
MIL.MpatDraw(MIL.M_DEFAULT, MilModel, GraphicList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, MIL.M_DEFAULT, MIL.M_ORIGINAL);
// Pause to show the original image and model position.
Console.Write("\nA {0}x{1} model was defined in the source image.\n", ROTATED_FIND_MODEL_WIDTH, ROTATED_FIND_MODEL_HEIGHT);
Console.Write("It will be searched in images rotated from {0} degree to {1} degree.\n", -ROTATED_FIND_ROTATION_DELTA_ANGLE, ROTATED_FIND_ROTATION_DELTA_ANGLE);
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Dummy first call for bench measure purpose only (bench stabilization, cache effect, etc...). This first call is NOT required by the application.
MIL.MpatFindModel(MilSourceImage, MilModel, MilResult);
// If the model was found above the acceptance threshold.
if (MIL.MpatGetNumber(MilResult, MIL.M_NULL) == 1)
{
// Search for the model in images at different angles.
RealAngle = ROTATED_FIND_ROTATION_DELTA_ANGLE;
while (RealAngle >= -ROTATED_FIND_ROTATION_DELTA_ANGLE)
{
// Rotate the image from the model image to target image.
MIL.MimRotate(MilSourceImage, MilTargetImage, RealAngle, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_BILINEAR + MIL.M_OVERSCAN_CLEAR);
// Reset the timer.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Find the model in the target image.
MIL.MpatFindModel(MilTargetImage, MilModel, MilResult);
// Read the time spent in MpatFindModel().
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
// Clear the annotations.
MIL.MgraClear(MIL.M_DEFAULT, GraphicList);
// If one model was found above the acceptance threshold.
if (MIL.MpatGetNumber(MilResult) == 1)
{
// Read results and draw a box around model occurrence.
MIL.MpatGetResult(MilResult, MIL.M_POSITION_X, ref X);
MIL.MpatGetResult(MilResult, MIL.M_POSITION_Y, ref Y);
MIL.MpatGetResult(MilResult, MIL.M_ANGLE, ref Angle);
MIL.MpatGetResult(MilResult, MIL.M_SCORE, ref Score);
MIL.MgraColor(MIL.M_DEFAULT, AnnotationColor);
MIL.MpatDraw(MIL.M_DEFAULT, MilResult, GraphicList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, MIL.M_DEFAULT, MIL.M_DEFAULT);
MIL.MbufCopy(MilTargetImage, MilDisplayImage);
// Calculate the angle error and the position errors for statistics.
ErrAngle = CalculateAngleDist(Angle, RealAngle);
RotateModelCenter(MilSourceImage, ref RealX, ref RealY, RealAngle);
ErrX = Math.Abs(X - RealX);
ErrY = Math.Abs(Y - RealY);
SumErrAngle += ErrAngle;
SumErrX += ErrX;
SumErrY += ErrY;
SumTime += Time;
NbFound++;
// Verify the precision for the position and the angle.
if ((ErrX > ROTATED_FIND_MIN_POSITION_ACCURACY) || (ErrY > ROTATED_FIND_MIN_POSITION_ACCURACY) || (ErrAngle > ROTATED_FIND_MIN_ANGLE_ACCURACY))
{
Console.Write("Model accuracy error at angle {0:0.0} !\n\n", RealAngle);
Console.Write("Errors are X:{0:0.000}, Y:{1:0.000} and Angle:{2:0.00}\n\n", ErrX, ErrY, ErrAngle);
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
}
}
else
{
Console.Write("Model was not found at angle {0:0.0} !\n\n", RealAngle);
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
}
RealAngle -= ROTATED_FIND_ROTATION_ANGLE_STEP;
}
// Print out the search result statistics
// of the models found in rotated images.
Console.Write("\nSearch statistics for the model found in the rotated images.\n");
Console.Write("------------------------------------------------------------\n");
Console.Write("The average position error is \t\tX:{0:0.000}, Y:{1:0.000}\n", SumErrX / NbFound, SumErrY / NbFound);
Console.Write("The average angle error is \t\t{0:0.000}\n", SumErrAngle / NbFound);
Console.Write("The average search time is \t\t{0:0.000} ms\n\n", SumTime * 1000.0 / NbFound);
}
else
{
Console.Write("Model was not found!\n\n");
}
// Wait for a key to be pressed.
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Free all allocations.
MIL.MgraFree(GraphicList);
MIL.MpatFree(MilResult);
MIL.MpatFree(MilModel);
MIL.MbufFree(MilTargetImage);
MIL.MbufFree(MilSourceImage);
MIL.MbufFree(MilDisplayImage);
}
static void MultipleModelExample(MIL_ID MilSystem, MIL_ID MilDisplay)
{
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID GraphicList = MIL.M_NULL; // Graphic list identifier.
MIL_ID MilSearchContext = MIL.M_NULL; // Search context.
MIL_ID MilResult = MIL.M_NULL; // Result identifier.
double[] ModelsDrawColor = new double[MODELS_ARRAY_SIZE]; // Model drawing colors.
MIL_INT NumResults = 0; // Number of results found.
MIL_INT[] Models = new MIL_INT[MODELS_MAX_OCCURRENCES]; // Model indices.
MIL_INT[] ModelsOffsetX = new MIL_INT[MODELS_ARRAY_SIZE]; // Model X offsets array.
MIL_INT[] ModelsOffsetY = new MIL_INT[MODELS_ARRAY_SIZE]; // Model Y offsets array.
MIL_INT[] ModelsSizeX = new MIL_INT[MODELS_ARRAY_SIZE]; // Model X sizes array.
MIL_INT[] ModelsSizeY = new MIL_INT[MODELS_ARRAY_SIZE]; // Model Y sizes array.
double[] Score = new double[MODELS_MAX_OCCURRENCES]; // Model correlation scores.
double[] XPosition = new double[MODELS_MAX_OCCURRENCES]; // Model X positions.
double[] YPosition = new double[MODELS_MAX_OCCURRENCES]; // Model Y positions.
double[] Angle = new double[MODELS_MAX_OCCURRENCES]; // Model occurrence angles.
double[] Scale = new double[MODELS_MAX_OCCURRENCES]; // Model occurrence scales.
double Time = 0.0; // Time variable.
int i; // Loop variable.
// Models array specifications.
ModelsOffsetX[0] = MODEL0_OFFSETX;
ModelsOffsetX[1] = MODEL1_OFFSETX;
ModelsOffsetX[2] = MODEL2_OFFSETX;
ModelsOffsetY[0] = MODEL0_OFFSETY;
ModelsOffsetY[1] = MODEL1_OFFSETY;
ModelsOffsetY[2] = MODEL2_OFFSETY;
ModelsSizeX[0] = MODEL0_SIZEX;
ModelsSizeX[1] = MODEL1_SIZEX;
ModelsSizeX[2] = MODEL2_SIZEX;
ModelsSizeY[0] = MODEL0_SIZEY;
ModelsSizeY[1] = MODEL1_SIZEY;
ModelsSizeY[2] = MODEL2_SIZEY;
ModelsDrawColor[0] = MODEL0_DRAW_COLOR;
ModelsDrawColor[1] = MODEL1_DRAW_COLOR;
ModelsDrawColor[2] = MODEL2_DRAW_COLOR;
// Restore the model image and display it.
MIL.MbufRestore(MULTI_MODELS_IMAGE, MilSystem, ref MilImage);
MIL.MdispSelect(MilDisplay, MilImage);
// Allocate a graphic list to hold the subpixel annotations to draw.
MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, ref GraphicList);
// Associate the graphic list to the display for annotations.
MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList);
// Allocate a geometric model finder.
MIL.MmodAlloc(MilSystem, MIL.M_GEOMETRIC, MIL.M_DEFAULT, ref MilSearchContext);
// Allocate a result buffer.
MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, ref MilResult);
// Define the models.
for (i = 0; i < NUMBER_OF_MODELS; i++)
{
MIL.MmodDefine(MilSearchContext, MIL.M_IMAGE, MilImage, (double)ModelsOffsetX[i], (double)ModelsOffsetY[i], (double)ModelsSizeX[i], (double)ModelsSizeY[i]);
}
// Set the desired search speed.
MIL.MmodControl(MilSearchContext, MIL.M_CONTEXT, MIL.M_SPEED, MULTI_MODELS_SEARCH_SPEED);
// Increase the smoothness for the edge extraction in the search context.
MIL.MmodControl(MilSearchContext, MIL.M_CONTEXT, MIL.M_SMOOTHNESS, 75);
// Modify the acceptance and the certainty for all the models that were defined.
MIL.MmodControl(MilSearchContext, MIL.M_DEFAULT, MIL.M_ACCEPTANCE, 40);
MIL.MmodControl(MilSearchContext, MIL.M_DEFAULT, MIL.M_CERTAINTY, 60);
// Set the number of occurrences to 2 for all the models that were defined.
MIL.MmodControl(MilSearchContext, MIL.M_DEFAULT, MIL.M_NUMBER, 2);
if (NUMBER_OF_MODELS > 1)
{
// Change the reference point of the second model.
MIL.MmodControl(MilSearchContext, 1, MIL.M_REFERENCE_X, MODEL1_REFERENCEX);
MIL.MmodControl(MilSearchContext, 1, MIL.M_REFERENCE_Y, MODEL1_REFERENCEY);
}
if (NUMBER_OF_MODELS > 2)
{
// Change the reference point of the third model.
MIL.MmodControl(MilSearchContext, 2, MIL.M_REFERENCE_X, MODEL2_REFERENCEX);
MIL.MmodControl(MilSearchContext, 2, MIL.M_REFERENCE_Y, MODEL2_REFERENCEY);
}
// Preprocess the search context.
MIL.MmodPreprocess(MilSearchContext, MIL.M_DEFAULT);
// Draw boxes and positions in the source image to identify the models.
for (i = 0; i < NUMBER_OF_MODELS; i++)
{
MIL.MgraColor(MIL.M_DEFAULT, ModelsDrawColor[i]);
MIL.MmodDraw(MIL.M_DEFAULT, MilSearchContext, GraphicList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, i, MIL.M_ORIGINAL);
}
// Pause to show the models.
Console.Write("A model context was defined with the models in the displayed image.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Clear annotations.
MIL.MgraClear(MIL.M_DEFAULT, GraphicList);
// Load the complex target image.
MIL.MbufLoad(MULTI_MODELS_TARGET_IMAGE, MilImage);
// Dummy first call for bench measure purpose only (bench stabilization, cache effect, etc...). This first call is NOT required by the application.
MIL.MmodFind(MilSearchContext, MilImage, MilResult);
// Reset the timer.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Find the models.
MIL.MmodFind(MilSearchContext, MilImage, MilResult);
// Read the find time.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
// Get the number of models found.
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, ref NumResults);
// If the models were found above the acceptance threshold.
if ((NumResults >= 1) && (NumResults <= MODELS_MAX_OCCURRENCES))
{
// Get the results for each model.
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_INDEX + MIL.M_TYPE_MIL_INT, Models);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_POSITION_X, XPosition);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_POSITION_Y, YPosition);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_ANGLE, Angle);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_SCALE, Scale);
MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_SCORE, Score);
// Print information about the target image.
Console.Write("The models were found in the target image although there is:\n");
Console.Write(" Full rotation\n Small scale change\n Contrast variation\n");
Console.Write(" Specular reflection\n Occlusion\n Multiple models\n");
Console.Write(" Multiple occurrences\n\n");
// Print the results for the found models.
Console.Write("Result Model X Position Y Position Angle Scale Score\n\n");
for (i = 0; i < NumResults; i++)
{
Console.Write("{0,-9}{1,-8}{2,-13:0.00}{3,-13:#.00}{4,-8:0.00}{5,-8:0.00}{6,-5:0.00}%\n", i, Models[i], XPosition[i], YPosition[i], Angle[i], Scale[i], Score[i]);
}
Console.Write("\nThe search time is {0:0.0} ms\n\n", Time * 1000.0);
// Draw edges and positions over the occurrences that were found.
for (i = 0; i < NumResults; i++)
{
MIL.MgraColor(MIL.M_DEFAULT, ModelsDrawColor[Models[i]]);
MIL.MmodDraw(MIL.M_DEFAULT, MilResult, GraphicList, MIL.M_DRAW_EDGES + MIL.M_DRAW_POSITION, i, MIL.M_DEFAULT);
}
}
else
{
Console.Write("The models were not found or the number of models found is greater than\n");
Console.Write("the defined value of maximum occurrences !\n\n");
}
// Wait for a key to be pressed.
Console.Write("Press <Enter> to end.\n\n");
Console.ReadKey();
// Free MIL objects.
MIL.MgraFree(GraphicList);
MIL.MbufFree(MilImage);
MIL.MmodFree(MilSearchContext);
MIL.MmodFree(MilResult);
}
static void SearchModelExample(MIL_ID MilSystem, MIL_ID MilDisplay)
{
MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID GraphicList = MIL.M_NULL; // Graphic list identifier.
MIL_ID Model = MIL.M_NULL; // Model identifier.
MIL_ID Result = MIL.M_NULL; // Result identifier.
double XOrg = 0.0; // Original model position.
double YOrg = 0.0;
double x = 0.0; // Model position.
double y = 0.0;
double ErrX = 0.0; // Model error position.
double ErrY = 0.0;
double Score = 0.0; // Model correlation score.
double Time = 0.0; // Model search time.
double AnnotationColor = MIL.M_COLOR_GREEN; // Drawing color.
// Restore source image into an automatically allocated image buffer.
MIL.MbufRestore(FIND_IMAGE_FILE, MilSystem, ref MilImage);
// Display the image buffer.
MIL.MdispSelect(MilDisplay, MilImage);
// Allocate a graphic list to hold the subpixel annotations to draw.
MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, ref GraphicList);
// Associate the graphic list to the display for annotations.
MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList);
// Allocate a normalized grayscale model.
MIL.MpatAllocModel(MilSystem, MilImage, FIND_MODEL_X_POS, FIND_MODEL_Y_POS, FIND_MODEL_WIDTH, FIND_MODEL_HEIGHT, MIL.M_NORMALIZED, ref Model);
// Set the search accuracy to high.
MIL.MpatSetAccuracy(Model, MIL.M_HIGH);
// Set the search model speed to high.
MIL.MpatSetSpeed(Model, MIL.M_HIGH);
// Preprocess the model.
MIL.MpatPreprocModel(MilImage, Model, MIL.M_DEFAULT);
// Draw a box around the model in the model image.
MIL.MgraColor(MIL.M_DEFAULT, AnnotationColor);
MIL.MpatDraw(MIL.M_DEFAULT, Model, GraphicList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, MIL.M_DEFAULT, MIL.M_ORIGINAL);
// Pause to show the original image and model position.
Console.Write("\nA {0}x{1} model was defined in the source image.\n", FIND_MODEL_WIDTH, FIND_MODEL_HEIGHT);
Console.Write("It will be found in an image shifted by {0:0.00} in X and {1:0.00} in Y.\n", FIND_SHIFT_X, FIND_SHIFT_Y);
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Clear annotations.
MIL.MgraClear(MIL.M_DEFAULT, GraphicList);
// Translate the image on a subpixel level.
MIL.MimTranslate(MilImage, MilImage, FIND_SHIFT_X, FIND_SHIFT_Y, MIL.M_DEFAULT);
// Allocate result buffer.
MIL.MpatAllocResult(MilSystem, 1, ref Result);
// Dummy first call for bench measure purpose only (bench stabilization, cache effect, etc...). This first call is NOT required by the application.
MIL.MpatFindModel(MilImage, Model, Result);
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Find the model in the target buffer.
MIL.MpatFindModel(MilImage, Model, Result);
// Read the time spent in MpatFindModel.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
// If one model was found above the acceptance threshold.
if (MIL.MpatGetNumber(Result) == 1L)
{
// Read results and draw a box around the model occurrence.
MIL.MpatGetResult(Result, MIL.M_POSITION_X, ref x);
MIL.MpatGetResult(Result, MIL.M_POSITION_Y, ref y);
MIL.MpatGetResult(Result, MIL.M_SCORE, ref Score);
MIL.MgraColor(MIL.M_DEFAULT, AnnotationColor);
MIL.MpatDraw(MIL.M_DEFAULT, Result, GraphicList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, MIL.M_DEFAULT, MIL.M_DEFAULT);
// Calculate the position errors in X and Y and inquire original model position.
ErrX = Math.Abs((FIND_MODEL_X_CENTER + FIND_SHIFT_X) - x);
ErrY = Math.Abs((FIND_MODEL_Y_CENTER + FIND_SHIFT_Y) - y);
MIL.MpatInquire(Model, MIL.M_ORIGINAL_X, ref XOrg);
MIL.MpatInquire(Model, MIL.M_ORIGINAL_Y, ref YOrg);
// Print out the search result of the model in the original image.
Console.Write("Search results:\n");
Console.Write("---------------------------------------------------\n");
Console.Write("The model is found to be shifted by \tX:{0:0.00}, Y:{1:0.00}.\n", x - XOrg, y - YOrg);
Console.Write("The model position error is \t\tX:{0:0.00}, Y:{1:0.00}\n", ErrX, ErrY);
Console.Write("The model match score is \t\t{0:0.0}\n", Score);
Console.Write("The search time is \t\t\t{0:0.000} ms\n\n", Time * 1000.0);
// Verify the results.
if ((Math.Abs((x - XOrg) - FIND_SHIFT_X) > FIND_MODEL_MIN_ACCURACY) ||
(Math.Abs((y - YOrg) - FIND_SHIFT_Y) > FIND_MODEL_MIN_ACCURACY) ||
(Score < FIND_MODEL_MIN_MATCH_SCORE))
{
Console.Write("Results verification error !\n");
}
}
else
{
Console.Write("Model not found !\n");
}
// Wait for a key to be pressed.
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Clear annotations.
MIL.MgraClear(MIL.M_DEFAULT, GraphicList);
// Free all allocations.
MIL.MgraFree(GraphicList);
MIL.MpatFree(Result);
MIL.MpatFree(Model);
MIL.MbufFree(MilImage);
}
static void Main(string[] args)
{
MIL_ID MilApplication = MIL.M_NULL; // Application identifier.
MIL_ID MilSystem = MIL.M_NULL; // System identifier.
MIL_ID MilDisplay = MIL.M_NULL; // Display identifier.
MIL_ID MilDisplayImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID MilSourceImage = MIL.M_NULL; // Image buffer identifier.
MIL_ID Mil4CornerArray = MIL.M_NULL; // Coefficients buffer identifier.
MIL_ID MilLutX = MIL.M_NULL; // Lut buffer identifier.
MIL_ID MilLutY = MIL.M_NULL; // Lut buffer identifier.
MIL_ID ChildWindow = MIL.M_NULL; // Child Image identifier.
float[] FourCornerMatrix = new float[12]
{
0.0F, // X coordinate of quadrilateral's 1st corner
0.0F, // Y coordinate of quadrilateral's 1st corner
456.0F, // X coordinate of quadrilateral's 2nd corner
62.0F, // Y coordinate of quadrilateral's 2nd corner
333.0F, // X coordinate of quadrilateral's 3rd corner
333.0F, // Y coordinate of quadrilateral's 3rd corner
100.0F, // X coordinate of quadrilateral's 4th corner
500.0F, // Y coordinate of quadrilateral's 4th corner
0.0F, // X coordinate of rectangle's top-left corner
0.0F, // Y coordinate of rectangle's top-left corner
511.0F, // X coordinate of rectangle's bottom-right corner
511.0F
}; // Y coordinate of rectangle's bottom-right corner
int Precision = FIXED_POINT_PRECISION;
int Interpolation = MIL.M_NEAREST_NEIGHBOR;
short[] MilLutXPtr, MilLutYPtr;
int OffsetX = 0;
MIL_INT ImageWidth = 0;
MIL_INT ImageHeight = 0;
MIL_INT ImageType = 0;
int i = 0;
int j = 0;
double FramesPerSecond = 0.0;
double Time = 0.0;
double NbLoop = 0.0;
// Allocate defaults.
MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL);
// Restore the source image.
MIL.MbufRestore(IMAGE_FILE, MilSystem, ref MilSourceImage);
// Allocate a display buffers and show the source image.
MIL.MbufInquire(MilSourceImage, MIL.M_SIZE_X, ref ImageWidth);
MIL.MbufInquire(MilSourceImage, MIL.M_SIZE_Y, ref ImageHeight);
MIL.MbufInquire(MilSourceImage, MIL.M_TYPE, ref ImageType);
MIL.MbufAlloc2d(MilSystem, ImageWidth, ImageHeight, ImageType, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP, ref MilDisplayImage);
MIL.MbufCopy(MilSourceImage, MilDisplayImage);
MIL.MdispSelect(MilDisplay, MilDisplayImage);
// Print a message.
Console.Write("\nWARPING:\n");
Console.Write("--------\n\n");
Console.Write("This image will be warped using different methods.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Four-corner LUT warping
//-------------------------
// Allocate 2 LUT buffers.
MIL.MbufAlloc2d(MilSystem, ImageWidth, ImageHeight, 16 + MIL.M_SIGNED, MIL.M_LUT, ref MilLutX);
MIL.MbufAlloc2d(MilSystem, ImageWidth, ImageHeight, 16 + MIL.M_SIGNED, MIL.M_LUT, ref MilLutY);
// Allocate the coefficient buffer.
MIL.MbufAlloc2d(MilSystem, 12, 1, 32 + MIL.M_FLOAT, MIL.M_ARRAY, ref Mil4CornerArray);
// Put warp values into the coefficient buffer.
MIL.MbufPut1d(Mil4CornerArray, 0, 12, FourCornerMatrix);
// Generate LUT buffers.
MIL.MgenWarpParameter(Mil4CornerArray, MilLutX, MilLutY, MIL.M_WARP_4_CORNER + Precision, MIL.M_DEFAULT, 0.0, 0.0);
// Clear the destination.
MIL.MbufClear(MilDisplayImage, 0);
// Warp the image.
MIL.MimWarp(MilSourceImage, MilDisplayImage, MilLutX, MilLutY, MIL.M_WARP_LUT + Precision, Interpolation);
// Print a message.
Console.Write("The image was warped from an arbitrary quadrilateral to a square.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Sinusoidal LUT warping
//------------------------
// Allocate user-defined LUTs.
MilLutXPtr = new short[ImageHeight * ImageWidth];
MilLutYPtr = new short[ImageHeight * ImageWidth];
// Fill the LUT with a sinusoidal waveforms with a 6-bit precision.
for (j = 0; j < ImageHeight; j++)
{
for (i = 0; i < ImageWidth; i++)
{
MilLutYPtr[i + (j * ImageWidth)] = (short)FLOAT_TO_FIXED_POINT(((j) + (int)((20 * Math.Sin(0.03 * i)))));
MilLutXPtr[i + (j * ImageWidth)] = (short)FLOAT_TO_FIXED_POINT(((i) + (int)((20 * Math.Sin(0.03 * j)))));
}
}
// Put the values into the LUT buffers.
MIL.MbufPut2d(MilLutX, 0, 0, ImageWidth, ImageHeight, MilLutXPtr);
MIL.MbufPut2d(MilLutY, 0, 0, ImageWidth, ImageHeight, MilLutYPtr);
// Clear the destination.
MIL.MbufClear(MilDisplayImage, 0);
// Warp the image.
MIL.MimWarp(MilSourceImage, MilDisplayImage, MilLutX, MilLutY, MIL.M_WARP_LUT + Precision, Interpolation);
// wait for a key
Console.Write("The image was warped on two sinusoidal waveforms.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Continuous spherical LUT warping
//--------------------------------
// Allocate temporary buffer.
MIL.MbufFree(MilSourceImage);
MIL.MbufAlloc2d(MilSystem, ImageWidth * 2, ImageHeight, ImageType, MIL.M_IMAGE + MIL.M_PROC, ref MilSourceImage);
// Reload the image.
MIL.MbufLoad(IMAGE_FILE, MilSourceImage);
// Fill the LUTs with a sphere pattern with a 6-bit precision.
GenerateSphericLUT(ImageWidth, ImageHeight, MilLutXPtr, MilLutYPtr);
MIL.MbufPut2d(MilLutX, 0, 0, ImageWidth, ImageHeight, MilLutXPtr);
MIL.MbufPut2d(MilLutY, 0, 0, ImageWidth, ImageHeight, MilLutYPtr);
// Duplicate the buffer to allow wrap around in the warping.
MIL.MbufCopy(MilSourceImage, MilDisplayImage);
MIL.MbufChild2d(MilSourceImage, ImageWidth, 0, ImageWidth, ImageHeight, ref ChildWindow);
MIL.MbufCopy(MilDisplayImage, ChildWindow);
MIL.MbufFree(ChildWindow);
// Clear the destination.
MIL.MbufClear(MilDisplayImage, 0);
// Print a message and start the timer.
Console.Write("The image is continuously warped on a sphere.\n");
Console.Write("Press <Enter> to stop.\n\n");
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Warp the image continuously.
while (!Console.KeyAvailable)
{
// Create a child in the buffer containing the two images.
MIL.MbufChild2d(MilSourceImage, OffsetX, 0, ImageWidth, ImageHeight, ref ChildWindow);
// Warp the child in the window.
MIL.MimWarp(ChildWindow, MilDisplayImage, MilLutX, MilLutY, MIL.M_WARP_LUT + Precision, Interpolation);
// Update the offset (shift the window to the right).
OffsetX += ROTATION_STEP;
// Reset the offset if the child is outside the buffer.
if (OffsetX > ImageWidth - 1)
{
OffsetX = 0;
}
// Free the child.
MIL.MbufFree(ChildWindow);
NbLoop++;
// Calculate and print the number of frames per second processed.
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time);
FramesPerSecond = NbLoop / Time;
Console.Write("Processing speed: {0:0} Images/Sec.\r", FramesPerSecond);
YieldToGUI();
}
Console.ReadKey();
// Free objects.
MIL.MbufFree(MilLutX);
MIL.MbufFree(MilLutY);
MIL.MbufFree(Mil4CornerArray);
MIL.MbufFree(MilSourceImage);
MIL.MbufFree(MilDisplayImage);
MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL);
}
