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 MilGraphicList = MIL.M_NULL; // Graphic list identifier.
MIL_ID MilBinImage = MIL.M_NULL; // Binary image buffer identifier.
MIL_ID MilBlobResult = MIL.M_NULL; // Blob result buffer identifier.
MIL_ID MilBlobFeatureList = MIL.M_NULL; // Feature list identifier.
MIL_INT TotalBlobs = 0; // Total number of blobs.
MIL_INT BlobsWithHoles = 0; // Number of blobs with holes.
MIL_INT BlobsWithRoughHoles = 0; // Number of blobs with rough holes.
MIL_INT n = 0; // Counter.
MIL_INT SizeX = 0; // Size X of the source buffer
MIL_INT SizeY = 0; // Size Y of the source buffer
double[] CogX = null; // X coordinate of center of gravity.
double[] CogY = null; // Y coordinate of center of gravity.
// Allocate defaults.
MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL);
// Restore source image into image buffer.
MIL.MbufRestore(IMAGE_FILE, MilSystem, ref MilImage);
// Allocate a graphic list to hold the subpixel annotations to draw.
MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, ref MilGraphicList);
// Associate the graphic list to the display.
MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, MilGraphicList);
// Display the buffer.
MIL.MdispSelect(MilDisplay, MilImage);
// Allocate a binary image buffer for fast processing.
MIL.MbufInquire(MilImage, MIL.M_SIZE_X, ref SizeX);
MIL.MbufInquire(MilImage, MIL.M_SIZE_Y, ref SizeY);
MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 1 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilBinImage);
// Pause to show the original image.
Console.Write("\nBLOB ANALYSIS:\n");
Console.Write("--------------\n\n");
Console.Write("This program determines the number of bolts, nuts and washers\n");
Console.Write("in the image and finds their center of gravity.\n");
Console.Write("Press <Enter> to continue.\n\n");
Console.ReadKey();
// Binarize image.
MIL.MimBinarize(MilImage, MilBinImage, MIL.M_FIXED + MIL.M_GREATER_OR_EQUAL, IMAGE_THRESHOLD_VALUE, MIL.M_NULL);
// Remove small particles and then remove small holes.
MIL.MimOpen(MilBinImage, MilBinImage, MIN_BLOB_RADIUS, MIL.M_BINARY);
MIL.MimClose(MilBinImage, MilBinImage, MIN_BLOB_RADIUS, MIL.M_BINARY);
// Allocate a feature list.
MIL.MblobAllocFeatureList(MilSystem, ref MilBlobFeatureList);
// Enable the Area and Center Of Gravity feature calculation.
MIL.MblobSelectFeature(MilBlobFeatureList, MIL.M_AREA);
MIL.MblobSelectFeature(MilBlobFeatureList, MIL.M_CENTER_OF_GRAVITY);
// Allocate a blob result buffer.
MIL.MblobAllocResult(MilSystem, ref MilBlobResult);
// Calculate selected features for each blob.
MIL.MblobCalculate(MilBinImage, MIL.M_NULL, MilBlobFeatureList, MilBlobResult);
// Exclude blobs whose area is too small.
MIL.MblobSelect(MilBlobResult, MIL.M_EXCLUDE, MIL.M_AREA, MIL.M_LESS_OR_EQUAL, MIN_BLOB_AREA, MIL.M_NULL);
// Get the total number of selected blobs.
MIL.MblobGetNumber(MilBlobResult, ref TotalBlobs);
Console.Write("There are {0} objects ", TotalBlobs);
// Read and print the blob's center of gravity.
CogX = new double[TotalBlobs];
CogY = new double[TotalBlobs];
if (CogX != null && CogY != null)
{
// Get the results.
MIL.MblobGetResult(MilBlobResult, MIL.M_CENTER_OF_GRAVITY_X, CogX);
MIL.MblobGetResult(MilBlobResult, MIL.M_CENTER_OF_GRAVITY_Y, CogY);
// Print the center of gravity of each blob.
Console.Write("and their centers of gravity are:\n");
for (n = 0; n < TotalBlobs; n++)
{
Console.Write("Blob #{0}: X={1,5:0.0}, Y={2,5:0.0}\n", n, CogX[n], CogY[n]);
}
}
else
{
Console.Write("\nError: Not enough memory.\n");
}
// Draw a cross at the center of gravity of each blob.
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_RED);
MIL.MblobDraw(MIL.M_DEFAULT, MilBlobResult, MilGraphicList, MIL.M_DRAW_CENTER_OF_GRAVITY, MIL.M_INCLUDED_BLOBS, MIL.M_DEFAULT);
// Reverse what is considered to be the background so that
// holes are seen as being blobs.
MIL.MblobControl(MilBlobResult, MIL.M_FOREGROUND_VALUE, MIL.M_ZERO);
// Add a feature to distinguish between types of holes.Since area
// has already been added to the feature list, and the processing
// mode has been changed, all blobs will be re-included and the area
// of holes will be calculated automatically.
MIL.MblobSelectFeature(MilBlobFeatureList, MIL.M_COMPACTNESS);
// Calculate selected features for each blob.
MIL.MblobCalculate(MilBinImage, MIL.M_NULL, MilBlobFeatureList, MilBlobResult);
// Exclude small holes and large (the area around objects) holes.
MIL.MblobSelect(MilBlobResult, MIL.M_EXCLUDE, MIL.M_AREA, MIL.M_OUT_RANGE, MIN_BLOB_AREA, MAX_BLOB_AREA);
// Get the number of blobs with holes.
MIL.MblobGetNumber(MilBlobResult, ref BlobsWithHoles);
// Exclude blobs whose holes are compact (i.e.nuts).
MIL.MblobSelect(MilBlobResult, MIL.M_EXCLUDE, MIL.M_COMPACTNESS, MIL.M_LESS_OR_EQUAL, MIN_COMPACTNESS, MIL.M_NULL);
// Get the number of blobs with holes that are NOT compact.
MIL.MblobGetNumber(MilBlobResult, ref BlobsWithRoughHoles);
// Print results.
Console.Write("\nIdentified objects:\n");
Console.Write("{0} bolts\n", TotalBlobs - BlobsWithHoles);
Console.Write("{0} nuts\n", BlobsWithHoles - BlobsWithRoughHoles);
Console.Write("{0} washers\n\n", BlobsWithRoughHoles);
Console.Write("Press <Enter> to end.\n\n");
Console.ReadKey();
// Free all allocations.
MIL.MgraFree(MilGraphicList);
MIL.MblobFree(MilBlobResult);
MIL.MblobFree(MilBlobFeatureList);
MIL.MbufFree(MilBinImage);
MIL.MbufFree(MilImage);
MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL);
}
// Find defects in corrected depth map, compute max deviation and draw contours.
static void PerformBlobAnalysis(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilOverlayImage, MIL_ID MilDepthMap)
{
MIL_ID MilBinImage = MIL.M_NULL; // Binary image buffer identifier.
MIL_ID MilBlobFeatureList = MIL.M_NULL; // Feature list identifier.
MIL_ID MilBlobResult = MIL.M_NULL; // Blob result buffer identifier.
MIL_INT SizeX = 0; // Width of depth map.
MIL_INT SizeY = 0; // Height of depth map.
MIL_INT TotalBlobs = 0; // Total number of blobs.
MIL_INT n = 0; // Counter.
MIL_INT[] MinPixels = null; // Maximum height of defects.
double DefectThreshold = 0.0; // A gray level below it is a defect.
double[] CogX = null; // X coordinate of center of gravity.
double[] CogY = null; // Y coordinate of center of gravity.
// Get size of depth map.
MIL.MbufInquire(MilDepthMap, MIL.M_SIZE_X, ref SizeX);
MIL.MbufInquire(MilDepthMap, MIL.M_SIZE_Y, ref SizeY);
// Allocate a binary image buffer for fast processing.
MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 1 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilBinImage);
// Binarize image.
DefectThreshold = (EXPECTED_HEIGHT - DEFECT_THRESHOLD) * SCALE_FACTOR;
MIL.MimBinarize(MilDepthMap, MilBinImage, MIL.M_FIXED + MIL.M_LESS_OR_EQUAL, DefectThreshold, MIL.M_NULL);
// Remove small particles.
MIL.MimOpen(MilBinImage, MilBinImage, MIN_BLOB_RADIUS, MIL.M_BINARY);
// Allocate a feature list.
MIL.MblobAllocFeatureList(MilSystem, ref MilBlobFeatureList);
// Enable the Center Of Gravity and Min Pixel features calculation.
MIL.MblobSelectFeature(MilBlobFeatureList, MIL.M_CENTER_OF_GRAVITY);
MIL.MblobSelectFeature(MilBlobFeatureList, MIL.M_MIN_PIXEL);
// Allocate a blob result buffer.
MIL.MblobAllocResult(MilSystem, ref MilBlobResult);
// Calculate selected features for each blob.
MIL.MblobCalculate(MilBinImage, MilDepthMap, MilBlobFeatureList, MilBlobResult);
// Get the total number of selected blobs.
MIL.MblobGetNumber(MilBlobResult, ref TotalBlobs);
Console.WriteLine("Number of defects: {0}", TotalBlobs);
// Read and print the blob characteristics.
CogX = new double[TotalBlobs];
CogY = new double[TotalBlobs];
MinPixels = new MIL_INT[TotalBlobs];
if (CogX != null && CogY != null && MinPixels != null)
{
// Get the results.
MIL.MblobGetResult(MilBlobResult, MIL.M_CENTER_OF_GRAVITY_X, CogX);
MIL.MblobGetResult(MilBlobResult, MIL.M_CENTER_OF_GRAVITY_Y, CogY);
MIL.MblobGetResult(MilBlobResult, MIL.M_MIN_PIXEL + MIL.M_TYPE_MIL_INT, MinPixels);
// Draw the defects.
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_RED);
MIL.MblobDraw(MIL.M_DEFAULT, MilBlobResult, MilOverlayImage, MIL.M_DRAW_BLOBS, MIL.M_INCLUDED_BLOBS, MIL.M_DEFAULT);
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_WHITE);
// Print the depth of each blob.
for (n = 0; n < TotalBlobs; n++)
{
double DepthOfDefect;
string DepthString;
// Write the depth of the defect in the overlay.
DepthOfDefect = EXPECTED_HEIGHT - (MinPixels[n] / SCALE_FACTOR);
DepthString = string.Format("{0:0.00} mm", DepthOfDefect);
Console.WriteLine("Defect #{0}: depth ={1,5:0.00} mm", n, DepthOfDefect);
Console.WriteLine();
MIL.MgraText(MIL.M_DEFAULT, MilOverlayImage, CogX[n] + TEXT_H_OFFSET_1, CogY[n] + TEXT_V_OFFSET_1, "Defect depth");
MIL.MgraText(MIL.M_DEFAULT, MilOverlayImage, CogX[n] + TEXT_H_OFFSET_2, CogY[n] + TEXT_V_OFFSET_2, DepthString);
}
}
else
{
Console.WriteLine("Error: Not enough memory.");
Console.WriteLine();
}
// Free all allocations.
MIL.MblobFree(MilBlobResult);
MIL.MblobFree(MilBlobFeatureList);
MIL.MbufFree(MilBinImage);
}
