| Click here to show toolbars of the Web Online Help System: show toolbars |
//*************************************************************************************** // // File name: 3dProfileMetrology.cpp // Location: See Matrox Example Launcher in the MIL Control Center // // // Synopsis: Demonstrates metrology operations along the 3D profile of a // the scanned 3d mechanical part. // // Copyright (C) Matrox Electronic Systems Ltd., 1992-2016. // All Rights Reserved #include <mil.h> //**************************************************************************** // Example description. //**************************************************************************** void PrintHeader() { MosPrintf(MIL_TEXT("[EXAMPLE NAME]\n")); MosPrintf(MIL_TEXT("3dProfileMetrology\n\n")); MosPrintf(MIL_TEXT("[SYNOPSIS]\n")); MosPrintf(MIL_TEXT("This example demonstrates the validation of metrology measurements\n") MIL_TEXT("along a 3d profile of the 3d reconstruction of a mechanical part.")); MosPrintf(MIL_TEXT("\n\n")); MosPrintf(MIL_TEXT("[MODULES USED]\n")); MosPrintf(MIL_TEXT("Modules used: Application, system, display, buffer, graphic,\n") MIL_TEXT("image processing, calibration, 3d reconstruction, model finder,\n") MIL_TEXT("and metrology.\n\n")); } static const MIL_INT MAP_SIZE_X = 487; static const MIL_INT MAP_SIZE_Y = 1319; // Macro defining the example's filepath. #define EX_PATH(x) (M_IMAGE_PATH MIL_TEXT("MechanicalPartScan/") MIL_TEXT(x)) #define METAL_PART_CLOUD_CONTAINER EX_PATH("MetalPartCloudContainer.m3d") struct SMapGeneration { MIL_DOUBLE BoxCornerX; MIL_DOUBLE BoxCornerY; MIL_DOUBLE BoxCornerZ; MIL_DOUBLE BoxSizeX; MIL_DOUBLE BoxSizeY; MIL_DOUBLE BoxSizeZ; MIL_INT MapSizeX; MIL_INT MapSizeY; MIL_DOUBLE PixelSizeX; MIL_DOUBLE PixelSizeY; MIL_DOUBLE GrayScaleZ; MIL_INT IntensityMapType; bool SetExtractOverlap; MIL_DOUBLE ExtractOverlap; MIL_DOUBLE FillXThreshold; MIL_DOUBLE FillYThreshold; }; struct SProjectionBox { MIL_DOUBLE OffsetX; MIL_DOUBLE OffsetY; MIL_DOUBLE OffsetZ; MIL_DOUBLE Length; MIL_DOUBLE Thickness; MIL_DOUBLE Height; }; struct SRectRegion { MIL_DOUBLE OffsetX; MIL_DOUBLE OffsetY; MIL_DOUBLE Width; MIL_DOUBLE Height; MIL_DOUBLE Angle; }; struct SArcRegion { MIL_DOUBLE OffsetX; MIL_DOUBLE OffsetY; MIL_DOUBLE StartRadius; MIL_DOUBLE EndRadius; MIL_DOUBLE StartAngle; MIL_DOUBLE EndAngle; }; void Analyze3DProfile(MIL_ID MilSystem, MIL_ID PointCloudContainer); void GenerateDepthMap(MIL_ID MilSystem, MIL_ID PointCloudContainer, const SMapGeneration& GenerationInfo, MIL_ID& OutDepthmap); bool FixturePart(MIL_ID MilSystem, MIL_ID MilDepthMap, MIL_ID MilFixtureDestination, MIL_ID MilGraList); bool CheckForRequiredMILFile(MIL_CONST_TEXT_PTR FileName); //***************************************************************************** // Main. //***************************************************************************** int MosMain(void) { PrintHeader(); // Allocate the MIL application. MIL_ID MilApplication = MappAlloc(M_NULL, M_DEFAULT, M_NULL); //Check for required example files. if (!CheckForRequiredMILFile(METAL_PART_CLOUD_CONTAINER)) { MappFree(MilApplication); return -1; } // Allocate a host system. MIL_ID MilSystem = MsysAlloc(M_DEFAULT, M_SYSTEM_HOST, M_DEFAULT, M_DEFAULT, M_NULL); MosPrintf(MIL_TEXT("Press <Enter> to start.\n\n")); MosGetch(); // Restore a 3d point cloud of the object. MIL_ID PointCloudContainer = M_NULL; M3dmapRestore(METAL_PART_CLOUD_CONTAINER, MilSystem, M_DEFAULT, &PointCloudContainer); // Analyze. Analyze3DProfile(MilSystem, PointCloudContainer); // Free the MIL 3d point cloud. M3dmapFree(PointCloudContainer); // Free the MIL system and application. MsysFree(MilSystem); MappFree(MilApplication); return 0; } //******************************************************************************* // 3D profile analysis of the the scanned object. //******************************************************************************* void Analyze3DProfile (MIL_ID MilSystem, MIL_ID PointCloudContainer) { // Allocates the displays and graphic lists MIL_ID MilDisplayDepthMap = MdispAlloc(MilSystem, M_DEFAULT, MIL_TEXT("M_DEFAULT"), M_WINDOWED, M_NULL); MIL_ID MilDisplayProjection = MdispAlloc(MilSystem, M_DEFAULT, MIL_TEXT("M_DEFAULT"), M_WINDOWED, M_NULL); MIL_ID MilDepthMapGraphicList = MgraAllocList(MilSystem, M_DEFAULT, M_NULL); MIL_ID MilProjectionGraphicList = MgraAllocList(MilSystem, M_DEFAULT, M_NULL); MdispControl(MilDisplayDepthMap, M_ASSOCIATED_GRAPHIC_LIST_ID, MilDepthMapGraphicList); MdispControl(MilDisplayProjection, M_ASSOCIATED_GRAPHIC_LIST_ID, MilProjectionGraphicList); MdispControl(MilDisplayDepthMap, M_VIEW_MODE, M_AUTO_SCALE); MdispControl(MilDisplayProjection, M_VIEW_MODE, M_AUTO_SCALE); // Set the volume information. SMapGeneration MapData; MapData.BoxCornerX = 5.00; MapData.BoxCornerY = -160.00; MapData.BoxCornerZ = -4.00; MapData.BoxSizeX = 120.00; MapData.BoxSizeY = 410.00; MapData.BoxSizeZ = -30.00; MapData.MapSizeX = MAP_SIZE_X; MapData.MapSizeY = MAP_SIZE_Y; MapData.PixelSizeX = 0.22; MapData.PixelSizeY = 0.22; MapData.GrayScaleZ = (MapData.BoxSizeZ / 65534.0); MapData.IntensityMapType = 8 + M_UNSIGNED; MapData.SetExtractOverlap = true; MapData.ExtractOverlap = M_MIN; MapData.FillXThreshold = 1.0; MapData.FillYThreshold = 1.0; // Set the extraction box definition in world units and relative to the part fixture. // The extraction box is defined to retrieve a slice of 3D positions from the scanned object. SProjectionBox ProjBox; ProjBox.OffsetX = 41.0; ProjBox.OffsetY = 70.0; ProjBox.OffsetZ = 20.0; ProjBox.Length = 90.0; ProjBox.Height = 80.0; ProjBox.Thickness = 0.5; // Generate the top view calibrated depth map. MIL_ID MilDepthMap = M_NULL; GenerateDepthMap(MilSystem, PointCloudContainer, MapData, MilDepthMap); // Allocate the necessary buffers for processing and display. const MIL_INT DepthMapScanOffsetY = 400; MIL_ID MilDepthMapChild = M_NULL; MbufChild2d(MilDepthMap, 0, DepthMapScanOffsetY, MAP_SIZE_X, MAP_SIZE_Y - DepthMapScanOffsetY, &MilDepthMapChild); // Display the depth map and its calibration. MgraClear(M_DEFAULT, MilDepthMapGraphicList); MgraColor(M_DEFAULT, M_COLOR_LIGHT_BLUE); MgraBackColor(M_DEFAULT, M_COLOR_GRAY); McalDraw(M_DEFAULT, MilDepthMapChild, MilDepthMapGraphicList, M_DRAW_RELATIVE_COORDINATE_SYSTEM, M_DEFAULT, M_DEFAULT); MdispSelect(MilDisplayDepthMap, MilDepthMapChild); MosPrintf(MIL_TEXT("A top view calibrated depth map of the mechanical part was generated.\n") MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); // Locate the part and move the relative coordinate system accordingly. bool PartFound = FixturePart(MilSystem, MilDepthMapChild, MilDepthMapChild, MilDepthMapGraphicList); if (PartFound) { MosPrintf(MIL_TEXT("The mechanical part was located and fixtured using Model Finder in the depth map.\n") MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); // Draw the fixtured coordinate system. MgraClear(M_DEFAULT, MilDepthMapGraphicList); MgraColor(M_DEFAULT, M_COLOR_LIGHT_BLUE); MgraBackColor(M_DEFAULT, M_COLOR_GRAY); McalDraw(M_DEFAULT, MilDepthMapChild, MilDepthMapGraphicList, M_DRAW_RELATIVE_COORDINATE_SYSTEM, M_DEFAULT, M_DEFAULT); // Move the relative coordinate system along the projection axis and draw the resulting fixture. McalFixture(MilDepthMapChild, M_NULL, M_MOVE_RELATIVE, M_POINT_AND_DIRECTION_POINT, M_DEFAULT, ProjBox.OffsetX, ProjBox.OffsetY, ProjBox.OffsetX, ProjBox.OffsetY + ProjBox.Length); MgraColor(M_DEFAULT, M_COLOR_DARK_BLUE); McalDraw(M_DEFAULT, MilDepthMapChild, MilDepthMapGraphicList, M_DRAW_RELATIVE_COORDINATE_SYSTEM+M_DRAW_FRAME, M_DEFAULT, M_DEFAULT); // Move the relative coordinate system of the point cloud at the new fixtured position. McalFixture(PointCloudContainer, M_NULL, M_MOVE_RELATIVE, M_SAME_AS_SOURCE, MilDepthMapChild, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT); // Set the Z axis in the direction of the desired projection. McalSetCoordinateSystem(PointCloudContainer, M_RELATIVE_COORDINATE_SYSTEM, M_RELATIVE_COORDINATE_SYSTEM, M_ROTATION_X, M_NULL, 90, M_DEFAULT, M_DEFAULT, M_DEFAULT); // Set the extraction box dimensions and position in the relative coordinate system. M3dmapSetBox(PointCloudContainer, M_EXTRACTION_BOX, M_BOTH_CORNERS, 0 , ProjBox.OffsetZ - ProjBox.Height, ProjBox.Thickness, ProjBox.Length, ProjBox.OffsetZ , -ProjBox.Thickness); // Draw the projection box in the depth map. MgraColor(M_DEFAULT, M_COLOR_RED); MgraControl(M_DEFAULT, M_INPUT_UNITS, M_WORLD); MgraRect(M_DEFAULT, MilDepthMapGraphicList, 0.0 , ProjBox.Thickness, ProjBox.Length, -ProjBox.Thickness); MosPrintf(MIL_TEXT("The extraction box was set relative to the fixture.\n") MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); // Retrieve the number of points within the extraction box. MIL_INT NumberOfExtractedPoints = 0; M3dmapGet(PointCloudContainer, M_DEFAULT, M_POSITION, M_INCLUDE_POINTS_INSIDE_BOX_ONLY, 64 + M_FLOAT, 0, M_NULL, M_NULL, M_NULL, &NumberOfExtractedPoints); // Retrieve the point within the extraction box. MIL_DOUBLE* pX = new MIL_DOUBLE[NumberOfExtractedPoints]; MIL_DOUBLE* pY = new MIL_DOUBLE[NumberOfExtractedPoints]; M3dmapGet(PointCloudContainer, M_DEFAULT, M_POSITION, M_INCLUDE_POINTS_INSIDE_BOX_ONLY, 64 + M_FLOAT, NumberOfExtractedPoints, pX, pY, M_NULL, M_NULL); // Allocate the Metrology tool to perform measures along the 3D profile. MIL_ID MetContext = MmetAlloc(MilSystem, M_DEFAULT, M_NULL); MIL_ID MetResult = MmetAllocResult(MilSystem, M_DEFAULT, M_NULL); const SRectRegion UpperRect = {40, -25, 8, 15, 0}; const SRectRegion LowerRect = {55, -15, 20, 10, 0}; const SArcRegion UpperArc = {12, -30, 3, 8, 180, 270}; // Set the Metrology features and tolerances. const MIL_INT EdgelLabel[1] = { M_FEATURE_INDEX(1) }; MmetAddFeature(MetContext, M_CONSTRUCTED, M_EDGEL, M_DEFAULT, M_EXTERNAL_FEATURE, M_NULL, M_NULL, 0, M_DEFAULT); MmetPut(MetContext, M_FEATURE_INDEX(1), NumberOfExtractedPoints, M_NULL, pX, pY, M_NULL, M_NULL, M_DEFAULT); MmetAddFeature(MetContext, M_CONSTRUCTED, M_SEGMENT, M_DEFAULT, M_FIT, EdgelLabel, M_NULL, 1, M_DEFAULT); MmetSetRegion(MetContext, M_FEATURE_INDEX(2), M_DEFAULT, M_RECTANGLE, UpperRect.OffsetX, UpperRect.OffsetY, UpperRect.Width, UpperRect.Height, UpperRect.Angle, M_NULL); MmetAddFeature(MetContext, M_CONSTRUCTED, M_SEGMENT, M_DEFAULT, M_FIT, EdgelLabel, M_NULL, 1, M_DEFAULT); MmetSetRegion(MetContext, M_FEATURE_INDEX(3), M_DEFAULT, M_RECTANGLE, LowerRect.OffsetX, LowerRect.OffsetY, LowerRect.Width, LowerRect.Height, LowerRect.Angle, M_NULL); const MIL_INT SegLabels[2] = { M_FEATURE_INDEX(2), M_FEATURE_INDEX(3) }; MmetAddTolerance(MetContext, M_PARALLELISM, M_DEFAULT, 0, 2, SegLabels, M_NULL, 2, M_DEFAULT); MmetAddFeature(MetContext, M_CONSTRUCTED, M_ARC, M_DEFAULT, M_FIT, EdgelLabel, M_NULL, 1, M_DEFAULT); MmetSetRegion(MetContext, M_FEATURE_INDEX(4), M_DEFAULT, M_RING_SECTOR, UpperArc.OffsetX, UpperArc.OffsetY, UpperArc.StartRadius, UpperArc.EndRadius, UpperArc.StartAngle, UpperArc.EndAngle); const MIL_INT ArcLabel[1] = { M_FEATURE_INDEX(4)}; MmetAddTolerance(MetContext, M_RADIUS, M_DEFAULT, 0, 2, ArcLabel, M_NULL, 1, M_DEFAULT); // Calculate the features and tolerances. MmetCalculate(MetContext, M_NULL, MetResult, M_DEFAULT); // Allocate a buffer to display the extracted 3D slice. const MIL_DOUBLE ZoomFactor = 2.0; MIL_ID MilSliceProjection = MbufAlloc2d(MilSystem, (MIL_INT)(ZoomFactor * ProjBox.Length / MapData.PixelSizeX), (MIL_INT)(ZoomFactor * ProjBox.Height / MapData.PixelSizeY), 16 + M_UNSIGNED, M_IMAGE + M_PROC + M_DISP, M_NULL); MgraClear(M_DEFAULT, MilProjectionGraphicList); MbufClear(MilSliceProjection, 0); M3dmapExtract(PointCloudContainer, MilSliceProjection, M_NULL, M_CORRECTED_DEPTH_MAP, M_ALL, M_DEFAULT); // Display the calibration system. MgraColor(M_DEFAULT, M_COLOR_LIGHT_BLUE); MgraBackColor(M_DEFAULT, M_COLOR_GRAY); McalDraw(M_DEFAULT, MilSliceProjection, MilProjectionGraphicList, M_DRAW_RELATIVE_COORDINATE_SYSTEM, M_DEFAULT, M_DEFAULT); // Display the Metrology results. MgraControl(M_DEFAULT, M_INPUT_UNITS, M_WORLD); MgraColor(M_DEFAULT, M_COLOR_GREEN); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_REGION, M_DEFAULT, M_DEFAULT); MgraColor(M_DEFAULT, M_COLOR_YELLOW); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_FEATURE, M_FEATURE_INDEX(1), M_DEFAULT); MgraColor(M_DEFAULT, M_COLOR_BLUE); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_ACTIVE_EDGELS, M_FEATURE_INDEX(2), M_DEFAULT); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_ACTIVE_EDGELS, M_FEATURE_INDEX(3), M_DEFAULT); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_ACTIVE_EDGELS, M_FEATURE_INDEX(4), M_DEFAULT); MgraColor(M_DEFAULT, M_COLOR_RED); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_FEATURE, M_FEATURE_INDEX(2), M_DEFAULT); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_FEATURE, M_FEATURE_INDEX(3), M_DEFAULT); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_FEATURE, M_FEATURE_INDEX(4), M_DEFAULT); MgraColor(M_DEFAULT, M_COLOR_MAGENTA); MmetDraw(M_DEFAULT, MetResult, MilProjectionGraphicList, M_DRAW_TOLERANCE, M_ALL, M_DEFAULT); // Select the buffer to the display. MdispSelect(MilDisplayProjection, MilSliceProjection); MosPrintf(MIL_TEXT("Metrology measurements and tolerances were calculated along the 3D profile.\n") MIL_TEXT(" - Profile positions are displayed in yellow.\n") MIL_TEXT(" - Regions are displayed in green.\n") MIL_TEXT(" - Active edgels are displayed in blue.\n") MIL_TEXT(" - Fitted features are displayed in red.\n") MIL_TEXT(" - Tolerances are displayed in magenta.\n\n")); MosPrintf(MIL_TEXT("The display can be zoomed to observe the subpixel annotations.\n\n") MIL_TEXT("Press <Enter> to end.\n\n")); MosGetch(); // Free the allocated resources. delete[] pX; delete[] pY; MbufFree(MilSliceProjection); MmetFree(MetContext); MmetFree(MetResult); } else { MosPrintf(MIL_TEXT("Unable to find the part in the corrected depth map.\n") MIL_TEXT("Press <Enter> to end.\n\n")); MosGetch(); } // Free the allocated resources. MbufFree(MilDepthMapChild); MbufFree(MilDepthMap); MdispFree(MilDisplayDepthMap); MdispFree(MilDisplayProjection); MgraFree(MilDepthMapGraphicList); MgraFree(MilProjectionGraphicList); } ///////////////////////////////////////////////////////////////////////////////////////// /* Finds the model, fixture a destination and draw the occurrence in the graphic list. */ ///////////////////////////////////////////////////////////////////////////////////////// bool FixturePart(MIL_ID MilSystem, MIL_ID MilDepthMap, MIL_ID MilFixtureDestination, MIL_ID MilGraList) { // Restore and setup the model used to fixture the part. const MIL_TEXT_CHAR* MECHANICAL_PART_MODEL = EX_PATH("ModelFinderContext.mmf"); MIL_ID ModelCtx = MmodRestore(MECHANICAL_PART_MODEL, MilSystem, M_WITH_CALIBRATION, M_NULL); MIL_ID ModelRes = MmodAllocResult(MilSystem, M_DEFAULT, M_NULL); // Preprocess the model finder context. MmodPreprocess(ModelCtx, M_DEFAULT); // Create the fixturing offset. MIL_ID FixtureOffset = McalAlloc(MilSystem, M_FIXTURING_OFFSET, M_DEFAULT, M_NULL); McalFixture(M_NULL, FixtureOffset, M_LEARN_OFFSET, M_MODEL_MOD, ModelCtx, 0, M_DEFAULT, M_DEFAULT, M_DEFAULT); // Allocate the target image. MIL_INT SizeX, SizeY; MbufInquire(MilDepthMap, M_SIZE_X, &SizeX); MbufInquire(MilDepthMap, M_SIZE_Y, &SizeY); MIL_ID MilSearchImage = MbufAlloc2d(MilSystem, SizeX, SizeY, 8, M_IMAGE + M_PROC, M_NULL); // Remap the depth map to the 8 bit target image. MimShift(MilDepthMap, MilSearchImage, -8); // Find the model. MmodFind(ModelCtx, MilSearchImage, ModelRes); // Retrieve the information. MIL_INT NumOfOccurences = 0; MmodGetResult(ModelRes, M_DEFAULT, M_NUMBER + M_TYPE_MIL_INT, &NumOfOccurences); if (NumOfOccurences) { // Fixture the depth map. McalFixture(MilFixtureDestination, FixtureOffset, M_MOVE_RELATIVE, M_RESULT_MOD, ModelRes, 0, M_DEFAULT, M_DEFAULT, M_DEFAULT); // Draw the found occurrence. MgraColor(M_DEFAULT, M_COLOR_RED); MmodDraw(M_DEFAULT, ModelRes, MilGraList, M_DRAW_EDGES + M_MODEL, M_DEFAULT, M_DEFAULT); MgraColor(M_DEFAULT, M_COLOR_DARK_BLUE); McalDraw(M_DEFAULT, MilDepthMap, MilGraList, M_DRAW_RELATIVE_COORDINATE_SYSTEM+M_DRAW_FRAME, M_DEFAULT, M_DEFAULT); McalDraw(M_DEFAULT, FixtureOffset, MilGraList, M_DRAW_FIXTURING_OFFSET, M_DEFAULT, M_DEFAULT); } // Release the allocated resources. MmodFree(ModelCtx); MmodFree(ModelRes); MbufFree(MilSearchImage); McalFree(FixtureOffset); return (NumOfOccurences > 0); } ////////////////////////////////////////////////////////// /* Depth map extraction from the point cloud container. */ ////////////////////////////////////////////////////////// void GenerateDepthMap(MIL_ID MilSystem, MIL_ID PointCloudContainer, const SMapGeneration& GenerationInfo, MIL_ID& OutDepthmap) { // Allocate the depth map if required. if (OutDepthmap == M_NULL) { MbufAlloc2d(MilSystem, GenerationInfo.MapSizeX, GenerationInfo.MapSizeY, 16 + M_UNSIGNED, M_IMAGE + M_PROC + M_DISP, &OutDepthmap); } // Set the extraction box. M3dmapSetBox(PointCloudContainer, M_EXTRACTION_BOX, M_CORNER_AND_DIMENSION, GenerationInfo.BoxCornerX, GenerationInfo.BoxCornerY, GenerationInfo.BoxCornerZ, GenerationInfo.BoxSizeX, GenerationInfo.BoxSizeY, GenerationInfo.BoxSizeZ); // Set the pixel size. M3dmapControl(PointCloudContainer, M_DEFAULT, M_PIXEL_SIZE_X, GenerationInfo.PixelSizeX); M3dmapControl(PointCloudContainer, M_DEFAULT, M_PIXEL_SIZE_Y, GenerationInfo.PixelSizeY); M3dmapControl(PointCloudContainer, M_DEFAULT, M_GRAY_LEVEL_SIZE_Z, GenerationInfo.GrayScaleZ); // Set extraction properties. M3dmapControl(PointCloudContainer, M_DEFAULT, M_EXTRACTION_CUMULATIVE, M_DISABLE); M3dmapControl(PointCloudContainer, M_DEFAULT, M_FILL_MODE, M_X_THEN_Y); M3dmapControl(PointCloudContainer, M_DEFAULT, M_FILL_SHARP_ELEVATION, M_DISABLE); M3dmapControl(PointCloudContainer, M_DEFAULT, M_FILL_THRESHOLD_X, GenerationInfo.FillXThreshold); M3dmapControl(PointCloudContainer, M_DEFAULT, M_FILL_THRESHOLD_Y, GenerationInfo.FillYThreshold); if (GenerationInfo.SetExtractOverlap) M3dmapControl(PointCloudContainer, M_GENERAL, M_EXTRACTION_OVERLAP, GenerationInfo.ExtractOverlap); // Generate the depth map. M3dmapExtract(PointCloudContainer, OutDepthmap, M_NULL, M_CORRECTED_DEPTH_MAP, M_ALL, M_DEFAULT); } ////////////////////////////////////////////////////////// /* Check for required files for running the example. */ ////////////////////////////////////////////////////////// bool CheckForRequiredMILFile(MIL_CONST_TEXT_PTR FileName) { MIL_INT FilePresent; MappFileOperation(M_DEFAULT, FileName, M_NULL, M_NULL, M_FILE_EXISTS, M_DEFAULT, &FilePresent); if (FilePresent == M_NO) { MosPrintf(MIL_TEXT("\n") MIL_TEXT("The footage needed to run this example is missing. You need \n") MIL_TEXT("to obtain and apply a separate specific update to have it.\n\n")); MosPrintf(MIL_TEXT("Press <Enter> to end.\n\n")); MosGetch(); } return (FilePresent == M_YES); }