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/*************************************************************************************/ /* * File name: CircleShapeFinder.cpp * Location: See Matrox Example Launcher in the MIL Control Center * * * Synopsis: This example uses circle finder to define circle models and search for circles * in target images. A simple circle finder example is presented first (multiple * occurrences and a small radius range with good search conditions), followed by * more complex examples (multiple occurrences and a large radius range in a * complex scene with bad search conditions). * * 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("CircleShapeFinder\n\n")); MosPrintf(MIL_TEXT("[SYNOPSIS]\n")); MosPrintf(MIL_TEXT("This example uses circle finder to define circle models and search for circles\n")); MosPrintf(MIL_TEXT("in target images. A simple circle finder example is presented first (multiple\n")); MosPrintf(MIL_TEXT("occurrences and a small radius range with good search conditions), followed by\n")); MosPrintf(MIL_TEXT("more complex examples (multiple occurrences and a large radius range in a\n")); MosPrintf(MIL_TEXT("complex scene with bad search conditions).\n\n")); MosPrintf(MIL_TEXT("[MODULES USED]\n")); MosPrintf(MIL_TEXT("Modules used: application, system, display,\n calibration, geometric model finder.\n\n")); // Wait for a key to be pressed. MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); } /* Example functions declarations. */ void SimpleCircleSearchExample(MIL_ID MilSystem, MIL_ID MilDisplay); void ComplexCircleSearchExample1(MIL_ID MilSystem, MIL_ID MilDisplay); void ComplexCircleSearchExample2(MIL_ID MilSystem, MIL_ID MilDisplay); /*****************************************************************************/ /* Main. ******************************************************************************/ int MosMain(void) { MIL_ID MilApplication, /* Application identifier. */ MilSystem, /* System Identifier. */ MilDisplay; /* Display identifier. */ /* Allocate objects. */ MappAllocDefault(M_DEFAULT, &MilApplication, &MilSystem, M_NULL, M_NULL, M_NULL); MdispAlloc(MilSystem, M_DEFAULT, MIL_TEXT("M_DEFAULT"), M_WINDOWED, &MilDisplay); /* Print example description. */ PrintHeader(); /* Run simple circle search example. */ SimpleCircleSearchExample(MilSystem, MilDisplay); /* Run first complex circle search example. */ ComplexCircleSearchExample1(MilSystem, MilDisplay); /* Run second complex circle search example. */ ComplexCircleSearchExample2(MilSystem, MilDisplay); /* Free objects. */ MdispFree(MilDisplay); MappFreeDefault(MilApplication, MilSystem, M_NULL, M_NULL, M_NULL); return 0; } /*****************************************************************************/ /* Simple Circle search example. */ /* Target MIL image file specifications. */ #define SIMPLE_CIRCLE_SEARCH_TARGET_IMAGE M_IMAGE_PATH MIL_TEXT("/CircleShapeFinder/SimpleCircleSearchTarget.mim") /* Number of models. */ #define NUMBER_OF_MODELS 18L /* Model radius. */ #define MODEL_RADIUS 30.0 /* Model max number of occurrences. */ #define MODEL_MAX_OCCURRENCES 23L void SimpleCircleSearchExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilImage, /* Image buffer identifier. */ GraphicList; /* Graphic list identifier. */ MIL_ID MilSearchContext, /* Search context */ MilResult; /* Result identifier. */ MIL_DOUBLE PositionDrawColor = M_COLOR_RED; /* Position symbol draw color. */ MIL_DOUBLE ModelDrawColor = M_COLOR_GREEN; /* Model draw color. */ MIL_DOUBLE BoxDrawColor = M_COLOR_BLUE; /* Model box draw color. */ MIL_INT NumResults = 0L; /* Number of results found. */ MIL_DOUBLE Score[MODEL_MAX_OCCURRENCES], /* Model correlation score. */ XPosition[MODEL_MAX_OCCURRENCES], /* Model X position. */ YPosition[MODEL_MAX_OCCURRENCES], /* Model Y position. */ Radius[MODEL_MAX_OCCURRENCES], /* Model occurrence radii. */ Time = 0.0; /* Bench variable. */ int i; /* Loop variable. */ /* Restore the target image and display it. */ MbufRestore(SIMPLE_CIRCLE_SEARCH_TARGET_IMAGE, MilSystem, &MilImage); MdispSelect(MilDisplay, MilImage); /* Allocate a graphic list to hold the subpixel annotations to draw. */ MgraAllocList(MilSystem, M_DEFAULT, &GraphicList); /* Associate the graphic list to the display for annotations. */ MdispControl(MilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList); /* Allocate a Circle Finder context. */ MmodAlloc(MilSystem, M_SHAPE_CIRCLE, M_DEFAULT, &MilSearchContext); /* Allocate a Circle Finder result buffer. */ MmodAllocResult(MilSystem, M_SHAPE_CIRCLE, &MilResult); /* Define the model. */ MmodDefine(MilSearchContext, M_DEFAULT, M_DEFAULT, MODEL_RADIUS, M_DEFAULT, M_DEFAULT, M_DEFAULT); MmodControl(MilSearchContext, 0, M_NUMBER, NUMBER_OF_MODELS); /* Preprocess the search context. */ MmodPreprocess(MilSearchContext, M_DEFAULT); /* Reset the timer. */ MappTimer(M_DEFAULT, M_TIMER_RESET + M_SYNCHRONOUS, M_NULL); /* Find the model. */ MmodFind(MilSearchContext, MilImage, MilResult); /* Read the find time. */ MappTimer(M_DEFAULT, M_TIMER_READ + M_SYNCHRONOUS, &Time); /* Get the number of models found. */ MmodGetResult(MilResult, M_DEFAULT, M_NUMBER + M_TYPE_MIL_INT, &NumResults); MosPrintf(MIL_TEXT("\nUsing circle finder in a simple situation:\n")); MosPrintf(MIL_TEXT("------------------------------------------\n\n")); MosPrintf(MIL_TEXT("A circle model was defined with ")); MosPrintf(MIL_TEXT("a nominal radius of %-3.1f%.\n\n"), MODEL_RADIUS); /* If a model was found above the acceptance threshold. */ if ((NumResults >= 1) && (NumResults <= MODEL_MAX_OCCURRENCES)) { /* Get the results of the circle search. */ MmodGetResult(MilResult, M_DEFAULT, M_POSITION_X, XPosition); MmodGetResult(MilResult, M_DEFAULT, M_POSITION_Y, YPosition); MmodGetResult(MilResult, M_DEFAULT, M_RADIUS, Radius); MmodGetResult(MilResult, M_DEFAULT, M_SCORE, Score); /* Print the results for each circle found. */ MosPrintf(MIL_TEXT("The circles were found in the target image:\n\n")); MosPrintf(MIL_TEXT("Result X-Position Y-Position Radius Score\n\n")); for (i = 0; i<NumResults; i++) { MosPrintf(MIL_TEXT("%-9d%-13.2f%-13.2f%-8.2f%-5.2f%%\n"), i, XPosition[i], YPosition[i], Radius[i], Score[i]); } MosPrintf(MIL_TEXT("\nThe search time was %.1f ms.\n\n"), Time*1000.0); /* Draw edges, position and box over the occurrences that were found. */ MgraColor(M_DEFAULT, PositionDrawColor); MmodDraw(M_DEFAULT, MilResult, GraphicList, M_DRAW_POSITION, M_DEFAULT, M_DEFAULT); MgraColor(M_DEFAULT, BoxDrawColor); MmodDraw(M_DEFAULT, MilResult, GraphicList, M_DRAW_BOX, M_DEFAULT, M_DEFAULT); MgraColor(M_DEFAULT, ModelDrawColor); MmodDraw(M_DEFAULT, MilResult, GraphicList, M_DRAW_EDGES, M_DEFAULT, M_DEFAULT); } else { MosPrintf(MIL_TEXT("The model was not found or the number of models ") MIL_TEXT("found is greater than\n")); MosPrintf(MIL_TEXT("the specified maximum number of occurrence !\n\n")); } /* Wait for a key to be pressed. */ MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Free MIL objects. */ MgraFree(GraphicList); MbufFree(MilImage); MmodFree(MilSearchContext); MmodFree(MilResult); } /***************************************************************************** /* Complex Circle search example. */ /* Target MIL image file specifications. */ #define COMPLEX_CIRCLE_SEARCH_TARGET_IMAGE_1 M_IMAGE_PATH MIL_TEXT("/CircleShapeFinder/ComplexCircleSearchTarget1.mim") /* Number of models. */ #define NUMBER_OF_MODELS_1 4L /* Model radius. */ #define MODEL_RADIUS_1 100.0 /* Smoothness value. */ #define SMOOTHNESS_VALUE_1 75.0 /* Minimum scale factor value. */ #define MIN_SCALE_FACTOR_VALUE_1 0.1 void ComplexCircleSearchExample1(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilImage, /* Image buffer identifier. */ GraphicList; /* Graphic list identifier. */ MIL_ID MilSearchContext, /* Search context */ MilResult; /* Result identifier. */ MIL_DOUBLE PositionDrawColor = M_COLOR_RED; /* Position symbol draw color. */ MIL_DOUBLE ModelDrawColor = M_COLOR_GREEN; /* Model draw color. */ MIL_INT NumResults = 0L; /* Number of results found. */ MIL_DOUBLE Score[MODEL_MAX_OCCURRENCES], /* Model correlation scores. */ XPosition[MODEL_MAX_OCCURRENCES], /* Model X positions. */ YPosition[MODEL_MAX_OCCURRENCES], /* Model Y positions. */ Radius[MODEL_MAX_OCCURRENCES], /* Model occurrence radii. */ Time = 0.0; /* Time variable. */ int i; /* Loop variable */ /* Restore the target image and display it. */ MbufRestore(COMPLEX_CIRCLE_SEARCH_TARGET_IMAGE_1, MilSystem, &MilImage); MdispSelect(MilDisplay, MilImage); /* Allocate a graphic list to hold the subpixel annotations to draw. */ MgraAllocList(MilSystem, M_DEFAULT, &GraphicList); /* Associate the graphic list to the display for annotations. */ MdispControl(MilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList); /* Allocate a circle finder Context. */ MmodAlloc(MilSystem, M_SHAPE_CIRCLE, M_DEFAULT, &MilSearchContext); /* Allocate a circle finder result buffer. */ MmodAllocResult(MilSystem, M_SHAPE_CIRCLE, &MilResult); /* Define the model. */ MmodDefine(MilSearchContext, M_DEFAULT, M_DEFAULT, MODEL_RADIUS_1, M_DEFAULT, M_DEFAULT, M_DEFAULT); /* Increase the detail level and smoothness for the edge extraction in the search context. */ MmodControl(MilSearchContext, M_CONTEXT, M_DETAIL_LEVEL, M_VERY_HIGH); MmodControl(MilSearchContext, M_CONTEXT, M_SMOOTHNESS, SMOOTHNESS_VALUE_1); /* Enable Large search scale range*/ MmodControl(MilSearchContext, 0, M_SCALE_MIN_FACTOR, MIN_SCALE_FACTOR_VALUE_1); /* Set the number of occurrences to 4. */ MmodControl(MilSearchContext, M_DEFAULT, M_NUMBER, NUMBER_OF_MODELS_1); /* Preprocess the search context. */ MmodPreprocess(MilSearchContext, M_DEFAULT); /* Reset the timer. */ MappTimer(M_DEFAULT, M_TIMER_RESET + M_SYNCHRONOUS, M_NULL); /* Find the models. */ MmodFind(MilSearchContext, MilImage, MilResult); /* Read the find time. */ MappTimer(M_DEFAULT, M_TIMER_READ + M_SYNCHRONOUS, &Time); /* Get the number of models found. */ MmodGetResult(MilResult, M_DEFAULT, M_NUMBER + M_TYPE_MIL_INT, &NumResults); MosPrintf(MIL_TEXT("\nUsing circle finder in a complex situation:\n")); MosPrintf(MIL_TEXT("-------------------------------------------\n\n")); MosPrintf(MIL_TEXT("A circle model was defined with ")); MosPrintf(MIL_TEXT("a nominal radius of %-3.1f%.\n\n"), MODEL_RADIUS_1); /* If the models were found above the acceptance threshold. */ if ((NumResults >= 1) && (NumResults <= MODEL_MAX_OCCURRENCES)) { /* Get the results for each circle found. */ MmodGetResult(MilResult, M_DEFAULT, M_POSITION_X, XPosition); MmodGetResult(MilResult, M_DEFAULT, M_POSITION_Y, YPosition); MmodGetResult(MilResult, M_DEFAULT, M_RADIUS, Radius); MmodGetResult(MilResult, M_DEFAULT, M_SCORE, Score); /* Print information about the target image. */ MosPrintf(MIL_TEXT("The circles were found in the target ")); MosPrintf(MIL_TEXT("image, despite the following complexities:\n ")); MosPrintf(MIL_TEXT("\t. High scale range\n")); MosPrintf(MIL_TEXT("\t. Low contrast\n")); MosPrintf(MIL_TEXT("\t. Noisy edges\n\n")); /* Print the results for the found circles. */ MosPrintf(MIL_TEXT("Result X-Position Y-Position Radius Score\n\n")); for (i = 0; i<NumResults; i++) { MosPrintf(MIL_TEXT("%-9d%-13.2f%-13.2f%-8.2f%-5.2f%%\n"), i, XPosition[i], YPosition[i], Radius[i], Score[i]); } MosPrintf(MIL_TEXT("\nThe search time was %.1f ms.\n\n"), Time*1000.0); /* Draw edges and positions over the occurrences that were found. */ MgraColor(M_DEFAULT, PositionDrawColor); MmodDraw(M_DEFAULT, MilResult, GraphicList, M_DRAW_POSITION, M_DEFAULT, M_DEFAULT); MgraColor(M_DEFAULT, ModelDrawColor); MmodDraw(M_DEFAULT, MilResult, GraphicList, M_DRAW_EDGES, M_DEFAULT, M_DEFAULT); } else { MosPrintf(MIL_TEXT("The circles were not found or the number of ") MIL_TEXT("circles found is greater than\n")); MosPrintf(MIL_TEXT("the defined value of maximum occurrences !\n\n")); } /* Wait for a key to be pressed. */ MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Free MIL objects. */ MgraFree(GraphicList); MbufFree(MilImage); MmodFree(MilSearchContext); MmodFree(MilResult); } /***************************************************************************** /* Complex Circle search example. */ /* Target MIL image file specifications. */ #define COMPLEX_CIRCLE_SEARCH_TARGET_IMAGE_2 M_IMAGE_PATH MIL_TEXT("/CircleShapeFinder/ComplexCircleSearchTarget2.mim") /* MIL calibration file specifications. */ #define COMPLEX_CIRCLE_SEARCH_CALIBRATION_2 M_IMAGE_PATH MIL_TEXT("/CircleShapeFinder/ComplexCircleSearchCalibration2.mca") /* Number of models. */ #define NUMBER_OF_MODELS_2 23L /* Model radius. */ #define MODEL_RADIUS_2 1.0 /* Smoothness value. */ #define SMOOTHNESS_VALUE_2 65.0 /* Acceptance value. */ #define ACCEPTANCE_VALUE_2 50.0 /* Minimum separation scale value. */ #define MIN_SEPARATION_SCALE_VALUE_2 1.5 /* Minimum separation position value. */ #define MIN_SEPARATION_XY_VALUE_2 30.0 void ComplexCircleSearchExample2(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilImage, /* Image buffer identifier. */ MilCalibration, /* Calibration object identifier. */ GraphicList; /* Graphic list identifier. */ MIL_ID MilSearchContext, /* Search context */ MilResult; /* Result identifier. */ MIL_DOUBLE PositionDrawColor = M_COLOR_RED; /* Position symbol draw color. */ MIL_DOUBLE ModelDrawColor = M_COLOR_GREEN; /* Model draw color. */ MIL_INT NumResults = 0L; /* Number of results found. */ MIL_DOUBLE Score[MODEL_MAX_OCCURRENCES], /* Model correlation scores. */ XPosition[MODEL_MAX_OCCURRENCES], /* Model X positions. */ YPosition[MODEL_MAX_OCCURRENCES], /* Model Y positions. */ Radius[MODEL_MAX_OCCURRENCES], /* Model occurrence radii. */ Time = 0.0; /* Time variable. */ int i; /* Loop variable */ /* Restore the target image and its calibration and display it. */ MbufRestore(COMPLEX_CIRCLE_SEARCH_TARGET_IMAGE_2, MilSystem, &MilImage); McalRestore(COMPLEX_CIRCLE_SEARCH_CALIBRATION_2, MilSystem, M_DEFAULT, &MilCalibration); McalAssociate(MilCalibration, MilImage, M_DEFAULT); MdispSelect(MilDisplay, MilImage); /* Allocate a graphic list to hold the subpixel annotations to draw. */ MgraAllocList(MilSystem, M_DEFAULT, &GraphicList); /* Associate the graphic list to the display for annotations. */ MdispControl(MilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList); /* Allocate a circle finder Context. */ MmodAlloc(MilSystem, M_SHAPE_CIRCLE, M_DEFAULT, &MilSearchContext); /* Allocate a circle finder result buffer. */ MmodAllocResult(MilSystem, M_SHAPE_CIRCLE, &MilResult); /* Define the model. */ MmodDefine(MilSearchContext, M_DEFAULT, M_DEFAULT, MODEL_RADIUS_2, M_DEFAULT, M_DEFAULT, M_DEFAULT); /* Set the detail level and smoothness for the edge extraction in the search context. */ MmodControl(MilSearchContext, M_CONTEXT, M_DETAIL_LEVEL, M_VERY_HIGH); MmodControl(MilSearchContext, M_CONTEXT, M_SMOOTHNESS, SMOOTHNESS_VALUE_2); /* Modify the acceptance for all the model that was defined. */ MmodControl(MilSearchContext, M_DEFAULT, M_ACCEPTANCE, ACCEPTANCE_VALUE_2); /* Set minimum separation between occurrences constraints. */ MmodControl(MilSearchContext, 0, M_MIN_SEPARATION_SCALE, MIN_SEPARATION_SCALE_VALUE_2); MmodControl(MilSearchContext, 0, M_MIN_SEPARATION_X, MIN_SEPARATION_XY_VALUE_2); MmodControl(MilSearchContext, 0, M_MIN_SEPARATION_Y, MIN_SEPARATION_XY_VALUE_2); /* Set The Polarity Constraints. */ MmodControl(MilSearchContext, 0, M_POLARITY, M_REVERSE); /* Set the number of occurrences to 23. */ MmodControl(MilSearchContext, M_DEFAULT, M_NUMBER, NUMBER_OF_MODELS_2); /* Preprocess the search context. */ MmodPreprocess(MilSearchContext, M_DEFAULT); /* Reset the timer. */ MappTimer(M_DEFAULT, M_TIMER_RESET + M_SYNCHRONOUS, M_NULL); /* Find the models. */ MmodFind(MilSearchContext, MilImage, MilResult); /* Read the find time. */ MappTimer(M_DEFAULT, M_TIMER_READ + M_SYNCHRONOUS, &Time); /* Get the number of models found. */ MmodGetResult(MilResult, M_DEFAULT, M_NUMBER + M_TYPE_MIL_INT, &NumResults); MosPrintf(MIL_TEXT("\nUsing circle finder with a calibrated target:\n")); MosPrintf(MIL_TEXT("---------------------------------------------\n\n")); MosPrintf(MIL_TEXT("A circle model was defined with ")); MosPrintf(MIL_TEXT("a nominal radius of %-3.1f%.\n\n"), MODEL_RADIUS_2); /* If the models were found above the acceptance threshold. */ if ((NumResults >= 1) && (NumResults <= MODEL_MAX_OCCURRENCES)) { /* Get the results for each circle found. */ MmodGetResult(MilResult, M_DEFAULT, M_POSITION_X, XPosition); MmodGetResult(MilResult, M_DEFAULT, M_POSITION_Y, YPosition); MmodGetResult(MilResult, M_DEFAULT, M_RADIUS, Radius); MmodGetResult(MilResult, M_DEFAULT, M_SCORE, Score); /* Print information about the target image. */ MosPrintf(MIL_TEXT("The circles were found in the calibrated target ")); MosPrintf(MIL_TEXT("image, despite the following\ncomplexities:\n")); MosPrintf(MIL_TEXT("\t. Occlusion.\n")); MosPrintf(MIL_TEXT("\t. Low contrast.\n")); MosPrintf(MIL_TEXT("\t. Noisy edges.\n\n")); /* Print the results for the found circles. */ MosPrintf(MIL_TEXT("Result X-Position Y-Position Radius Score\n\n")); for (i = 0; i<NumResults; i++) { MosPrintf(MIL_TEXT("%-9d%-13.2f%-13.2f%-8.2f%-5.2f%%\n"), i, XPosition[i], YPosition[i], Radius[i], Score[i]); } MosPrintf(MIL_TEXT("\nThe search time was %.1f ms.\n\n"), Time*1000.0); /* Draw edges and positions over the occurrences that were found. */ MgraColor(M_DEFAULT, PositionDrawColor); MmodDraw(M_DEFAULT, MilResult, GraphicList, M_DRAW_POSITION, M_DEFAULT, M_DEFAULT); MgraColor(M_DEFAULT, ModelDrawColor); MmodDraw(M_DEFAULT, MilResult, GraphicList, M_DRAW_EDGES, M_DEFAULT, M_DEFAULT); } else { MosPrintf(MIL_TEXT("The circles were not found or the number of ") MIL_TEXT("circles found is greater than\n")); MosPrintf(MIL_TEXT("the defined value of maximum occurrences !\n\n")); } /* Wait for a key to be pressed. */ MosPrintf(MIL_TEXT("Press <Enter> to end.\n\n")); MosGetch(); /* Free MIL objects. */ McalFree(MilCalibration); MgraFree(GraphicList); MbufFree(MilImage); MmodFree(MilSearchContext); MmodFree(MilResult); }