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///************************************************************************************* // // File name: FoodInspectionCereal.cpp // Location: See Matrox Example Launcher in the MIL Control Center // // // Synopsis: This program contains an example of food inspection using the color module. // See the PrintHeader() function below for detailed description. // // 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("FoodInspectionCereal\n\n")); MosPrintf(MIL_TEXT("[SYNOPSIS]\n")); MosPrintf(MIL_TEXT("This example performs food inspection for cereal on a conveyor.\n")); MosPrintf(MIL_TEXT("4 types of cereal are expected, in the following order\n")); MosPrintf(MIL_TEXT("(from left to right): \n")); MosPrintf(MIL_TEXT(" +-----------+-----------+-----------+-----------+ \n")); MosPrintf(MIL_TEXT(" | Kids' | Red | Tropical | Honey | \n")); MosPrintf(MIL_TEXT(" | Mix | Berry | Mix | Nut | \n")); MosPrintf(MIL_TEXT(" | cereal | cereal | cereal | cereal | \n")); MosPrintf(MIL_TEXT(" +-----------+-----------+-----------+-----------+ \n")); MosPrintf(MIL_TEXT("The Measurement tool is used to locate the 4 regions\n")); MosPrintf(MIL_TEXT("that contain cereal. The Color Matching tool is used\n")); MosPrintf(MIL_TEXT("to identify the type of cereal in each region.\n\n")); MosPrintf(MIL_TEXT("If the type of cereal matches the expected product,\n")); MosPrintf(MIL_TEXT("it is a Pass; otherwise, it is a Fail.\n\n")); MosPrintf(MIL_TEXT("[MODULES USED]\n")); MosPrintf(MIL_TEXT("Modules used: application, system, display, measurement, color.\n\n")); // Wait for a key to be pressed. MosPrintf(MIL_TEXT("Press <Enter> to start.\n")); MosGetch(); MosPrintf(MIL_TEXT("\nFOOD INSPECTION USING COLOR MATCHING:\n")); MosPrintf(MIL_TEXT("---------------------------------------\n")); } // Functions declaration. MIL_ID AllocateAndDefineStripeMarker(MIL_ID MilSystem); bool LocateConveyorAndDrawAreas(MIL_ID MilTargetImage, MIL_ID MilMeasVStripe, MIL_ID MilAreaLabelImage, MIL_ID MilOverlayImage, MIL_DOUBLE* AreaPositionXTable, MIL_DOUBLE* AreaPositionYTable); void DisplayResults(MIL_ID MilColorResult, MIL_ID MilOverlayImage, const MIL_DOUBLE* AreaPositionXTable, const MIL_DOUBLE* AreaPositionYTable); template <class T> inline T Max(T x, T y) { return ( (x >= y) ? x : y ); } // Macros definition. #define EXAMPLE_IMAGE_PATH M_IMAGE_PATH MIL_TEXT("FoodInspectionCereal/") // Constants definition. static const MIL_INT MAX_CHAR_LENGTH = 256; static const MIL_INT NUM_IMAGES = 7; static const MIL_INT NUM_SAMPLES = 4; static const MIL_INT NUM_AREAS = 4; static MIL_CONST_TEXT_PTR TARGET_IMAGE_LIST_FILENAME[NUM_IMAGES] = { EXAMPLE_IMAGE_PATH MIL_TEXT("TargetCereals0.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("TargetCereals1.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("TargetCereals2.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("TargetCereals3.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("TargetCereals4.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("TargetCereals5.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("TargetCereals6.mim") }; static MIL_CONST_TEXT_PTR SAMPLE_IMAGE_LIST_FILENAME[NUM_SAMPLES] = { EXAMPLE_IMAGE_PATH MIL_TEXT("SampleCereals0.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("SampleCereals1.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("SampleCereals2.mim"), EXAMPLE_IMAGE_PATH MIL_TEXT("SampleCereals3.mim") }; static const MIL_INT SAMPLE_STRIP_MARGIN = 5; static const MIL_INT SAMPLE_ROI_SIZE = 200; static const MIL_INT SAMPLE_CHILD_SIZE = SAMPLE_ROI_SIZE + (2 * SAMPLE_STRIP_MARGIN); // Area width and height static const MIL_DOUBLE AREA_WIDTH = 90.0; static const MIL_DOUBLE AREA_HEIGHT = 440.0; // Measurement stripe parameters static const MIL_DOUBLE STRIPE_BOX_CENTER_X = 320.0; static const MIL_DOUBLE STRIPE_BOX_CENTER_Y = 240.0; static const MIL_DOUBLE STRIPE_BOX_SIZE_X = 630.0; static const MIL_DOUBLE STRIPE_BOX_SIZE_Y = 300.0; static const MIL_DOUBLE FILTER_SMOOTHNESS = 80.0; static const MIL_DOUBLE MIN_STRIPE_WIDTH = 90.0; static const MIL_DOUBLE MAX_STRIPE_WIDTH = 140.0; // Global constants. static const MIL_UINT8 AREA_LABELS[NUM_AREAS] = { 80, 100, 120, 140 }; static const MIL_CONST_TEXT_PTR AREA_NAMES[NUM_AREAS] = { MIL_TEXT("First "), MIL_TEXT("Second"), MIL_TEXT("Third "), MIL_TEXT("Fourth") }; static const MIL_CONST_TEXT_PTR SAMPLE_NAMES[NUM_SAMPLES] = { MIL_TEXT("Kids' Mix "), MIL_TEXT("Red Berry "), MIL_TEXT("Tropical Mix"), MIL_TEXT("Honey Nut ") }; // Expected sequence of samples. static const MIL_INT EXPECTED_SAMPLE_IDX_SEQ[NUM_AREAS] = { 0, 1, 2, 3 }; ///**************************************************************************** // Main. ///**************************************************************************** int MosMain(void) { // Allocate MIL objects. MIL_ID MilApplication = MappAlloc(M_NULL, M_DEFAULT, M_NULL); MIL_ID MilSystem = MsysAlloc(M_DEFAULT, M_SYSTEM_HOST, M_DEFAULT, M_DEFAULT, M_NULL); MIL_ID MilDisplay = MdispAlloc(MilSystem, M_DEFAULT, MIL_TEXT("M_DEFAULT"), M_WINDOWED, M_NULL); // Print the example synopsis. PrintHeader(); // Get target buffer size. MIL_INT ImageSizeX = MbufDiskInquire(TARGET_IMAGE_LIST_FILENAME[0], M_SIZE_X, M_NULL); MIL_INT ImageSizeY = MbufDiskInquire(TARGET_IMAGE_LIST_FILENAME[0], M_SIZE_Y, M_NULL); // Allocate area buffer. MIL_ID MilAreaLabelImage = MbufAlloc2d(MilSystem, ImageSizeX, ImageSizeY, 8+M_UNSIGNED, M_IMAGE+M_PROC, M_NULL); // Allocate a color buffer and select it to display. MIL_INT DispColorImageSizeX = Max(ImageSizeX, (NUM_SAMPLES * SAMPLE_CHILD_SIZE)); MIL_INT DispColorImageSizeY = ImageSizeY + SAMPLE_CHILD_SIZE; MIL_ID MilDispColorImage = MbufAllocColor(MilSystem, 3, DispColorImageSizeX, DispColorImageSizeY, 8+M_UNSIGNED, M_IMAGE+M_DISP, M_NULL); MbufClear(MilDispColorImage, 0); MdispSelect(MilDisplay, MilDispColorImage); // Prepare display for overlay annotations MdispControl(MilDisplay, M_OVERLAY, M_ENABLE); MIL_INT MilOverlayImage = MdispInquire(MilDisplay, M_OVERLAY_ID, M_NULL); // Allocate an RGB color matching context. MIL_ID MilColorContext = McolAlloc(MilSystem, M_COLOR_MATCHING, M_RGB, M_DEFAULT, M_DEFAULT, M_NULL); // Define all color samples. MIL_INT i; for(i = 0; i < NUM_SAMPLES ; i++) { // Restore the sample image. MIL_ID MilSampleImage = MbufRestore(SAMPLE_IMAGE_LIST_FILENAME[i], MilSystem, M_NULL); // Add the sample into the context. McolDefine(MilColorContext, MilSampleImage, M_DEFAULT, M_IMAGE, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT); // Copy the samples inside the bottom of the display image. MIL_ID MilDisplayChild = MbufChild2d(MilDispColorImage, i * (SAMPLE_ROI_SIZE + SAMPLE_STRIP_MARGIN) + SAMPLE_STRIP_MARGIN, ImageSizeY + SAMPLE_STRIP_MARGIN, SAMPLE_ROI_SIZE, SAMPLE_ROI_SIZE, M_NULL); MbufCopy(MilSampleImage, MilDisplayChild); // Draw the sample name. MIL_TEXT_CHAR SampleString[MAX_CHAR_LENGTH]; MosSprintf(SampleString, MAX_CHAR_LENGTH, MIL_TEXT("#%d %s"), (int)i, SAMPLE_NAMES[i]); MgraColor(M_DEFAULT, M_COLOR_YELLOW); MgraText(M_DEFAULT, MilDisplayChild, 4, 2, SampleString); // Free the buffers. MbufFree(MilDisplayChild); MbufFree(MilSampleImage); } // Set the context operation mode (histogram because we have multi-colored samples). McolSetMethod(MilColorContext, M_HISTOGRAM_MATCHING, M_DEFAULT, M_DEFAULT, M_DEFAULT); // Preprocess the context. McolPreprocess(MilColorContext, M_DEFAULT); // Allocate a color matching result. MIL_ID MilColorResult = McolAllocResult(MilSystem, M_COLOR_MATCHING_RESULT, M_DEFAULT, M_NULL); // Define the measurement marker. MIL_ID MilMeasVStripe = AllocateAndDefineStripeMarker(MilSystem); // Loop on all target images. for(i = 0; i < NUM_IMAGES ; i++) { // Restore the target image. MIL_ID MilTargetImage = MbufRestore(TARGET_IMAGE_LIST_FILENAME[i], MilSystem, M_NULL); // Clear the overlay. MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); // Copy the target into the display buffer. MbufCopy(MilTargetImage, MilDispColorImage); // Temporarily disable the display update. MdispControl(MilDisplay, M_UPDATE, M_DISABLE); MIL_DOUBLE AreaPositionXTable[NUM_AREAS], // X coordinate of top-left area corner AreaPositionYTable[NUM_AREAS]; // Y coordinate of top-left area corner // Perform a measurement operation to define the target's areas for color matching. if(LocateConveyorAndDrawAreas(MilTargetImage, MilMeasVStripe, MilAreaLabelImage, MilOverlayImage, AreaPositionXTable, AreaPositionYTable)) { // Perform the color matching within the areas. McolMatch(MilColorContext, MilTargetImage, M_DEFAULT, MilAreaLabelImage, MilColorResult, M_DEFAULT); // Display the match results. MosPrintf(MIL_TEXT("MATCH RESULTS ( Image %02d ):\n"), i); DisplayResults(MilColorResult, MilOverlayImage, AreaPositionXTable, AreaPositionYTable); } else { MosPrintf(MIL_TEXT("Error: No tray found.\n\n")); } // Enable back the display update. MdispControl(MilDisplay, M_UPDATE, M_ENABLE); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); // Free the target image. MbufFree(MilTargetImage); } MdispSelect(MilDisplay, M_NULL); MosPrintf(MIL_TEXT("%d images were inspected.\n\n"), (int)i); MosPrintf(MIL_TEXT("Press <Enter> to end.\n")); MosGetch(); // Free color objects. McolFree(MilColorResult); McolFree(MilColorContext); // Free measurement objects. MmeasFree(MilMeasVStripe); // Free allocated buffers. MbufFree(MilAreaLabelImage); MbufFree(MilDispColorImage); // Free MIL objects. MdispFree(MilDisplay); MsysFree(MilSystem); MappFree(MilApplication); return 0; } //*************************************************************************** // Allocate a measurement marker and set it to find the vertical stripes //*************************************************************************** MIL_ID AllocateAndDefineStripeMarker(MIL_ID MilSystem) { MIL_ID StripeMarker = MmeasAllocMarker(MilSystem, M_STRIPE, M_DEFAULT, M_NULL); // Set the stripe orientation. MmeasSetMarker(StripeMarker, M_ORIENTATION, M_VERTICAL, M_NULL); // Set the number of stripes to find. MmeasSetMarker(StripeMarker, M_NUMBER, (double) NUM_AREAS, M_NULL); // Set the stripe edge polarity. MmeasSetMarker(StripeMarker, M_POLARITY, M_POSITIVE, M_OPPOSITE); // Set a Shen filter and adjust its smoothness. MmeasSetMarker(StripeMarker, M_FILTER_TYPE, M_SHEN, M_NULL); MmeasSetMarker(StripeMarker, M_FILTER_SMOOTHNESS, FILTER_SMOOTHNESS, M_NULL); // Set the measurement search region, in pixels. MmeasSetMarker(StripeMarker, M_BOX_CENTER, STRIPE_BOX_CENTER_X, STRIPE_BOX_CENTER_Y); MmeasSetMarker(StripeMarker, M_BOX_SIZE, STRIPE_BOX_SIZE_X, STRIPE_BOX_SIZE_Y); // Set the stripe accepted width, in pixels. MmeasSetScore(StripeMarker, M_STRIPE_WIDTH_SCORE, MIN_STRIPE_WIDTH, MIN_STRIPE_WIDTH, MAX_STRIPE_WIDTH, MAX_STRIPE_WIDTH, M_DEFAULT, M_PIXEL, M_DEFAULT); return StripeMarker; } //*************************************************************************** // Use the measurement tool to locate each object position, then draw // the corresponding area label image. //*************************************************************************** bool LocateConveyorAndDrawAreas(MIL_ID MilTargetImage, MIL_ID MilMeasVStripe, MIL_ID MilAreaLabelImage, MIL_ID MilOverlayImage, MIL_DOUBLE* AreaPositionXTable, MIL_DOUBLE* AreaPositionYTable) { bool AreasFound = false; // Use a grayscale version of the color image for measurement: the green band. MIL_ID MilGreenBand; MbufChildColor(MilTargetImage, M_GREEN, &MilGreenBand); // Find the vertical stripes. MmeasFindMarker(M_DEFAULT, MilGreenBand, MilMeasVStripe, M_POSITION+M_STRIPE_WIDTH); MbufFree(MilGreenBand); // Check if stripes were found. MIL_INT Number; MmeasGetResult(MilMeasVStripe, M_NUMBER + M_TYPE_MIL_INT, &Number, M_NULL); if(NUM_AREAS == Number) { AreasFound = true; MbufClear(MilAreaLabelImage, 0); // Draw the found stripes. MgraColor(M_DEFAULT, M_COLOR_MAGENTA); MmeasDraw(M_DEFAULT, MilMeasVStripe, MilOverlayImage, M_DRAW_WIDTH, M_DEFAULT, M_DEFAULT); for(MIL_INT i=0; i < Number; i++) { // Get the (X,Y) position of the stripe center. MIL_DOUBLE X, Y; MmeasGetResultSingle(MilMeasVStripe, M_POSITION, &X, &Y, i); // Draw the areas as filled regions in the MilAreaLabelImage with respect // to the found position (needed for McolMatch). MgraColor(M_DEFAULT, AREA_LABELS[i]); MgraRectAngle(M_DEFAULT, MilAreaLabelImage, X, Y, AREA_WIDTH, AREA_HEIGHT, 0.0, M_CENTER_AND_DIMENSION+M_FILLED); // Draw the areas contour as annotations in the overlay. MgraColor(M_DEFAULT, M_COLOR_BLUE); MgraRectAngle(M_DEFAULT, MilOverlayImage, X, Y, AREA_WIDTH, AREA_HEIGHT, 0.0, M_CENTER_AND_DIMENSION); // Store the top-left corner of the area AreaPositionXTable[i] = X; AreaPositionYTable[i] = Y; } } return AreasFound; } //*************************************************************************** // Display the color match results as text and overlay annotations. //*************************************************************************** void DisplayResults(MIL_ID MilColorResult, MIL_ID MilOverlayImage, const MIL_DOUBLE* AreaPositionXTable, const MIL_DOUBLE* AreaPositionYTable) { // Text alignment. MgraControl(M_DEFAULT, M_TEXT_ALIGN_HORIZONTAL, M_CENTER); MgraControl(M_DEFAULT, M_TEXT_ALIGN_VERTICAL, M_CENTER); // Retrieve needed results. MIL_INT NumAreas; // Total number of areas. McolGetResult(MilColorResult, M_GENERAL, M_GENERAL, M_NUMBER_OF_AREAS + M_TYPE_MIL_INT, &NumAreas); MIL_INT* AreaLabelsTable = new MIL_INT[NumAreas]; // Area labels. MIL_INT* BestMatchSampleTable = new MIL_INT[NumAreas]; // Best match sample for each area. McolGetResult(MilColorResult, M_ALL, M_GENERAL, M_AREA_LABEL_VALUE + M_TYPE_MIL_INT, AreaLabelsTable); McolGetResult(MilColorResult, M_ALL, M_GENERAL, M_BEST_MATCH_INDEX + M_TYPE_MIL_INT, BestMatchSampleTable); // For each area, retrieve, verify and display results. bool ExpectedSampleSequenceOK = true; for(MIL_INT i = 0; i < NumAreas; i++) { MIL_INT ExpectedSampleIndex = EXPECTED_SAMPLE_IDX_SEQ[i]; MIL_INT MatchedSampleIndex = BestMatchSampleTable[i]; MIL_DOUBLE MatchedSampleScore; McolGetResult(MilColorResult, AreaLabelsTable[i], M_SAMPLE_INDEX(BestMatchSampleTable[i]), M_SCORE, &MatchedSampleScore); // Set annotation according to status of color matching. double TextColor; MIL_TEXT_CHAR AreaStatus[MAX_CHAR_LENGTH]; if(MatchedSampleIndex == ExpectedSampleIndex) { TextColor = M_COLOR_GREEN; MosSprintf(AreaStatus, MAX_CHAR_LENGTH, MIL_TEXT("PASS")); } else { ExpectedSampleSequenceOK = false; TextColor = M_COLOR_RED; MosSprintf(AreaStatus, MAX_CHAR_LENGTH, MIL_TEXT("FAIL")); } // Display the results as text. MgraColor(M_DEFAULT, TextColor); MgraText(M_DEFAULT, MilOverlayImage, AreaPositionXTable[i], AreaPositionYTable[i], AreaStatus); MosPrintf(MIL_TEXT(" %s area, expected: #%d, match: #%d (%5.2f%%): %s\n"), AREA_NAMES[i], (int)ExpectedSampleIndex, (int)MatchedSampleIndex, MatchedSampleScore, AreaStatus); } if(ExpectedSampleSequenceOK) { MosPrintf(MIL_TEXT("*** Overall status: PASS ***\n\n")); } else { MosPrintf(MIL_TEXT("*** Overall status: FAIL ***\n\n")); } // Delete tables. delete [] AreaLabelsTable; delete [] BestMatchSampleTable; }