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/*****************************************************************************/ /* * File name: m3dmap.cpp * Location: See Matrox Example Launcher in the MIL Control Center * * * Synopsis: This program inspects a wood surface using * sheet-of-light profiling (laser) to find any depth defects. * * Printable calibration grids in PDF format can be found in your * "Matrox Imaging/Images/" directory. * * When considering a laser-based 3D reconstruction system, the file "3D Setup Helper.xls" * can be used to accelerate prototyping by choosing an adequate hardware configuration * (angle, distance, lens, camera, ...). The file is located in your * "Matrox Imaging/Tools/" directory. * * Copyright (C) Matrox Electronic Systems Ltd., 1992-2016. * All Rights Reserved */ #include <mil.h> #include <math.h> #if M_MIL_USE_WINDOWS && !M_MIL_USE_CE && !M_MIL_USE_RT /* Include DirectX display only on Windows. */ #include "MdispD3D.h" #endif /* Example functions declarations. */ void DepthCorrectionExample(MIL_ID MilSystem, MIL_ID MilDisplay); void CalibratedCameraExample(MIL_ID MilSystem, MIL_ID MilDisplay); /* Utility functions declarations. */ void PerformBlobAnalysis(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilOverlayImage, MIL_ID MilDepthMap); void SetupColorDisplay(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_INT SizeBit); MIL_DOUBLE ComputeVolume(MIL_ID MilSystem, MIL_ID MilDepthMap); /***************************************************************************** Main. *****************************************************************************/ int MosMain(void) { MIL_ID MilApplication, /* Application identifier. */ MilSystem, /* System identifier. */ MilDisplay; /* Display identifier. */ /* Allocate defaults. */ MappAllocDefault(M_DEFAULT, &MilApplication, &MilSystem, &MilDisplay, M_NULL, M_NULL); /* Run the depth correction example. */ DepthCorrectionExample(MilSystem, MilDisplay); /* Run the calibrated camera example. */ CalibratedCameraExample(MilSystem, MilDisplay); /* Free defaults. */ MappFreeDefault(MilApplication, MilSystem, MilDisplay, M_NULL, M_NULL); return 0; } /**************************************************************************** Depth correction example. ****************************************************************************/ /* Input sequence specifications. */ #define REFERENCE_PLANES_SEQUENCE_FILE M_IMAGE_PATH MIL_TEXT("ReferencePlanes.avi") #define OBJECT_SEQUENCE_FILE M_IMAGE_PATH MIL_TEXT("ScannedObject.avi") /* Peak detection parameters. */ #define PEAK_WIDTH_NOMINAL 10 #define PEAK_WIDTH_DELTA 8 #define MIN_CONTRAST 140 /* Calibration heights in mm. */ static const double CORRECTED_DEPTHS[] = {1.25, 2.50, 3.75, 5.00}; #define SCALE_FACTOR 10000.0 /* (depth in world units) * SCALE_FACTOR gives gray levels */ /* Annotation position. */ #define CALIB_TEXT_POS_X 400 #define CALIB_TEXT_POS_Y 15 void DepthCorrectionExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilOverlayImage, /* Overlay image buffer identifier. */ MilImage, /* Image buffer identifier (for processing). */ MilDepthMap, /* Image buffer identifier (for results). */ MilLaser, /* 3dmap laser profiling context identifier. */ MilCalibScan, /* 3dmap result buffer identifier for laser */ /* line calibration. */ MilScan; /* 3dmap result buffer identifier. */ MIL_INT SizeX, /* Width of grabbed images. */ SizeY, /* Height of grabbed images. */ NbReferencePlanes, /* Number of reference planes of known heights. */ NbObjectImages; /* Number of frames for scanned objects. */ int n; /* Counter. */ MIL_DOUBLE FrameRate, /* Number of grabbed frames per second (in AVI). */ StartTime, /* Time at the beginning of each iteration. */ EndTime, /* Time after processing for each iteration. */ WaitTime; /* Time to wait for next frame. */ /* Inquire characteristics of the input sequences. */ MbufDiskInquire(REFERENCE_PLANES_SEQUENCE_FILE, M_SIZE_X, &SizeX); MbufDiskInquire(REFERENCE_PLANES_SEQUENCE_FILE, M_SIZE_Y, &SizeY); MbufDiskInquire(REFERENCE_PLANES_SEQUENCE_FILE, M_NUMBER_OF_IMAGES, &NbReferencePlanes); MbufDiskInquire(REFERENCE_PLANES_SEQUENCE_FILE, M_FRAME_RATE, &FrameRate); MbufDiskInquire(OBJECT_SEQUENCE_FILE, M_NUMBER_OF_IMAGES, &NbObjectImages); /* Allocate buffer to hold images. */ MbufAlloc2d(MilSystem, SizeX, SizeY, 8+M_UNSIGNED, M_IMAGE+M_DISP+M_PROC, &MilImage); MbufClear(MilImage, 0.0); MosPrintf(MIL_TEXT("\nDEPTH ANALYSIS:\n")); MosPrintf(MIL_TEXT("---------------\n\n")); MosPrintf(MIL_TEXT("This program performs a surface inspection to detect ")); MosPrintf(MIL_TEXT("depth defects \n")); MosPrintf(MIL_TEXT("on a wood surface using a laser (sheet-of-light) ")); MosPrintf(MIL_TEXT("profiling system.\n\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Select display. */ MdispSelect(MilDisplay, MilImage); /* Prepare for overlay annotations. */ MdispControl(MilDisplay, M_OVERLAY, M_ENABLE); MdispInquire(MilDisplay, M_OVERLAY_ID, &MilOverlayImage); MgraControl(M_DEFAULT, M_BACKGROUND_MODE, M_TRANSPARENT); MgraColor(M_DEFAULT, M_COLOR_WHITE); /* Allocate 3dmap objects. */ M3dmapAlloc(MilSystem, M_LASER, M_DEPTH_CORRECTION, &MilLaser); M3dmapAllocResult(MilSystem, M_LASER_CALIBRATION_DATA, M_DEFAULT, &MilCalibScan); /* Set laser line extraction options. */ MIL_ID MilPeakLocator; M3dmapInquire(MilLaser, M_DEFAULT, M_LOCATE_PEAK_1D_CONTEXT_ID+M_TYPE_MIL_ID, &MilPeakLocator); MimControl(MilPeakLocator, M_PEAK_WIDTH_NOMINAL, PEAK_WIDTH_NOMINAL); MimControl(MilPeakLocator, M_PEAK_WIDTH_DELTA , PEAK_WIDTH_DELTA ); MimControl(MilPeakLocator, M_MINIMUM_CONTRAST , MIN_CONTRAST ); /* Open the calibration sequence file for reading. */ MbufImportSequence(REFERENCE_PLANES_SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_OPEN); /* Read and process all images in the input sequence. */ MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &StartTime); for (n = 0; n < NbReferencePlanes; n++) { MIL_TEXT_CHAR CalibString[32]; /* Read image from sequence. */ MbufImportSequence(REFERENCE_PLANES_SEQUENCE_FILE, M_DEFAULT, M_LOAD, M_NULL, &MilImage, M_DEFAULT, 1, M_READ); /* Annotate the image with the calibration height. */ MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); MosSprintf(CalibString, 32, MIL_TEXT("Reference plane %d: %.2f mm"), (int)(n+1), CORRECTED_DEPTHS[n]); MgraText(M_DEFAULT, MilOverlayImage, CALIB_TEXT_POS_X, CALIB_TEXT_POS_Y, CalibString); /* Set desired corrected depth of next reference plane. */ M3dmapControl(MilLaser, M_DEFAULT, M_CORRECTED_DEPTH, CORRECTED_DEPTHS[n]*SCALE_FACTOR); /* Analyze the image to extract laser line. */ M3dmapAddScan(MilLaser, MilCalibScan, MilImage, M_NULL, M_NULL, M_DEFAULT, M_DEFAULT); /* Wait to have a proper frame rate, if necessary. */ MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &EndTime); WaitTime = (1.0/FrameRate) - (EndTime - StartTime); if (WaitTime > 0) MappTimer(M_DEFAULT, M_TIMER_WAIT, &WaitTime); MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &StartTime); } /* Close the calibration sequence file. */ MbufImportSequence(REFERENCE_PLANES_SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_CLOSE); /* Calibrate the laser profiling context using reference planes of known heights. */ M3dmapCalibrate(MilLaser, MilCalibScan, M_NULL, M_DEFAULT); MosPrintf(MIL_TEXT("The laser profiling system has been calibrated using 4 reference\n")); MosPrintf(MIL_TEXT("planes of known heights.\n\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); MosPrintf(MIL_TEXT("The wood surface is being scanned.\n\n")); /* Free the result buffer used for calibration because it will not be used anymore. */ M3dmapFree(MilCalibScan); MilCalibScan = M_NULL; /* Allocate the result buffer for the scanned depth corrected data. */ M3dmapAllocResult(MilSystem, M_DEPTH_CORRECTED_DATA, M_DEFAULT, &MilScan); /* Open the object sequence file for reading. */ MbufDiskInquire(OBJECT_SEQUENCE_FILE, M_FRAME_RATE, &FrameRate); MbufImportSequence(OBJECT_SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_OPEN); /* Read and process all images in the input sequence. */ MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &StartTime); MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); for (n = 0; n < NbObjectImages; n++) { /* Read image from sequence. */ MbufImportSequence(OBJECT_SEQUENCE_FILE, M_DEFAULT, M_LOAD, M_NULL, &MilImage, M_DEFAULT, 1, M_READ); /* Analyze the image to extract laser line and correct its depth. */ M3dmapAddScan(MilLaser, MilScan, MilImage, M_NULL, M_NULL, M_DEFAULT, M_DEFAULT); /* Wait to have a proper frame rate, if necessary. */ MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &EndTime); WaitTime = (1.0/FrameRate) - (EndTime - StartTime); if (WaitTime > 0) MappTimer(M_DEFAULT, M_TIMER_WAIT, &WaitTime); MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &StartTime); } /* Close the object sequence file. */ MbufImportSequence(OBJECT_SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_CLOSE); /* Allocate the image for a partially corrected depth map. */ MbufAlloc2d(MilSystem, SizeX, NbObjectImages, 16+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, &MilDepthMap); /* Get partially corrected depth map from accumulated information in the result buffer. */ M3dmapExtract(MilScan, MilDepthMap, M_NULL, M_CORRECTED_DEPTH_MAP, M_DEFAULT, M_DEFAULT); /* Show partially corrected depth map and find defects. */ SetupColorDisplay(MilSystem, MilDisplay, MbufInquire(MilDepthMap, M_SIZE_BIT, M_NULL)); /* Display partially corrected depth map. */ MdispSelect(MilDisplay, MilDepthMap); MdispInquire(MilDisplay, M_OVERLAY_ID, &MilOverlayImage); MosPrintf(MIL_TEXT("The pseudo-color depth map of the surface is displayed.\n\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); PerformBlobAnalysis(MilSystem, MilDisplay, MilOverlayImage, MilDepthMap); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Disassociates display LUT and clear overlay. */ MdispLut(MilDisplay, M_DEFAULT); MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); /* Free all allocations. */ M3dmapFree(MilScan); M3dmapFree(MilLaser); MbufFree(MilDepthMap); MbufFree(MilImage); } /* Values used for binarization. */ #define EXPECTED_HEIGHT 3.4 /* Inspected surface should be at this height (in mm) */ #define DEFECT_THRESHOLD 0.2 /* Max acceptable deviation from expected height (mm) */ #define SATURATED_DEFECT 1.0 /* Deviation at which defect will appear red (in mm) */ /* Radius of the smallest particles to keep. */ #define MIN_BLOB_RADIUS 3L /* Pixel offset for drawing text. */ #define TEXT_H_OFFSET_1 -50 #define TEXT_V_OFFSET_1 -6 #define TEXT_H_OFFSET_2 -30 #define TEXT_V_OFFSET_2 6 /* Find defects in corrected depth map, compute max deviation and draw contours. */ void PerformBlobAnalysis(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilOverlayImage, MIL_ID MilDepthMap) { MIL_ID MilBinImage, /* Binary image buffer identifier. */ MilBlobContext, /* Blob context identifier. */ MilBlobResult; /* Blob result buffer identifier. */ MIL_INT SizeX, /* Width of depth map. */ SizeY, /* Height of depth map. */ TotalBlobs = 0, /* Total number of blobs. */ n, /* Counter. */ *MinPixels; /* Maximum height of defects. */ MIL_DOUBLE DefectThreshold, /* A gray level below it is a defect. */ *CogX, /* X coordinate of center of gravity. */ *CogY; /* Y coordinate of center of gravity. */ /* Get size of depth map. */ MbufInquire(MilDepthMap, M_SIZE_X, &SizeX); MbufInquire(MilDepthMap, M_SIZE_Y, &SizeY); /* Allocate a binary image buffer for fast processing. */ MbufAlloc2d(MilSystem, SizeX, SizeY, 1+M_UNSIGNED, M_IMAGE+M_PROC, &MilBinImage); /* Binarize image. */ DefectThreshold = (EXPECTED_HEIGHT-DEFECT_THRESHOLD) * SCALE_FACTOR; MimBinarize(MilDepthMap, MilBinImage, M_FIXED+M_LESS_OR_EQUAL, DefectThreshold, M_NULL); /* Remove small particles. */ MimOpen(MilBinImage, MilBinImage, MIN_BLOB_RADIUS, M_BINARY); /* Allocate a blob context. */ MblobAlloc(MilSystem, M_DEFAULT, M_DEFAULT, &MilBlobContext); /* Enable the Center Of Gravity and Min Pixel features calculation. */ MblobControl(MilBlobContext, M_CENTER_OF_GRAVITY+M_GRAYSCALE, M_ENABLE); MblobControl(MilBlobContext, M_MIN_PIXEL, M_ENABLE); /* Allocate a blob result buffer. */ MblobAllocResult(MilSystem, M_DEFAULT, M_DEFAULT, &MilBlobResult); /* Calculate selected features for each blob. */ MblobCalculate(MilBlobContext, MilBinImage, MilDepthMap, MilBlobResult); /* Get the total number of selected blobs. */ MblobGetResult(MilBlobResult, M_DEFAULT, M_NUMBER + M_TYPE_MIL_INT, &TotalBlobs); MosPrintf(MIL_TEXT("Number of defects: %lld\n"), (long long)TotalBlobs); /* Read and print the blob characteristics. */ CogX = new MIL_DOUBLE[TotalBlobs]; CogY = new MIL_DOUBLE[TotalBlobs]; MinPixels = new MIL_INT[TotalBlobs]; if(CogX && CogY && MinPixels) { /* Get the results. */ MblobGetResult(MilBlobResult, M_DEFAULT, M_CENTER_OF_GRAVITY_X + M_GRAYSCALE, CogX); MblobGetResult(MilBlobResult, M_DEFAULT, M_CENTER_OF_GRAVITY_Y + M_GRAYSCALE, CogY); MblobGetResult(MilBlobResult, M_DEFAULT, M_MIN_PIXEL + M_TYPE_MIL_INT, MinPixels); /* Draw the defects. */ MgraColor(M_DEFAULT, M_COLOR_RED); MblobDraw(M_DEFAULT, MilBlobResult, MilOverlayImage, M_DRAW_BLOBS, M_INCLUDED_BLOBS, M_DEFAULT); MgraColor(M_DEFAULT, M_COLOR_WHITE); /* Print the depth of each blob. */ for(n=0; n < TotalBlobs; n++) { MIL_DOUBLE DepthOfDefect; MIL_TEXT_CHAR DepthString[16]; /* Write the depth of the defect in the overlay. */ DepthOfDefect = EXPECTED_HEIGHT - (MinPixels[n]/SCALE_FACTOR); MosSprintf(DepthString, 16, MIL_TEXT("%.2f mm"), DepthOfDefect); MosPrintf(MIL_TEXT("Defect #%lld: depth =%5.2f mm\n\n"), (long long)n, DepthOfDefect); MgraText(M_DEFAULT, MilOverlayImage, CogX[n]+TEXT_H_OFFSET_1, CogY[n]+TEXT_V_OFFSET_1, MIL_TEXT("Defect depth")); MgraText(M_DEFAULT, MilOverlayImage, CogX[n]+TEXT_H_OFFSET_2, CogY[n]+TEXT_V_OFFSET_2, DepthString); } delete[] CogX; CogX = NULL; delete[] CogY; CogY = NULL; delete[] MinPixels; MinPixels = NULL; } else MosPrintf(MIL_TEXT("Error: Not enough memory.\n\n")); /* Free all allocations. */ MblobFree(MilBlobResult); MblobFree(MilBlobContext); MbufFree(MilBinImage); } /* Color constants for display LUT. */ #define BLUE_HUE 171.0 /* Expected depths will be blue. */ #define RED_HUE 0.0 /* Worst defects will be red. */ #define FULL_SATURATION 255 /* All colors are fully saturated. */ #define HALF_LUMINANCE 128 /* All colors have half luminance. */ /* Creates a color display LUT to show defects in red. */ void SetupColorDisplay(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_INT SizeBit) { MIL_ID MilRampLut1Band, /* LUT containing hue values. */ MilRampLut3Band, /* RGB LUT used by display. */ MilColorImage; /* Image used for HSL to RGB conversion. */ MIL_INT DefectGrayLevel, /* Gray level under which all is red. */ ExpectedGrayLevel, /* Gray level over which all is blue. */ NbGrayLevels; /* Number of possible gray levels in corrected depth map. */ NbGrayLevels = (MIL_INT)(1 << SizeBit); /* Allocate 1-band LUT that will contain hue values. */ MbufAlloc1d(MilSystem, NbGrayLevels, 8+M_UNSIGNED, M_LUT, &MilRampLut1Band); /* Compute limit gray values. */ DefectGrayLevel = (MIL_INT)((EXPECTED_HEIGHT-SATURATED_DEFECT)*SCALE_FACTOR); ExpectedGrayLevel = (MIL_INT)(EXPECTED_HEIGHT*SCALE_FACTOR); /* Create hue values for each possible gray level. */ MgenLutRamp(MilRampLut1Band, 0, RED_HUE, DefectGrayLevel, RED_HUE); MgenLutRamp(MilRampLut1Band, DefectGrayLevel, RED_HUE, ExpectedGrayLevel, BLUE_HUE); MgenLutRamp(MilRampLut1Band, ExpectedGrayLevel, BLUE_HUE, NbGrayLevels-1, BLUE_HUE); /* Create a HSL image buffer. */ MbufAllocColor(MilSystem, 3, NbGrayLevels, 1, 8+M_UNSIGNED, M_IMAGE, &MilColorImage); MbufClear(MilColorImage, M_RGB888(0, FULL_SATURATION, HALF_LUMINANCE)); /* Set its H band (hue) to the LUT contents and convert the image to RGB. */ MbufCopyColor2d(MilRampLut1Band, MilColorImage, 0, 0, 0, 0, 0, 0, NbGrayLevels, 1); MimConvert(MilColorImage, MilColorImage, M_HSL_TO_RGB); /* Create RGB LUT to give to display and copy image contents. */ MbufAllocColor(MilSystem, 3, NbGrayLevels, 1, 8+M_UNSIGNED, M_LUT, &MilRampLut3Band); MbufCopy(MilColorImage, MilRampLut3Band); /* Associates LUT to display. */ MdispLut(MilDisplay, MilRampLut3Band); /* Free all allocations. */ MbufFree(MilRampLut1Band); MbufFree(MilRampLut3Band); MbufFree(MilColorImage); } /**************************************************************************** Calibrated camera example. ****************************************************************************/ /* Input sequence specifications. */ #define GRID_FILENAME M_IMAGE_PATH MIL_TEXT("GridForLaser.mim") #define LASERLINE_FILENAME M_IMAGE_PATH MIL_TEXT("LaserLine.mim") #define OBJECT2_SEQUENCE_FILE M_IMAGE_PATH MIL_TEXT("Cookie.avi") /* Camera calibration grid parameters. */ #define GRID_NB_ROWS 13 #define GRID_NB_COLS 12 #define GRID_ROW_SPACING 5.0 /* in mm */ #define GRID_COL_SPACING 5.0 /* in mm */ /* Laser device setup parameters. */ #define CONVEYOR_SPEED -0.2 /* in mm/frame */ /* Fully corrected depth map generation parameters. */ #define DEPTH_MAP_SIZE_X 480 /* in pixels */ #define DEPTH_MAP_SIZE_Y 480 /* in pixels */ #define GAP_DEPTH 1.5 /* in mm */ /* D3D display parameters */ #define D3D_DISPLAY_SIZE_X 640 #define D3D_DISPLAY_SIZE_Y 480 /* Peak detection parameters. */ #define PEAK_WIDTH_NOMINAL_2 9 #define PEAK_WIDTH_DELTA_2 7 #define MIN_CONTRAST_2 75 /* Everything below this is considered as noise. */ #define MIN_HEIGHT_THRESHOLD 1.0 /* in mm */ void CalibratedCameraExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilOverlayImage, /* Overlay image buffer identifier. */ MilImage, /* Image buffer identifier (for processing). */ MilCalibration, /* Calibration context. */ MilDepthMap, /* Image buffer identifier (for results). */ MilLaser, /* 3dmap laser profiling context identifier. */ MilCalibScan, /* 3dmap result buffer identifier for laser */ /* line calibration. */ MilScan; /* 3map result buffer identifier. */ MIL_INT CalibrationStatus, /* Used to ensure if McalGrid() worked. */ SizeX, /* Width of grabbed images. */ SizeY, /* Height of grabbed images. */ NumberOfImages, /* Number of frames for scanned objects. */ n; /* Counter. */ MIL_DOUBLE FrameRate, /* Number of grabbed frames per second (in AVI). */ StartTime, /* Time at the beginning of each iteration. */ EndTime, /* Time after processing for each iteration. */ WaitTime, /* Time to wait for next frame. */ Volume, /* Volume of scanned object. */ VolumeError; /* Volume of region outside the object. */ MosPrintf(MIL_TEXT("\n3D PROFILING AND VOLUME ANALYSIS:\n")); MosPrintf(MIL_TEXT("---------------------------------\n\n")); MosPrintf(MIL_TEXT("This program generates fully corrected 3d data of a\n")); MosPrintf(MIL_TEXT("scanned cookie and computes its volume.\n")); MosPrintf(MIL_TEXT("The laser (sheet-of-light) profiling system uses a\n")); MosPrintf(MIL_TEXT("3d-calibrated camera.\n\n")); /* Load grid image for camera calibration. */ MbufRestore(GRID_FILENAME, MilSystem, &MilImage); /* Select display. */ MdispSelect(MilDisplay, MilImage); MosPrintf(MIL_TEXT("Calibrating the camera...\n\n")); MbufInquire(MilImage, M_SIZE_X, &SizeX); MbufInquire(MilImage, M_SIZE_Y, &SizeY); /* Allocate calibration context in 3D mode. */ McalAlloc(MilSystem, M_TSAI_BASED, M_DEFAULT, &MilCalibration); /* Calibrate the camera. */ McalGrid(MilCalibration, MilImage, 0.0, 0.0, 0.0, GRID_NB_ROWS, GRID_NB_COLS, GRID_ROW_SPACING, GRID_COL_SPACING, M_DEFAULT, M_CHESSBOARD_GRID); McalInquire(MilCalibration, M_CALIBRATION_STATUS+M_TYPE_MIL_INT, &CalibrationStatus); if (CalibrationStatus != M_CALIBRATED) { McalFree(MilCalibration); MbufFree(MilImage); MosPrintf(MIL_TEXT("Camera calibration failed.\n")); MosPrintf(MIL_TEXT("Press <Enter> to end.\n\n")); MosGetch(); return; } /* Prepare for overlay annotations. */ MdispControl(MilDisplay, M_OVERLAY, M_ENABLE); MdispInquire(MilDisplay, M_OVERLAY_ID, &MilOverlayImage); MgraColor(M_DEFAULT, M_COLOR_GREEN); /* Draw camera calibration points. */ McalDraw(M_DEFAULT, MilCalibration, MilOverlayImage, M_DRAW_IMAGE_POINTS, M_DEFAULT, M_DEFAULT); MosPrintf(MIL_TEXT("The camera was calibrated using a chessboard grid.\n\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Disable overlay. */ MdispControl(MilDisplay, M_OVERLAY, M_DISABLE); /* Load laser line image. */ MbufLoad(LASERLINE_FILENAME, MilImage); /* Allocate 3dmap objects. */ M3dmapAlloc(MilSystem, M_LASER, M_CALIBRATED_CAMERA_LINEAR_MOTION, &MilLaser); M3dmapAllocResult(MilSystem, M_LASER_CALIBRATION_DATA, M_DEFAULT, &MilCalibScan); /* Set laser line extraction options. */ MIL_ID MilPeakLocator; M3dmapInquire(MilLaser, M_DEFAULT, M_LOCATE_PEAK_1D_CONTEXT_ID+M_TYPE_MIL_ID, &MilPeakLocator); MimControl(MilPeakLocator, M_PEAK_WIDTH_NOMINAL, PEAK_WIDTH_NOMINAL_2); MimControl(MilPeakLocator, M_PEAK_WIDTH_DELTA , PEAK_WIDTH_DELTA_2 ); MimControl(MilPeakLocator, M_MINIMUM_CONTRAST , MIN_CONTRAST_2 ); /* Calibrate laser profiling context. */ M3dmapAddScan(MilLaser, MilCalibScan, MilImage, M_NULL, M_NULL, M_DEFAULT, M_DEFAULT); M3dmapCalibrate(MilLaser, MilCalibScan, MilCalibration, M_DEFAULT); MosPrintf(MIL_TEXT("The laser profiling system has been calibrated using the image\n")); MosPrintf(MIL_TEXT("of one laser line.\n\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Free the result buffer use for calibration as it will not be used anymore. */ M3dmapFree(MilCalibScan); MilCalibScan = M_NULL; /* Allocate the result buffer to hold the scanned 3d points. */ M3dmapAllocResult(MilSystem, M_POINT_CLOUD_CONTAINER, M_DEFAULT, &MilScan); /* Set speed of scanned object (speed in mm/frame is constant). */ M3dmapControl(MilLaser, M_DEFAULT, M_SCAN_SPEED, CONVEYOR_SPEED); /* Inquire characteristics of the input sequence. */ MbufDiskInquire(OBJECT2_SEQUENCE_FILE, M_NUMBER_OF_IMAGES, &NumberOfImages); MbufDiskInquire(OBJECT2_SEQUENCE_FILE, M_FRAME_RATE, &FrameRate); /* Open the object sequence file for reading. */ MbufImportSequence(OBJECT2_SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_OPEN); MosPrintf(MIL_TEXT("The cookie is being scanned to generate 3d data.\n\n")); /* Read and process all images in the input sequence. */ MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &StartTime); for (n = 0; n < NumberOfImages; n++) { /* Read image from sequence. */ MbufImportSequence(OBJECT2_SEQUENCE_FILE, M_DEFAULT, M_LOAD, M_NULL, &MilImage, M_DEFAULT, 1, M_READ); /* Analyze the image to extract laser line and correct its depth. */ M3dmapAddScan(MilLaser, MilScan, MilImage, M_NULL, M_NULL, M_POINT_CLOUD_LABEL(1), M_DEFAULT); /* Wait to have a proper frame rate, if necessary. */ MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &EndTime); WaitTime = (1.0/FrameRate) - (EndTime - StartTime); if (WaitTime > 0) MappTimer(M_DEFAULT, M_TIMER_WAIT, &WaitTime); MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &StartTime); } /* Close the object sequence file. */ MbufImportSequence(OBJECT2_SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_CLOSE); /* Allocate image for the fully corrected depth map. */ MbufAlloc2d(MilSystem, DEPTH_MAP_SIZE_X, DEPTH_MAP_SIZE_Y, 16+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, &MilDepthMap); /* Set fully corrected depth map generation parameters. */ M3dmapControl(MilScan, M_DEFAULT, M_AUTO_SCALE_XY, M_CLIP); M3dmapControl(MilScan, M_DEFAULT, M_FILL_MODE, M_X_THEN_Y); M3dmapControl(MilScan, M_DEFAULT, M_FILL_SHARP_ELEVATION, M_MIN); M3dmapControl(MilScan, M_DEFAULT, M_FILL_SHARP_ELEVATION_DEPTH, GAP_DEPTH); /* Include all points during depth map generation. */ M3dmapSetBox(MilScan, M_EXTRACTION_BOX, M_BOUNDING_BOX, M_ALL, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT); /* Get fully corrected depth map from accumulated information in the result buffer. */ M3dmapExtract(MilScan, MilDepthMap, M_NULL, M_CORRECTED_DEPTH_MAP, M_DEFAULT, M_DEFAULT); /* Compute the volume of the whole depth map. */ M3dmapStat(MilDepthMap, M_NULL, M_NULL, M_NULL, M_VOLUME, M_DEFAULT, M_DEFAULT, &Volume); /* Compute the volume caused by noise around Z = 0. Use an outlier distance of 1 mm. */ M3dmapStat(MilDepthMap, M_NULL, M_NULL, M_NULL, M_VOLUME, MIN_HEIGHT_THRESHOLD, M_DEFAULT, &VolumeError); /* Compute the volume of the cookie. */ Volume -= VolumeError; MosPrintf(MIL_TEXT("Fully corrected 3d data of the cookie is displayed.\n\n")); #if M_MIL_USE_WINDOWS && !M_MIL_USE_CE && !M_MIL_USE_RT /* Try to allocate D3D display. */ MIL_DISP_D3D_HANDLE DispHandle; DispHandle = MdepthD3DAlloc(MilDepthMap, M_NULL, D3D_DISPLAY_SIZE_X, D3D_DISPLAY_SIZE_Y, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, 0); if (DispHandle != NULL) { /* Hide Mil Display. */ MdispControl(MilDisplay, M_WINDOW_SHOW, M_DISABLE ); MdispD3DShow(DispHandle); MdispD3DPrintHelp(DispHandle); } else #endif { MdispControl(MilDisplay, M_VIEW_MODE, M_AUTO_SCALE); MdispSelect(MilDisplay, MilDepthMap); } MosPrintf(MIL_TEXT("Volume of the cookie is %4.1f cm^3.\n\n"), -Volume/1000.0); MosPrintf(MIL_TEXT("Press <Enter> to end.\n\n")); MosGetch(); #if M_MIL_USE_WINDOWS && !M_MIL_USE_CE && !M_MIL_USE_RT if (DispHandle != M_NULL) { MdispD3DHide(DispHandle); MdispD3DFree(DispHandle); } #endif /* Free all allocations. */ M3dmapFree(MilScan); M3dmapFree(MilLaser); McalFree(MilCalibration); MbufFree(MilDepthMap); MbufFree(MilImage); }