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/*****************************************************************************/ /* * File name: Mbead.cpp * Location: See Matrox Example Launcher in the MIL Control Center * * * Synopsis: This program uses the Bead module to train a bead template * and then to inspect a defective bead in a target image. * * Copyright (C) Matrox Electronic Systems Ltd., 1992-2016. * All Rights Reserved */ #include <mil.h> /* Example functions declarations. */ void FixturedBeadExample(MIL_ID MilSystem, MIL_ID MilDisplay); void PredefinedBeadExample(MIL_ID MilSystem, MIL_ID MilDisplay); /* Utility definitions. */ #define USER_POSITION_COLOR M_COLOR_RED #define USER_TEMPLATE_COLOR M_COLOR_CYAN #define TRAINED_BEAD_WIDTH_COLOR M_RGB888(255, 128, 0) #define MODEL_FINDER_COLOR M_COLOR_GREEN #define COORDINATE_SYSTEM_COLOR M_RGB888(164, 164, 0) #define RESULT_SEARCH_BOX_COLOR M_COLOR_CYAN #define PASS_BEAD_WIDTH_COLOR M_COLOR_GREEN #define PASS_BEAD_POSITION_COLOR M_COLOR_GREEN #define FAIL_NOT_FOUND_COLOR M_COLOR_RED #define FAIL_SMALL_WIDTH_COLOR M_RGB888(255, 128, 0) #define FAIL_EDGE_OFFSET_COLOR M_COLOR_RED /*****************************************************************************/ /* 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 fixtured bead example. */ FixturedBeadExample(MilSystem, MilDisplay); /* Run predefined bead example. */ PredefinedBeadExample(MilSystem, MilDisplay); /* Free defaults. */ MappFreeDefault(MilApplication, MilSystem, MilDisplay, M_NULL, M_NULL); return 0; } /*****************************************************************************/ /* Fixtured 'stripe' bead example. */ /* Target MIL image specifications. */ #define IMAGE_FILE_TRAINING M_IMAGE_PATH MIL_TEXT("BeadTraining.mim") #define IMAGE_FILE_TARGET M_IMAGE_PATH MIL_TEXT("BeadTarget.mim") /* Bead stripe training data definition. */ #define NUMBER_OF_TRAINING_POINTS 13 static MIL_DOUBLE TrainingPointsX[NUMBER_OF_TRAINING_POINTS] = {180, 280, 400, 430, 455, 415, 370, 275, 185, 125, 105, 130, 180}; static MIL_DOUBLE TrainingPointsY[NUMBER_OF_TRAINING_POINTS] = {190, 215, 190, 200, 260, 330, 345, 310, 340, 305, 265, 200, 190}; /* Max angle correction. */ #define MAX_ANGLE_CORRECTION_VALUE 20.0 /* Max offset deviation. */ #define MAX_DEVIATION_OFFSET_VALUE 25.0 /* Maximum negative width variation. */ #define WIDTH_DELTA_NEG_VALUE 2.0 /* Model region definition. */ #define MODEL_ORIGIN_X 145 #define MODEL_ORIGIN_Y 115 #define MODEL_SIZE_X 275 #define MODEL_SIZE_Y 60 void FixturedBeadExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilGraList, /* Graphic list identifier. */ MilImageTraining, /* Image buffer identifier. */ MilImageTarget, /* Image buffer identifier. */ MilBeadContext, /* Bead context identifier. */ MilBeadResult, /* Bead result identifier. */ MilModelFinderContext, /* Model finder context identifier. */ MilModelFinderResult, /* Model finder result identifier. */ MilFixturingOffset; /* Fixturing offset identifier. */ MIL_DOUBLE NominalWidth, /* Nominal width result value. */ AvWidth, /* Average width result value. */ GapCov, /* Gap coverage result value. */ MaxGap, /* Maximum gap result value. */ Score; /* Bead score result value. */ /* Restore source images into automatically allocated image buffers. */ MbufRestore(IMAGE_FILE_TRAINING, MilSystem, &MilImageTraining); MbufRestore(IMAGE_FILE_TARGET, MilSystem, &MilImageTarget); /* Display the training image buffer. */ MdispSelect(MilDisplay, MilImageTraining); /* Allocate a graphic list to hold the subpixel annotations to draw. */ MgraAllocList(MilSystem, M_DEFAULT, &MilGraList); /* Associate the graphic list to the display for annotations. */ MdispControl(MilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, MilGraList); /* Original template image. */ MosPrintf(MIL_TEXT("\nFIXTURED BEAD INSPECTION:\n")); MosPrintf(MIL_TEXT("-------------------------\n\n")); MosPrintf(MIL_TEXT("This program performs a bead inspection on a mechanical part.\n")); MosPrintf(MIL_TEXT("In the first step, a bead template context is trained using an ")); MosPrintf(MIL_TEXT("image.\nIn the second step, a mechanical part, at an arbitrary ")); MosPrintf(MIL_TEXT("angle and with\na defective bead, is inspected.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Allocate a MIL bead context. */ MbeadAlloc(MilSystem, M_DEFAULT, M_DEFAULT, &MilBeadContext); /* Allocate a MIL bead result. */ MbeadAllocResult(MilSystem, M_DEFAULT, &MilBeadResult); /* Add a bead template. */ MbeadTemplate(MilBeadContext, M_ADD, M_DEFAULT, M_TEMPLATE_LABEL(1), NUMBER_OF_TRAINING_POINTS, TrainingPointsX, TrainingPointsY, M_NULL, M_DEFAULT); /* Set template input units to world units. */ MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_TEMPLATE_INPUT_UNITS, M_WORLD); /* Set the bead 'edge type' search properties. */ MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_ANGLE_ACCURACY_MAX_DEVIATION, MAX_ANGLE_CORRECTION_VALUE); /* Set the maximum valid bead deformation. */ MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_OFFSET_MAX, MAX_DEVIATION_OFFSET_VALUE); /* Set the valid bead minimum width criterion. */ MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_WIDTH_DELTA_NEG, WIDTH_DELTA_NEG_VALUE); /* Display the bead polyline. */ MgraColor(M_DEFAULT, USER_TEMPLATE_COLOR); MbeadDraw(M_DEFAULT, MilBeadContext, MilGraList, M_DRAW_POSITION_POLYLINE, M_USER, M_ALL, M_ALL, M_DEFAULT); /* Display the bead training points. */ MgraColor(M_DEFAULT, USER_POSITION_COLOR); MbeadDraw(M_DEFAULT, MilBeadContext, MilGraList, M_DRAW_POSITION, M_USER, M_ALL, M_ALL, M_DEFAULT); /* Pause to show the template image and user points. */ MosPrintf(MIL_TEXT("The initial points specified by the user (in red) are\n")); MosPrintf(MIL_TEXT("used to train the bead information from an image.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Set a 1:1 calibration to the training image. */ McalUniform(MilImageTraining, 0, 0, 1, 1, 0, M_DEFAULT); /* Train the bead context. */ MbeadTrain(MilBeadContext, MilImageTraining, M_DEFAULT); /* Display the trained bead. */ MgraColor(M_DEFAULT, TRAINED_BEAD_WIDTH_COLOR); MbeadDraw(M_DEFAULT, MilBeadContext, MilGraList, M_DRAW_WIDTH, M_TRAINED, M_TEMPLATE_LABEL(1), M_ALL, M_DEFAULT); /* Retrieve the trained nominal width. */ MbeadInquire(MilBeadContext,M_TEMPLATE_LABEL(1), M_TRAINED_WIDTH_NOMINAL, &NominalWidth); MosPrintf(MIL_TEXT("The template has been trained and is displayed in orange.\n")); MosPrintf(MIL_TEXT("Its nominal trained width is %.2f pixels.\n\n"), NominalWidth); /* Define model to further fixture the bead template. */ MmodAlloc(MilSystem, M_GEOMETRIC, M_DEFAULT, &MilModelFinderContext); MmodAllocResult(MilSystem, M_DEFAULT, &MilModelFinderResult); MmodDefine(MilModelFinderContext, M_IMAGE, MilImageTraining, MODEL_ORIGIN_X, MODEL_ORIGIN_Y, MODEL_SIZE_X, MODEL_SIZE_Y); /* Preprocess the model. */ MmodPreprocess(MilModelFinderContext, M_DEFAULT); /* Allocate a fixture object. */ McalAlloc(MilSystem, M_FIXTURING_OFFSET, M_DEFAULT, &MilFixturingOffset); /* Learn the relative offset of the model. */ McalFixture(M_NULL, MilFixturingOffset, M_LEARN_OFFSET, M_MODEL_MOD, MilModelFinderContext, 0, M_DEFAULT, M_DEFAULT, M_DEFAULT); /* Display the model. */ MgraColor(M_DEFAULT, MODEL_FINDER_COLOR); MmodDraw(M_DEFAULT, MilModelFinderContext, MilGraList, M_DRAW_BOX+M_DRAW_POSITION, M_DEFAULT, M_ORIGINAL); MosPrintf(MIL_TEXT("A Model Finder model (in green) is also defined to\n")); MosPrintf(MIL_TEXT("further fixture the bead verification operation.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Clear the overlay annotation. */ MgraClear(M_DEFAULT, MilGraList); /* Display the target image buffer. */ MdispSelect(MilDisplay, MilImageTarget); /* Find the location of the fixture using Model Finder. */ MmodFind(MilModelFinderContext, MilImageTarget, MilModelFinderResult); /* Display the found model occurrence. */ MgraColor(M_DEFAULT, MODEL_FINDER_COLOR); MmodDraw(M_DEFAULT, MilModelFinderResult, MilGraList, M_DRAW_BOX+M_DRAW_POSITION, M_DEFAULT, M_DEFAULT); /* Apply fixture offset to the target image. */ McalFixture(MilImageTarget, MilFixturingOffset, M_MOVE_RELATIVE, M_RESULT_MOD, MilModelFinderResult, 0, M_DEFAULT, M_DEFAULT, M_DEFAULT); /* Display the relative coordinate system. */ MgraColor(M_DEFAULT, COORDINATE_SYSTEM_COLOR); McalDraw(M_DEFAULT, M_NULL, MilGraList, M_DRAW_RELATIVE_COORDINATE_SYSTEM, M_DEFAULT, M_DEFAULT); /* Perform the inspection of the bead in the fixtured target image. */ MbeadVerify(MilBeadContext, MilImageTarget, MilBeadResult, M_DEFAULT); /* Display the result search boxes. */ MgraColor(M_DEFAULT, RESULT_SEARCH_BOX_COLOR); MbeadDraw(M_DEFAULT, MilBeadResult, MilGraList, M_DRAW_SEARCH_BOX, M_ALL, M_ALL, M_ALL, M_DEFAULT); MosPrintf(MIL_TEXT("The mechanical part's position and angle (in green) were ")); MosPrintf(MIL_TEXT("located\nusing Model Finder, and the bead's search boxes ")); MosPrintf(MIL_TEXT("(in cyan) were\npositioned accordingly.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Clear the overlay annotation. */ MgraClear(M_DEFAULT, MilGraList); /* Display the moved relative coordinate system. */ MgraColor(M_DEFAULT, COORDINATE_SYSTEM_COLOR); McalDraw(M_DEFAULT, M_NULL, MilGraList, M_DRAW_RELATIVE_COORDINATE_SYSTEM, M_DEFAULT, M_DEFAULT); /* Display the pass bead sections. */ MgraColor(M_DEFAULT, PASS_BEAD_WIDTH_COLOR); MbeadDraw(M_DEFAULT, MilBeadResult, MilGraList, M_DRAW_WIDTH, M_PASS, M_TEMPLATE_LABEL(1), M_ALL, M_DEFAULT); /* Display the missing bead sections. */ MgraColor(M_DEFAULT, FAIL_NOT_FOUND_COLOR); MbeadDraw(M_DEFAULT, MilBeadResult, MilGraList, M_DRAW_SEARCH_BOX, M_FAIL_NOT_FOUND, M_ALL, M_ALL, M_DEFAULT); /* Display bead sections which do not meet the minimum width criteria. */ MgraColor(M_DEFAULT, FAIL_SMALL_WIDTH_COLOR); MbeadDraw(M_DEFAULT, MilBeadResult, MilGraList, M_DRAW_SEARCH_BOX, M_FAIL_WIDTH_MIN, M_TEMPLATE_LABEL(1), M_ALL, M_DEFAULT); /* Retrieve and display general bead results. */ MbeadGetResult(MilBeadResult, M_TEMPLATE_LABEL(1), M_GENERAL, M_SCORE, &Score); MbeadGetResult(MilBeadResult, M_TEMPLATE_LABEL(1), M_GENERAL, M_GAP_COVERAGE, &GapCov); MbeadGetResult(MilBeadResult, M_TEMPLATE_LABEL(1), M_GENERAL, M_WIDTH_AVERAGE, &AvWidth); MbeadGetResult(MilBeadResult, M_TEMPLATE_LABEL(1), M_GENERAL, M_GAP_MAX_LENGTH, &MaxGap); MosPrintf(MIL_TEXT("The bead has been inspected:\n")); MosPrintf(MIL_TEXT(" -Passing bead sections (green) cover %.2f%% of the bead\n"), Score); MosPrintf(MIL_TEXT(" -Missing bead sections (red) cover %.2f%% of the bead\n"), GapCov); MosPrintf(MIL_TEXT(" -Sections outside the specified tolerances are drawn in orange\n")); MosPrintf(MIL_TEXT(" -The bead's average width is %.2f pixels\n"), AvWidth); MosPrintf(MIL_TEXT(" -The bead's longest gap section is %.2f pixels\n"), MaxGap); /* Pause to show the result. */ MosPrintf(MIL_TEXT("Press <Enter> to continue.\n")); MosGetch(); /* Free all allocations. */ MmodFree(MilModelFinderContext); MmodFree(MilModelFinderResult); MbeadFree(MilBeadContext); MbeadFree(MilBeadResult); McalFree(MilFixturingOffset); MbufFree(MilImageTraining); MbufFree(MilImageTarget); MgraFree(MilGraList); } /*****************************************************************************/ /* Predefined 'edge' bead example. */ /* Target MIL image specifications. */ #define CAP_FILE_TARGET M_IMAGE_PATH MIL_TEXT("Cap.mim") /* Template attributes definition. */ #define CIRCLE_CENTER_X 330.0 #define CIRCLE_CENTER_Y 230.0 #define CIRCLE_RADIUS 120.0 /* Edge threshold value. */ #define EDGE_THRESHOLD_VALUE 25.0 /* Max offset found and deviation tolerance. */ #define MAX_CONTOUR_DEVIATION_OFFSET 5.0 #define MAX_CONTOUR_FOUND_OFFSET 25.0 void PredefinedBeadExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilOverlayImage, /* Overlay buffer identifier. */ MilImageTarget, /* Image buffer identifier. */ MilBeadContext, /* Bead context identifier. */ MilBeadResult; /* Bead result identifier. */ MIL_DOUBLE MaximumOffset; /* Maximum offset result value. */ /* Restore target image into an automatically allocated image buffers. */ MbufRestore(CAP_FILE_TARGET, MilSystem, &MilImageTarget); /* Display the training image buffer. */ MdispSelect(MilDisplay, MilImageTarget); /* Prepare the overlay for annotations. */ MdispControl(MilDisplay, M_OVERLAY, M_ENABLE); MdispInquire(MilDisplay, M_OVERLAY_ID, &MilOverlayImage); MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_TRANSPARENT_COLOR); /* Original template image. */ MosPrintf(MIL_TEXT("\nPREDEFINED BEAD INSPECTION:\n")); MosPrintf(MIL_TEXT("---------------------------\n\n")); MosPrintf(MIL_TEXT("This program performs a bead inspection of a bottle\n")); MosPrintf(MIL_TEXT("cap's contour using a predefined circular bead.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Allocate a MIL bead context. */ MbeadAlloc(MilSystem, M_DEFAULT, M_DEFAULT, &MilBeadContext); /* Allocate a MIL bead result. */ MbeadAllocResult(MilSystem, M_DEFAULT, &MilBeadResult); /* Add the bead templates. */ MbeadTemplate(MilBeadContext, M_ADD, M_BEAD_EDGE, M_TEMPLATE_LABEL(1), 0, M_NULL, M_NULL, M_NULL, M_DEFAULT); /* Set the bead shape properties. */ MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_TRAINING_PATH, M_CIRCLE); MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_TEMPLATE_CIRCLE_CENTER_X, CIRCLE_CENTER_X); MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_TEMPLATE_CIRCLE_CENTER_Y, CIRCLE_CENTER_Y); MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_TEMPLATE_CIRCLE_RADIUS, CIRCLE_RADIUS); /* Set the edge threshold value to extract the object shape. */ MbeadControl(MilBeadContext, M_TEMPLATE_LABEL(1), M_THRESHOLD_VALUE, EDGE_THRESHOLD_VALUE); /* Using the default fixed user defined nominal edge width. */ MbeadControl(MilBeadContext, M_ALL, M_WIDTH_NOMINAL_MODE, M_USER_DEFINED); /* Set the maximal expected contour deformation. */ MbeadControl(MilBeadContext, M_ALL, M_FAIL_WARNING_OFFSET, MAX_CONTOUR_FOUND_OFFSET); /* Set the maximum valid bead deformation. */ MbeadControl(MilBeadContext, M_ALL, M_OFFSET_MAX, MAX_CONTOUR_DEVIATION_OFFSET); /* Display the bead in the overlay image. */ MgraColor(M_DEFAULT, USER_TEMPLATE_COLOR); MbeadDraw(M_DEFAULT, MilBeadContext, MilOverlayImage, M_DRAW_POSITION, M_USER, M_ALL, M_ALL, M_DEFAULT); /* The bead template is entirely defined and is trained without sample image. */ MbeadTrain(MilBeadContext, M_NULL, M_DEFAULT); /* Display the trained bead. */ MgraColor(M_DEFAULT, TRAINED_BEAD_WIDTH_COLOR); MbeadDraw(M_DEFAULT, MilBeadContext, MilOverlayImage, M_DRAW_SEARCH_BOX, M_TRAINED, M_ALL, M_ALL, M_DEFAULT); /* Pause to show the template image and user points. */ MosPrintf(MIL_TEXT("A circular template that was parametrically defined by the\n")); MosPrintf(MIL_TEXT("user is displayed (in cyan). The template has been trained\n")); MosPrintf(MIL_TEXT("and the resulting search is displayed (in orange).\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Perform the inspection of the bead in the fixtured target image. */ MbeadVerify(MilBeadContext, MilImageTarget, MilBeadResult, M_DEFAULT); /* Clear the overlay annotation. */ MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_TRANSPARENT_COLOR); /* Display the pass bead sections. */ MgraColor(M_DEFAULT, PASS_BEAD_POSITION_COLOR); MbeadDraw(M_DEFAULT, MilBeadResult, MilOverlayImage, M_DRAW_POSITION, M_PASS, M_ALL, M_ALL, M_DEFAULT); /* Display the offset bead sections. */ MgraColor(M_DEFAULT, FAIL_EDGE_OFFSET_COLOR); MbeadDraw(M_DEFAULT, MilBeadResult, MilOverlayImage, M_DRAW_POSITION, M_FAIL_OFFSET, M_ALL, M_ALL, M_DEFAULT); /* Retrieve and display general bead results. */ MbeadGetResult(MilBeadResult, M_TEMPLATE_LABEL(1), M_GENERAL, M_OFFSET_MAX, &MaximumOffset); MosPrintf(MIL_TEXT("The bottle cap shape has been inspected:\n")); MosPrintf(MIL_TEXT(" -Sections outside the specified offset")); MosPrintf(MIL_TEXT(" tolerance are drawn in red\n")); MosPrintf(MIL_TEXT(" -The maximum offset value is %0.2f pixels.\n\n"), MaximumOffset); /* Pause to show the result. */ MosPrintf(MIL_TEXT("Press <Enter> to terminate.\n")); MosGetch(); /* Free all allocations. */ MbeadFree(MilBeadContext); MbeadFree(MilBeadResult); MbufFree(MilImageTarget); }