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//****************************************************************************** // // File name: Mbead.cs // 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 //****************************************************************************** using System; using System.Collections.Generic; using System.Text; using Matrox.MatroxImagingLibrary; namespace MBead { class Program { // Utility definitions. private static readonly MIL_INT USER_POSITION_COLOR = MIL.M_COLOR_RED; private static readonly MIL_INT USER_TEMPLATE_COLOR = MIL.M_COLOR_CYAN; private static readonly MIL_INT TRAINED_BEAD_WIDTH_COLOR = MIL.M_RGB888(255, 128, 0); private static readonly MIL_INT MODEL_FINDER_COLOR = MIL.M_COLOR_GREEN; private static readonly MIL_INT COORDINATE_SYSTEM_COLOR = MIL.M_RGB888(164, 164, 0); private static readonly MIL_INT RESULT_SEARCH_BOX_COLOR = MIL.M_COLOR_CYAN; private static readonly MIL_INT PASS_BEAD_WIDTH_COLOR = MIL.M_COLOR_GREEN; private static readonly MIL_INT PASS_BEAD_POSITION_COLOR = MIL.M_COLOR_GREEN; private static readonly MIL_INT FAIL_NOT_FOUND_COLOR = MIL.M_COLOR_RED; private static readonly MIL_INT FAIL_SMALL_WIDTH_COLOR = MIL.M_RGB888(255, 128, 0); private static readonly MIL_INT FAIL_EDGE_OFFSET_COLOR = MIL.M_COLOR_RED; //***************************************************************************** // Main. //***************************************************************************** static void Main(string[] args) { MIL_ID MilApplication = MIL.M_NULL; // Application identifier. MIL_ID MilSystem = MIL.M_NULL; // System identifier. MIL_ID MilDisplay = MIL.M_NULL; // Display identifier. // Allocate defaults. MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL); // Run fixtured bead example. FixturedBeadExample(MilSystem, MilDisplay); // Run predefined bead example. PredefinedBeadExample(MilSystem, MilDisplay); // Free defaults. MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL); } //**************************************************************************** // Fixtured 'stripe' bead example. // Target MIL image specifications. private static readonly string IMAGE_FILE_TRAINING = MIL.M_IMAGE_PATH + "BeadTraining.mim"; private static readonly string IMAGE_FILE_TARGET = MIL.M_IMAGE_PATH + "BeadTarget.mim"; // Bead stripe training data definition. private const int NUMBER_OF_TRAINING_POINTS = 13; private static readonly double[] TrainingPointsX = new double[NUMBER_OF_TRAINING_POINTS] { 180, 280, 400, 430, 455, 415, 370, 275, 185, 125, 105, 130, 180 }; private static readonly double[] TrainingPointsY = new double[NUMBER_OF_TRAINING_POINTS] { 190, 215, 190, 200, 260, 330, 345, 310, 340, 305, 265, 200, 190 }; // Max angle correction. private const double MAX_ANGLE_CORRECTION_VALUE = 20.0; // Max offset deviation. private const double MAX_DEVIATION_OFFSET_VALUE = 25.0; // Maximum negative width variation. private const double WIDTH_DELTA_NEG_VALUE = 2.0; // Model region definition. private const int MODEL_ORIGIN_X = 145; private const int MODEL_ORIGIN_Y = 115; private const int MODEL_SIZE_X = 275; private const int MODEL_SIZE_Y = 60; private static void FixturedBeadExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilGraList = MIL.M_NULL; // Graphic list identifier. MIL_ID MilImageTraining = MIL.M_NULL; // Image buffer identifier. MIL_ID MilImageTarget = MIL.M_NULL; // Image buffer identifier. MIL_ID MilBeadContext = MIL.M_NULL; // Bead context identifier. MIL_ID MilBeadResult = MIL.M_NULL; // Bead result identifier. MIL_ID MilModelFinderContext = MIL.M_NULL; // Model finder context identifier. MIL_ID MilModelFinderResult = MIL.M_NULL; // Model finder result identifier. MIL_ID MilFixturingOffset = MIL.M_NULL; // Fixturing offset identifier. double NominalWidth = 0.0; // Nominal width result value. double AvWidth = 0.0; // Average width result value. double GapCov = 0.0; // Gap coverage result value. double MaxGap = 0.0; // Maximum gap result value. double Score = 0.0; // Bead score result value. // Restore source images into an automatically allocated image buffers. MIL.MbufRestore(IMAGE_FILE_TRAINING, MilSystem, ref MilImageTraining); MIL.MbufRestore(IMAGE_FILE_TARGET, MilSystem, ref MilImageTarget); // Display the training image buffer. MIL.MdispSelect(MilDisplay, MilImageTraining); // Allocate a graphic list to hold the subpixel annotations to draw. MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, ref MilGraList); // Associate the graphic list to the display for annotations. MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, MilGraList); // Original template image. Console.Write("\nFIXTURED BEAD INSPECTION:\n"); Console.Write("-------------------------\n\n"); Console.Write("This program performs a bead inspection on a mechanical part.\n"); Console.Write("In the first step, a bead template context is trained using an "); Console.Write("image.\nIn the second step, a mechanical part, at an arbitrary "); Console.Write("angle and with\na defective bead, is inspected.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Allocate a MIL bead context. MIL.MbeadAlloc(MilSystem, MIL.M_DEFAULT, MIL.M_DEFAULT, ref MilBeadContext); // Allocate a MIL bead result. MIL.MbeadAllocResult(MilSystem, MIL.M_DEFAULT, ref MilBeadResult); // Add bead templates MIL.MbeadTemplate(MilBeadContext, MIL.M_ADD, MIL.M_DEFAULT, MIL.M_TEMPLATE_LABEL(1), NUMBER_OF_TRAINING_POINTS, TrainingPointsX, TrainingPointsY, MIL.M_NULL, MIL.M_DEFAULT); // Set template input units to world units MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_TEMPLATE_INPUT_UNITS, MIL.M_WORLD); // Set the bead 'edge type' search properties MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_ANGLE_ACCURACY_MAX_DEVIATION, MAX_ANGLE_CORRECTION_VALUE); // Set the maximum valid bead deformation. MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_OFFSET_MAX, MAX_DEVIATION_OFFSET_VALUE); // Set the valid bead stripe minimum width criterion. MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_WIDTH_DELTA_NEG, WIDTH_DELTA_NEG_VALUE); // Display the bead polyline. MIL.MgraColor(MIL.M_DEFAULT, USER_TEMPLATE_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadContext, MilGraList, MIL.M_DRAW_POSITION_POLYLINE, MIL.M_USER, MIL.M_ALL, MIL.M_ALL, MIL.M_DEFAULT); // Display the bead training points. MIL.MgraColor(MIL.M_DEFAULT, USER_POSITION_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadContext, MilGraList, MIL.M_DRAW_POSITION, MIL.M_USER, MIL.M_ALL, MIL.M_ALL, MIL.M_DEFAULT); // Pause to show the template image and user points. Console.Write("The initial points specified by the user (in red) are\n"); Console.Write("used to train the bead information from an image.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Set a 1:1 calibration to the training image. MIL.McalUniform(MilImageTraining, 0, 0, 1, 1, 0, MIL.M_DEFAULT); // Train the bead context. MIL.MbeadTrain(MilBeadContext, MilImageTraining, MIL.M_DEFAULT); // Display the trained bead. MIL.MgraColor(MIL.M_DEFAULT, TRAINED_BEAD_WIDTH_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadContext, MilGraList, MIL.M_DRAW_WIDTH, MIL.M_TRAINED, MIL.M_TEMPLATE_LABEL(1), MIL.M_ALL, MIL.M_DEFAULT); // Retrieve the trained nominal width. MIL.MbeadInquire(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_TRAINED_WIDTH_NOMINAL, ref NominalWidth); Console.Write("The template has been trained and is displayed in orange.\n"); Console.Write("Its nominal trained width is {0:#.##} pixels.\n\n", NominalWidth); // Define model to further fixture the bead template. MIL.MmodAlloc(MilSystem, MIL.M_GEOMETRIC, MIL.M_DEFAULT, ref MilModelFinderContext); MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, ref MilModelFinderResult); MIL.MmodDefine(MilModelFinderContext, MIL.M_IMAGE, MilImageTraining, MODEL_ORIGIN_X, MODEL_ORIGIN_Y, MODEL_SIZE_X, MODEL_SIZE_Y); // Preprocess the model. MIL.MmodPreprocess(MilModelFinderContext, MIL.M_DEFAULT); // Allocate a fixture object. MIL.McalAlloc(MilSystem, MIL.M_FIXTURING_OFFSET, MIL.M_DEFAULT, ref MilFixturingOffset); // Learn the relative offset of the model. MIL.McalFixture(MIL.M_NULL, MilFixturingOffset, MIL.M_LEARN_OFFSET, MIL.M_MODEL_MOD, MilModelFinderContext, 0, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_DEFAULT); // Display the model. MIL.MgraColor(MIL.M_DEFAULT, MODEL_FINDER_COLOR); MIL.MmodDraw(MIL.M_DEFAULT, MilModelFinderContext, MilGraList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, MIL.M_DEFAULT, MIL.M_ORIGINAL); Console.Write("A Model Finder model (in green) is also defined to\n"); Console.Write("further fixture the bead verification operation.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Clear the overlay annotation. MIL.MgraClear(MIL.M_DEFAULT, MilGraList); // Display the target image buffer. MIL.MdispSelect(MilDisplay, MilImageTarget); // Find the location of the fixture using Model Finder. MIL.MmodFind(MilModelFinderContext, MilImageTarget, MilModelFinderResult); // Display the found model occurrence. MIL.MgraColor(MIL.M_DEFAULT, MODEL_FINDER_COLOR); MIL.MmodDraw(MIL.M_DEFAULT, MilModelFinderResult, MilGraList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, MIL.M_DEFAULT, MIL.M_DEFAULT); // Apply fixture offset to the target image. MIL.McalFixture(MilImageTarget, MilFixturingOffset, MIL.M_MOVE_RELATIVE, MIL.M_RESULT_MOD, MilModelFinderResult, 0, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_DEFAULT); // Display the relative coordinate system. MIL.MgraColor(MIL.M_DEFAULT, COORDINATE_SYSTEM_COLOR); MIL.McalDraw(MIL.M_DEFAULT, MIL.M_NULL, MilGraList, MIL.M_DRAW_RELATIVE_COORDINATE_SYSTEM, MIL.M_DEFAULT, MIL.M_DEFAULT); // Perform the inspection of the bead in the fixtured target image. MIL.MbeadVerify(MilBeadContext, MilImageTarget, MilBeadResult, MIL.M_DEFAULT); // Display the result search boxes. MIL.MgraColor(MIL.M_DEFAULT, RESULT_SEARCH_BOX_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadResult, MilGraList, MIL.M_DRAW_SEARCH_BOX, MIL.M_ALL, MIL.M_ALL, MIL.M_ALL, MIL.M_DEFAULT); Console.Write("The mechanical part's position and angle (in green) were "); Console.Write("located\nusing Model Finder, and the bead's search boxes "); Console.Write("(in cyan) were\npositioned accordingly.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Clear the overlay annotation. MIL.MgraClear(MIL.M_DEFAULT, MilGraList); // Display the moved relative coordinate system. MIL.MgraColor(MIL.M_DEFAULT, COORDINATE_SYSTEM_COLOR); MIL.McalDraw(MIL.M_DEFAULT, MIL.M_NULL, MilGraList, MIL.M_DRAW_RELATIVE_COORDINATE_SYSTEM, MIL.M_DEFAULT, MIL.M_DEFAULT); // Display the pass bead sections. MIL.MgraColor(MIL.M_DEFAULT, PASS_BEAD_WIDTH_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadResult, MilGraList, MIL.M_DRAW_WIDTH, MIL.M_PASS, MIL.M_TEMPLATE_LABEL(1), MIL.M_ALL, MIL.M_DEFAULT); // Display the missing bead sections. MIL.MgraColor(MIL.M_DEFAULT, FAIL_NOT_FOUND_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadResult, MilGraList, MIL.M_DRAW_SEARCH_BOX, MIL.M_FAIL_NOT_FOUND, MIL.M_ALL, MIL.M_ALL, MIL.M_DEFAULT); // Display bead sections which do not meet the minimum width criteria. MIL.MgraColor(MIL.M_DEFAULT, FAIL_SMALL_WIDTH_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadResult, MilGraList, MIL.M_DRAW_SEARCH_BOX, MIL.M_FAIL_WIDTH_MIN, MIL.M_TEMPLATE_LABEL(1), MIL.M_ALL, MIL.M_DEFAULT); // Retrieve and display general bead results. MIL.MbeadGetResult(MilBeadResult, MIL.M_TEMPLATE_LABEL(1), MIL.M_GENERAL, MIL.M_SCORE, ref Score); MIL.MbeadGetResult(MilBeadResult, MIL.M_TEMPLATE_LABEL(1), MIL.M_GENERAL, MIL.M_GAP_COVERAGE, ref GapCov); MIL.MbeadGetResult(MilBeadResult, MIL.M_TEMPLATE_LABEL(1), MIL.M_GENERAL, MIL.M_WIDTH_AVERAGE, ref AvWidth); MIL.MbeadGetResult(MilBeadResult, MIL.M_TEMPLATE_LABEL(1), MIL.M_GENERAL, MIL.M_GAP_MAX_LENGTH, ref MaxGap); Console.Write("The bead 'has been inspected:\n"); Console.Write(" -Passing bead sections (green) cover {0:0.00}% of the bead\n", Score); Console.Write(" -Missing bead sections (red) cover {0:0.00}% of the bead\n", GapCov); Console.Write(" -Sections outside the specified width tolerances are drawn in orange\n"); Console.Write(" -The bead's average width is {0:0.00} pixels\n", AvWidth); Console.Write(" -The bead's longest gap section is {0:0.00} pixels\n\n", MaxGap); // Pause to show the result. Console.Write("Press <Enter> to continue.\n"); Console.ReadKey(); // Free all allocations. MIL.MmodFree(MilModelFinderContext); MIL.MmodFree(MilModelFinderResult); MIL.MbeadFree(MilBeadContext); MIL.MbeadFree(MilBeadResult); MIL.McalFree(MilFixturingOffset); MIL.MbufFree(MilImageTraining); MIL.MbufFree(MilImageTarget); MIL.MgraFree(MilGraList); } //***************************************************************************** // Predefined 'edge' bead example. // Target MIL image specifications. private static readonly string CAP_FILE_TARGET = MIL.M_IMAGE_PATH + "Cap.mim"; // Template attributes definition. private const double CIRCLE_CENTER_X = 330.0; private const double CIRCLE_CENTER_Y = 230.0; private const double CIRCLE_RADIUS = 120.0; // Edge threshold value. private const double EDGE_THRESHOLD_VALUE = 25.0; // Max offset found and deviation tolerance. private const double MAX_CONTOUR_DEVIATION_OFFSET = 5.0; private const double MAX_CONTOUR_FOUND_OFFSET = 25.0; private static void PredefinedBeadExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilOverlayImage = MIL.M_NULL; // Overlay buffer identifier. MIL_ID MilImageTarget = MIL.M_NULL; // Image buffer identifier. MIL_ID MilBeadContext = MIL.M_NULL; // Bead context identifier. MIL_ID MilBeadResult = MIL.M_NULL; // Bead result identifier. double MaximumOffset = 0.0; // Maximum offset result value. // Restore target image into an automatically allocated image buffers. MIL.MbufRestore(CAP_FILE_TARGET, MilSystem, ref MilImageTarget); // Display the training image buffer. MIL.MdispSelect(MilDisplay, MilImageTarget); // Prepare the overlay for annotations. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_ENABLE); MIL.MdispInquire(MilDisplay, MIL.M_OVERLAY_ID, ref MilOverlayImage); MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_TRANSPARENT_COLOR); // Original template image. Console.Write("\nPREDEFINED BEAD INSPECTION:\n"); Console.Write("---------------------------\n\n"); Console.Write("This program performs a bead inspection of a bottle\n"); Console.Write("cap's contour using a predefined circular bead.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Allocate a MIL bead context. MIL.MbeadAlloc(MilSystem, MIL.M_DEFAULT, MIL.M_DEFAULT, ref MilBeadContext); // Allocate a MIL bead result. MIL.MbeadAllocResult(MilSystem, MIL.M_DEFAULT, ref MilBeadResult); // Add the bead templates. MIL.MbeadTemplate(MilBeadContext, MIL.M_ADD, MIL.M_BEAD_EDGE, MIL.M_TEMPLATE_LABEL(1), 0, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_DEFAULT); // Set the bead shape properties. MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_TRAINING_PATH, MIL.M_CIRCLE); MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_TEMPLATE_CIRCLE_CENTER_X, CIRCLE_CENTER_X); MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_TEMPLATE_CIRCLE_CENTER_Y, CIRCLE_CENTER_Y); MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_TEMPLATE_CIRCLE_RADIUS, CIRCLE_RADIUS); // Set the edge threshold value to extract the object shape. MIL.MbeadControl(MilBeadContext, MIL.M_TEMPLATE_LABEL(1), MIL.M_THRESHOLD_VALUE, EDGE_THRESHOLD_VALUE); // Using the default fixed user defined nominal edge width. MIL.MbeadControl(MilBeadContext, MIL.M_ALL, MIL.M_WIDTH_NOMINAL_MODE, MIL.M_USER_DEFINED); // Set the maximal expected contour deformation. MIL.MbeadControl(MilBeadContext, MIL.M_ALL, MIL.M_FAIL_WARNING_OFFSET, MAX_CONTOUR_FOUND_OFFSET); // Set the maximum valid bead deformation. MIL.MbeadControl(MilBeadContext, MIL.M_ALL, MIL.M_OFFSET_MAX, MAX_CONTOUR_DEVIATION_OFFSET); // Display the bead in the overlay image. MIL.MgraColor(MIL.M_DEFAULT, USER_TEMPLATE_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadContext, MilOverlayImage, MIL.M_DRAW_POSITION, MIL.M_USER, MIL.M_ALL, MIL.M_ALL, MIL.M_DEFAULT); // The bead template is entirely defined and is trained without sample image. MIL.MbeadTrain(MilBeadContext, MIL.M_NULL, MIL.M_DEFAULT); // Display the trained bead. MIL.MgraColor(MIL.M_DEFAULT, TRAINED_BEAD_WIDTH_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadContext, MilOverlayImage, MIL.M_DRAW_SEARCH_BOX, MIL.M_TRAINED, MIL.M_ALL, MIL.M_ALL, MIL.M_DEFAULT); // Pause to show the template image and user points. Console.Write("A circular template that was parametrically defined by the user\n"); Console.Write("is displayed (in cyan). The template has been trained and the resulting\n"); Console.Write("search is displayed (in orange).\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Perform the inspection of the bead in the fixtured target image. MIL.MbeadVerify(MilBeadContext, MilImageTarget, MilBeadResult, MIL.M_DEFAULT); // Clear the overlay annotation. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_TRANSPARENT_COLOR); // Display the pass bead sections. MIL.MgraColor(MIL.M_DEFAULT, PASS_BEAD_POSITION_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadResult, MilOverlayImage, MIL.M_DRAW_POSITION, MIL.M_PASS, MIL.M_ALL, MIL.M_ALL, MIL.M_DEFAULT); // Display the offset bead sections. MIL.MgraColor(MIL.M_DEFAULT, FAIL_EDGE_OFFSET_COLOR); MIL.MbeadDraw(MIL.M_DEFAULT, MilBeadResult, MilOverlayImage, MIL.M_DRAW_POSITION, MIL.M_FAIL_OFFSET, MIL.M_ALL, MIL.M_ALL, MIL.M_DEFAULT); // Retrieve and display general bead results. MIL.MbeadGetResult(MilBeadResult, MIL.M_TEMPLATE_LABEL(1), MIL.M_GENERAL, MIL.M_OFFSET_MAX, ref MaximumOffset); Console.Write("The bottle cap shape has been inspected:\n"); Console.Write(" -Sections outside the specified offset tolerance are drawn in red\n"); Console.Write(" -The maximum offset value is {0:0.00} pixels.\n\n", MaximumOffset); // Pause to show the result. Console.Write("Press <Enter> to terminate.\n"); Console.ReadKey(); // Free all allocations. MIL.MbeadFree(MilBeadContext); MIL.MbeadFree(MilBeadResult); MIL.MbufFree(MilImageTarget); } } }