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/*******************************************************************************/ /* * File name: MCal.cpp * Location: See Matrox Example Launcher in the MIL Control Center * * * Synopsis: This program uses the Calibration module to: * - Remove distortion and then take measurements in world units using a 2D * calibration. * - Perform a 3D calibration to take measurements at several known elevations. * - Calibrate a scene using a partial calibration grid that has a 2D code * fiducial. * * Printable calibration grids in PDF format can be found in your * "Matrox Imaging/Images/" directory. * * Copyright (C) Matrox Electronic Systems Ltd., 1992-2016. * All Rights Reserved */ #include <mil.h> /* Example selection. */ #define RUN_LINEAR_CALIBRATION_EXAMPLE M_YES #define RUN_TSAI_CALIBRATION_EXAMPLE M_YES #define RUN_PARTIAL_GRID_CALIBRATION_EXAMPLE M_YES /* Grid offset specifications. */ #define GRID_OFFSET_X 0 #define GRID_OFFSET_Y 0 #define GRID_OFFSET_Z 0 /* Example functions declarations. */ void LinearInterpolationCalibration(MIL_ID MilSystem, MIL_ID MilDisplay); void TsaiCalibration(MIL_ID MilSystem, MIL_ID MilDisplay); void PartialGridCalibration(MIL_ID MilSystem, MIL_ID MilDisplay); /* Main function. */ 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); /* Print module name. */ MosPrintf(MIL_TEXT("CALIBRATION MODULE:\n")); MosPrintf(MIL_TEXT("-------------------\n\n")); #if (RUN_LINEAR_CALIBRATION_EXAMPLE) LinearInterpolationCalibration(MilSystem, MilDisplay); #endif #if (RUN_TSAI_CALIBRATION_EXAMPLE) TsaiCalibration(MilSystem, MilDisplay); #endif #if (RUN_PARTIAL_GRID_CALIBRATION_EXAMPLE) PartialGridCalibration(MilSystem, MilDisplay); #endif /* Free defaults. */ MappFreeDefault(MilApplication, MilSystem, MilDisplay, M_NULL, M_NULL); return 0; } /***************************************************************************** Linear interpolation example. *****************************************************************************/ /* Source image files specification. */ #define GRID_IMAGE_FILE M_IMAGE_PATH MIL_TEXT("CalGrid.mim") #define BOARD_IMAGE_FILE M_IMAGE_PATH MIL_TEXT("CalBoard.mim") /* World description of the calibration grid. */ #define GRID_ROW_SPACING 1 #define GRID_COLUMN_SPACING 1 #define GRID_ROW_NUMBER 18 #define GRID_COLUMN_NUMBER 25 /* Measurement boxes specification. */ #define MEAS_BOX_POS_X1 55 #define MEAS_BOX_POS_Y1 24 #define MEAS_BOX_WIDTH1 7 #define MEAS_BOX_HEIGHT1 425 #define MEAS_BOX_POS_X2 225 #define MEAS_BOX_POS_Y2 11 #define MEAS_BOX_WIDTH2 7 #define MEAS_BOX_HEIGHT2 450 /* Specification of the stripes' constraints. */ #define WIDTH_APPROXIMATION 410 #define WIDTH_VARIATION 25 #define MIN_EDGE_VALUE 5 void LinearInterpolationCalibration(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilImage, /* Image buffer identifier. */ MilOverlayImage, /* Overlay image. */ MilCalibration, /* Calibration identifier. */ MeasMarker1, /* Measurement marker identifier. */ MeasMarker2; /* Measurement marker identifier. */ MIL_DOUBLE WorldDistance1, WorldDistance2; MIL_DOUBLE PixelDistance1, PixelDistance2; MIL_DOUBLE PosX1, PosY1, PosX2, PosY2, PosX3, PosY3, PosX4, PosY4; MIL_INT CalibrationStatus; /* Clear the display */ MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); /* Restore source image into an automatically allocated image buffer. */ MbufRestore(GRID_IMAGE_FILE, MilSystem, &MilImage); /* Display the image buffer. */ MdispSelect(MilDisplay, MilImage); /* Prepare for overlay annotation. */ MdispControl(MilDisplay, M_OVERLAY, M_ENABLE); MdispInquire(MilDisplay, M_OVERLAY_ID, &MilOverlayImage); /* Pause to show the original image. */ MosPrintf(MIL_TEXT("\nLINEAR INTERPOLATION CALIBRATION:\n")); MosPrintf(MIL_TEXT("---------------------------------\n\n")); MosPrintf(MIL_TEXT("The displayed grid has been grabbed with a high distortion\n")); MosPrintf(MIL_TEXT("camera and will be used to calibrate the camera.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Allocate a camera calibration context. */ McalAlloc(MilSystem, M_DEFAULT, M_DEFAULT, &MilCalibration); /* Calibrate the camera with the image of the grid and its world description. */ McalGrid(MilCalibration, MilImage, GRID_OFFSET_X, GRID_OFFSET_Y, GRID_OFFSET_Z, GRID_ROW_NUMBER, GRID_COLUMN_NUMBER, GRID_ROW_SPACING, GRID_COLUMN_SPACING, M_DEFAULT, M_DEFAULT); McalInquire(MilCalibration, M_CALIBRATION_STATUS + M_TYPE_MIL_INT, &CalibrationStatus); if( CalibrationStatus == M_CALIBRATED ) { /* Perform a first image transformation with the calibration grid. */ McalTransformImage(MilImage, MilImage, MilCalibration, M_BILINEAR + M_OVERSCAN_CLEAR, M_DEFAULT, M_DEFAULT); /* Pause to show the corrected image of the grid. */ MosPrintf(MIL_TEXT("The camera has been calibrated and the image of the grid\n")); MosPrintf(MIL_TEXT("has been transformed to remove its distortions.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Read the image of the board and associate the calibration to the image. */ MbufLoad(BOARD_IMAGE_FILE, MilImage); McalAssociate(MilCalibration, MilImage, M_DEFAULT); /* Allocate the measurement markers. */ MmeasAllocMarker(MilSystem, M_STRIPE, M_DEFAULT, &MeasMarker1); MmeasAllocMarker(MilSystem, M_STRIPE, M_DEFAULT, &MeasMarker2); /* Set the markers' measurement search region. */ MmeasSetMarker(MeasMarker1, M_BOX_ORIGIN, MEAS_BOX_POS_X1, MEAS_BOX_POS_Y1); MmeasSetMarker(MeasMarker1, M_BOX_SIZE, MEAS_BOX_WIDTH1, MEAS_BOX_HEIGHT1); MmeasSetMarker(MeasMarker2, M_BOX_ORIGIN, MEAS_BOX_POS_X2, MEAS_BOX_POS_Y2); MmeasSetMarker(MeasMarker2, M_BOX_SIZE, MEAS_BOX_WIDTH2, MEAS_BOX_HEIGHT2); /* Set markers' orientation. */ MmeasSetMarker(MeasMarker1, M_ORIENTATION, M_HORIZONTAL, M_NULL); MmeasSetMarker(MeasMarker2, M_ORIENTATION, M_HORIZONTAL, M_NULL); /* Set markers' settings to locate the largest stripe within the range [WIDTH_APPROXIMATION - WIDTH_VARIATION, WIDTH_APPROXIMATION + WIDTH_VARIATION], and with an edge strength over MIN_EDGE_VALUE. */ MmeasSetMarker(MeasMarker1, M_EDGEVALUE_MIN, MIN_EDGE_VALUE, M_NULL); /* Remove the default strength characteristic score mapping. */ MmeasSetScore(MeasMarker1, M_STRENGTH_SCORE, 0.0, 0.0, M_MAX_POSSIBLE_VALUE, M_MAX_POSSIBLE_VALUE, M_DEFAULT, M_DEFAULT, M_DEFAULT); /* Add a width characteristic score mapping (increasing ramp) to find the largest stripe within a given range. Width score mapping to find the largest stripe within a given width range ]Wmin, Wmax]: Score ^ | /| | / | | / | +---------------> Width Wmin Wmax */ MmeasSetScore(MeasMarker1, M_STRIPE_WIDTH_SCORE, WIDTH_APPROXIMATION - WIDTH_VARIATION, WIDTH_APPROXIMATION + WIDTH_VARIATION, WIDTH_APPROXIMATION + WIDTH_VARIATION, WIDTH_APPROXIMATION + WIDTH_VARIATION, M_DEFAULT, M_PIXEL, M_DEFAULT); /* Set the same settings for the second marker. */ MmeasSetMarker(MeasMarker2, M_EDGEVALUE_MIN, MIN_EDGE_VALUE, M_NULL); MmeasSetScore(MeasMarker2, M_STRENGTH_SCORE, 0.0, 0.0, M_MAX_POSSIBLE_VALUE, M_MAX_POSSIBLE_VALUE, M_DEFAULT, M_DEFAULT, M_DEFAULT); MmeasSetScore(MeasMarker2, M_STRIPE_WIDTH_SCORE, WIDTH_APPROXIMATION - WIDTH_VARIATION, WIDTH_APPROXIMATION + WIDTH_VARIATION, WIDTH_APPROXIMATION + WIDTH_VARIATION, WIDTH_APPROXIMATION + WIDTH_VARIATION, M_DEFAULT, M_PIXEL, M_DEFAULT); /* Find and measure the position and width of the board. */ MmeasFindMarker(M_DEFAULT, MilImage, MeasMarker1, M_STRIPE_WIDTH+M_POSITION); MmeasFindMarker(M_DEFAULT, MilImage, MeasMarker2, M_STRIPE_WIDTH+M_POSITION); /* Get the world width of the two markers. */ MmeasGetResult(MeasMarker1, M_STRIPE_WIDTH, &WorldDistance1, M_NULL); MmeasGetResult(MeasMarker2, M_STRIPE_WIDTH, &WorldDistance2, M_NULL); /* Get the pixel width of the two markers. */ MmeasSetMarker(MeasMarker1, M_RESULT_OUTPUT_UNITS, M_PIXEL, M_NULL); MmeasSetMarker(MeasMarker2, M_RESULT_OUTPUT_UNITS, M_PIXEL, M_NULL); MmeasGetResult(MeasMarker1, M_STRIPE_WIDTH, &PixelDistance1, M_NULL); MmeasGetResult(MeasMarker2, M_STRIPE_WIDTH, &PixelDistance2, M_NULL); /* Get the edges position in pixel to draw the annotations. */ MmeasGetResult(MeasMarker1, M_POSITION+M_EDGE_FIRST, &PosX1, &PosY1); MmeasGetResult(MeasMarker1, M_POSITION+M_EDGE_SECOND, &PosX2, &PosY2); MmeasGetResult(MeasMarker2, M_POSITION+M_EDGE_FIRST, &PosX3, &PosY3); MmeasGetResult(MeasMarker2, M_POSITION+M_EDGE_SECOND, &PosX4, &PosY4); /* Draw the measurement indicators on the image. */ MgraColor(M_DEFAULT, M_COLOR_YELLOW); MmeasDraw(M_DEFAULT, MeasMarker1, MilOverlayImage, M_DRAW_WIDTH, M_DEFAULT, M_RESULT); MmeasDraw(M_DEFAULT, MeasMarker2, MilOverlayImage, M_DRAW_WIDTH, M_DEFAULT, M_RESULT); MgraBackColor(M_DEFAULT, M_COLOR_BLACK); MgraText(M_DEFAULT, MilOverlayImage, (MIL_INT)(PosX1+0.5-40), (MIL_INT)((PosY1+0.5)+((PosY2 - PosY1)/2.0)), MIL_TEXT(" Distance 1 ")); MgraText(M_DEFAULT, MilOverlayImage, (MIL_INT)(PosX3+0.5-40), (MIL_INT)((PosY3+0.5)+((PosY4 - PosY3)/2.0)), MIL_TEXT(" Distance 2 ")); /* Pause to show the original image and the measurement results. */ MosPrintf(MIL_TEXT("A distorted image grabbed with the same camera was loaded and\n")); MosPrintf(MIL_TEXT("calibrated measurements were done to evaluate ") MIL_TEXT("the board dimensions.\n")); MosPrintf(MIL_TEXT("\n========================================================\n")); MosPrintf(MIL_TEXT(" Distance 1 Distance 2 \n")); MosPrintf(MIL_TEXT("--------------------------------------------------------\n")); MosPrintf(MIL_TEXT(" Calibrated unit: %8.2lf cm %6.2lf cm \n"), WorldDistance1, WorldDistance2); MosPrintf(MIL_TEXT(" Uncalibrated unit: %8.2lf pixels %6.2lf pixels\n"), PixelDistance1, PixelDistance2); MosPrintf(MIL_TEXT("========================================================\n\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Clear the display overlay. */ MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); /* Read the image of the PCB. */ MbufLoad(BOARD_IMAGE_FILE, MilImage); /* Transform the image of the board. */ McalTransformImage(MilImage, MilImage, MilCalibration, M_BILINEAR+M_OVERSCAN_CLEAR, M_DEFAULT, M_DEFAULT); /* show the transformed image of the board. */ MosPrintf(MIL_TEXT("The image was corrected to remove its distortions.\n")); /* Free measurement markers. */ MmeasFree(MeasMarker1); MmeasFree(MeasMarker2); } else { MosPrintf(MIL_TEXT("Calibration generated an exception.\n")); MosPrintf(MIL_TEXT("See User Guide to resolve the situation.\n\n")); } /* Wait for a key to be pressed. */ MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Free all allocations. */ McalFree(MilCalibration); MbufFree(MilImage); } /***************************************************************************** Tsai example. *****************************************************************************/ /* Source image files specification. */ #define GRID_ORIGINAL_IMAGE_FILE M_IMAGE_PATH MIL_TEXT("CalGridOriginal.mim") #define OBJECT_ORIGINAL_IMAGE_FILE M_IMAGE_PATH MIL_TEXT("CalObjOriginal.mim") #define OBJECT_MOVED_IMAGE_FILE M_IMAGE_PATH MIL_TEXT("CalObjMoved.mim") /* World description of the calibration grid. */ #define GRID_ORG_ROW_SPACING 1.5 #define GRID_ORG_COLUMN_SPACING 1.5 #define GRID_ORG_ROW_NUMBER 12 #define GRID_ORG_COLUMN_NUMBER 13 #define GRID_ORG_OFFSET_X 0 #define GRID_ORG_OFFSET_Y 0 #define GRID_ORG_OFFSET_Z 0 /* Camera transformation */ #define ENCODER_TRANSLATION_X 0.817 #define ENCODER_TRANSLATION_Y 13.293 #define ENCODER_TRANSLATION_Z -14.060 #define ENCODER_ROTATION_Y 354.207 #define ENCODER_ROTATION_X 317.467 #define ENCODER_ROTATION_Z 281.969 /* Region parameters for metrology */ #define MEASURED_CIRCLE_LABEL 1 #define RING1_POS1_X 2.3 #define RING1_POS1_Y 3.9 #define RING2_POS1_X 10.7 #define RING2_POS1_Y 11.1 #define RING1_POS2_X 8.6 #define RING1_POS2_Y 2.5 #define RING2_POS2_X 7.9 #define RING2_POS2_Y 13.2 #define RING_START_RADIUS 1.25 #define RING_END_RADIUS 2.3 /* measured plane position */ #define RING_THICKNESS 0.175 #define STEP_THICKNESS 4.0 /* Color definitions */ #define REGION_COLOR M_RGB888(0,100,255) #define FEATURE_COLOR M_RGB888(255,0,255) /* Functions declarations for this example. */ void MeasureRing(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilImage, MIL_DOUBLE MeasureRing1X, MIL_DOUBLE MeasureRing1Y ); void ShowCameraInformation(MIL_ID MilCalibration); void SetCalibrationOffset(MIL_ID MilCalibration, MIL_DOUBLE ZOffset, MIL_ID MilImage); void TsaiCalibration(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilImage, /* Image buffer identifier. */ MilCalibration; /* Calibration identifier. */ MIL_INT CalibrationStatus; /* Restore source image into an automatically allocated image buffer. */ MbufRestore(GRID_ORIGINAL_IMAGE_FILE, MilSystem, &MilImage); /* Display the image buffer. */ MdispSelect(MilDisplay, MilImage); /* Pause to show the original image. */ MosPrintf(MIL_TEXT("\nTSAI BASED CALIBRATION:\n")); MosPrintf(MIL_TEXT("-----------------------\n\n")); MosPrintf(MIL_TEXT("The displayed grid has been grabbed with a high perspective\n")); MosPrintf(MIL_TEXT("camera and will be used to calibrate the camera.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Allocate a camera calibration context. */ McalAlloc(MilSystem, M_TSAI_BASED, M_DEFAULT, &MilCalibration); /* Calibrate the camera with the image of the grid and its world description. */ McalGrid(MilCalibration, MilImage, GRID_ORG_OFFSET_X, GRID_ORG_OFFSET_Y, GRID_ORG_OFFSET_Z, GRID_ORG_ROW_NUMBER, GRID_ORG_COLUMN_NUMBER, GRID_ORG_ROW_SPACING, GRID_ORG_COLUMN_SPACING, M_DEFAULT, M_DEFAULT); /* Verify if the camera calibration is successful. */ McalInquire(MilCalibration, M_CALIBRATION_STATUS + M_TYPE_MIL_INT, &CalibrationStatus); if( CalibrationStatus == M_CALIBRATED ) { /* Print camera information */ MosPrintf(MIL_TEXT("The camera has been calibrated.\n\n")); ShowCameraInformation(MilCalibration); /* Load source image into an image buffer. */ MbufLoad(OBJECT_ORIGINAL_IMAGE_FILE, MilImage); /* Set offset to the camera calibration plane and associate calibration to image. */ /* This moves the relative origin to the top of the first measured circle */ SetCalibrationOffset(MilCalibration, -RING_THICKNESS, MilImage); /* Measure the first circle. */ MosPrintf(MIL_TEXT("First measured circle at z = %.2f cm. "), -RING_THICKNESS); MeasureRing(MilSystem, MilDisplay, MilImage, RING1_POS1_X, RING1_POS1_Y ); /* Set offset to the camera calibration plane and associate calibration to image. */ /* This moves the relative origin to the top of the second measured circle */ SetCalibrationOffset(MilCalibration, -(STEP_THICKNESS+RING_THICKNESS), MilImage); /* Measure the second circle. */ MosPrintf(MIL_TEXT("Second measured circle at z = %.2f cm. "), -(STEP_THICKNESS+RING_THICKNESS)); MeasureRing(MilSystem, MilDisplay, MilImage, RING2_POS1_X, RING2_POS1_Y ); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Clear the overlay to transparent. */ MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); /* Move camera rotation with the tool */ McalSetCoordinateSystem(MilCalibration, M_TOOL_COORDINATE_SYSTEM, M_ABSOLUTE_COORDINATE_SYSTEM, M_ROTATION_YXZ + M_ASSIGN, M_NULL, ENCODER_ROTATION_Y, ENCODER_ROTATION_X, ENCODER_ROTATION_Z, M_DEFAULT); /* Move camera position with the tool */ McalSetCoordinateSystem(MilCalibration, M_TOOL_COORDINATE_SYSTEM, M_ABSOLUTE_COORDINATE_SYSTEM, M_TRANSLATION + M_COMPOSE_WITH_CURRENT, M_NULL, ENCODER_TRANSLATION_X, ENCODER_TRANSLATION_Y, ENCODER_TRANSLATION_Z, M_DEFAULT); /* Load source image into an image buffer. */ MbufLoad(OBJECT_MOVED_IMAGE_FILE, MilImage); /* Print camera information */ MosPrintf(MIL_TEXT("Calibration module moved camera position and camera \n")); MosPrintf(MIL_TEXT("orientation according to known encoder transformation.\n\n")); ShowCameraInformation(MilCalibration); /* Set offset to the camera calibration plane and associate calibration to image. */ /* This moves the relative origin to the top of the first measured circle */ SetCalibrationOffset(MilCalibration, -RING_THICKNESS, MilImage); /* Measure the first circle. */ MosPrintf(MIL_TEXT("First measured circle at z = %.2f cm. "), -RING_THICKNESS); MeasureRing(MilSystem, MilDisplay, MilImage, RING1_POS2_X, RING1_POS2_Y ); /* Set offset to the camera calibration plane and associate calibration to image. */ /* This moves the relative origin to the top of the second measured circle */ SetCalibrationOffset(MilCalibration, -(STEP_THICKNESS+RING_THICKNESS), MilImage); /* Measure the second circle. */ MosPrintf(MIL_TEXT("Second measured circle at z = %.2f cm. "), -(STEP_THICKNESS+RING_THICKNESS)); MeasureRing(MilSystem, MilDisplay, MilImage, RING2_POS2_X, RING2_POS2_Y ); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); } else { MosPrintf(MIL_TEXT("Calibration generated an exception.\n")); MosPrintf(MIL_TEXT("See User Guide to resolve the situation.\n\n")); } /* Free all allocations. */ McalFree(MilCalibration); MbufFree(MilImage); } /* Offset camera calibration plane. */ void SetCalibrationOffset(MIL_ID MilCalibration, MIL_DOUBLE ZOffset, MIL_ID MilImage) { McalSetCoordinateSystem(MilCalibration, M_RELATIVE_COORDINATE_SYSTEM, M_ABSOLUTE_COORDINATE_SYSTEM, M_TRANSLATION + M_ASSIGN, M_NULL, 0, 0, ZOffset, M_DEFAULT); /* Associate calibration context to source image */ McalAssociate(MilCalibration, MilImage, M_DEFAULT); } /* Measuring function with MilMetrology module */ void MeasureRing(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilImage, MIL_DOUBLE MeasureRingX, MIL_DOUBLE MeasureRingY ) { MIL_ID MilMetrolContext, /* Metrology Context */ MilMetrolResult, /* Metrology Result */ MilOverlayImage; /* Overlay image. */ MIL_DOUBLE Value; /* Prepare for overlay annotation. */ MdispControl(MilDisplay, M_OVERLAY, M_ENABLE); MdispInquire(MilDisplay, M_OVERLAY_ID, &MilOverlayImage); /* Allocate metrology context and result. */ MmetAlloc(MilSystem, M_DEFAULT, &MilMetrolContext); MmetAllocResult(MilSystem, M_DEFAULT, &MilMetrolResult); /* Add a first measured segment feature to context and set its search region */ MmetAddFeature(MilMetrolContext, M_MEASURED, M_CIRCLE, MEASURED_CIRCLE_LABEL, M_DEFAULT, M_NULL, M_NULL, 0, M_DEFAULT); MmetSetRegion(MilMetrolContext, M_FEATURE_LABEL(MEASURED_CIRCLE_LABEL), M_DEFAULT, M_RING, MeasureRingX, MeasureRingY, RING_START_RADIUS, RING_END_RADIUS, M_NULL, M_NULL ); /* Calculate */ MmetCalculate(MilMetrolContext, MilImage, MilMetrolResult, M_DEFAULT); /* Draw region */ MgraColor(M_DEFAULT, REGION_COLOR); MmetDraw(M_DEFAULT, MilMetrolResult, MilOverlayImage, M_DRAW_REGION, M_DEFAULT, M_DEFAULT); /* Draw features */ MgraColor(M_DEFAULT, FEATURE_COLOR); MmetDraw(M_DEFAULT, MilMetrolResult, MilOverlayImage, M_DRAW_FEATURE, M_DEFAULT, M_DEFAULT); MmetGetResult(MilMetrolResult, M_FEATURE_LABEL(MEASURED_CIRCLE_LABEL), M_RADIUS, &Value); MosPrintf(MIL_TEXT("Measured Radius: %.3f cm\n"), Value ); /* Free all allocations. */ MmetFree(MilMetrolResult); MmetFree(MilMetrolContext); } /* Print the current camera position and orientation */ void ShowCameraInformation(MIL_ID MilCalibration) { MIL_DOUBLE CameraPosX, CameraPosY, CameraPosZ, CameraYaw, CameraPitch, CameraRoll; McalGetCoordinateSystem(MilCalibration, M_CAMERA_COORDINATE_SYSTEM, M_ABSOLUTE_COORDINATE_SYSTEM, M_TRANSLATION, M_NULL, &CameraPosX, &CameraPosY, &CameraPosZ, M_NULL); McalGetCoordinateSystem(MilCalibration, M_CAMERA_COORDINATE_SYSTEM, M_ABSOLUTE_COORDINATE_SYSTEM, M_ROTATION_YXZ, M_NULL, &CameraYaw, &CameraPitch, &CameraRoll, M_NULL); /* Pause to show the corrected image of the grid. */ MosPrintf(MIL_TEXT("Camera Position in cm: (x, y, z) ") MIL_TEXT("(%.2f, %.2f, %.2f)\n"), CameraPosX, CameraPosY, CameraPosZ); MosPrintf(MIL_TEXT("Camera Orientation in degrees: (yaw, pitch, roll) ") MIL_TEXT("(%.2f, %.2f, %.2f)\n"), CameraYaw, CameraPitch, CameraRoll); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); } /***************************************************************************** Partial grid example. *****************************************************************************/ /* Source image files specification. */ #define PARTIAL_GRID_IMAGE_FILE M_IMAGE_PATH MIL_TEXT("PartialGrid.mim") /* Definition of the region to correct. */ #define CORRECTED_SIZE_X 60.0 #define CORRECTED_SIZE_Y 50.0 #define CORRECTED_OFFSET_X -35.0 #define CORRECTED_OFFSET_Y -5.0 #define CORRECTED_IMAGE_SIZE_X 512 /* Functions declarations for this example. */ void DrawGridInfo(MIL_ID MilGraList, MIL_CONST_TEXT_PTR InfoTag, MIL_DOUBLE Value, MIL_INT LineOffsetY, MIL_CONST_TEXT_PTR Units); void PartialGridCalibration(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilImage, /* Image buffer identifier. */ MilCorrectedImage, /* Corrected image identifier. */ MilGraList, /* Graphic list identifier. */ MilCalibration; /* Calibration identifier. */ MIL_INT CalibrationStatus, ImageType,CorrectedImageSizeY; MIL_DOUBLE RowSpacing, ColumnSpacing, CorrectedPixelSize; MIL_TEXT_CHAR UnitName[M_GRID_UNIT_SHORT_NAME_MAX_SIZE]; /* Clear the display */ MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); /* Allocate a graphic list and associate it to the display. */ MgraAllocList(MilSystem, M_DEFAULT, &MilGraList); MdispControl(MilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, MilGraList); /* Restore source image into an automatically allocated image buffer. */ MbufRestore(PARTIAL_GRID_IMAGE_FILE, MilSystem, &MilImage); MbufInquire(MilImage, M_TYPE, &ImageType); /* Display the image buffer. */ MdispSelect(MilDisplay, MilImage); /* Pause to show the partial grid image. */ MosPrintf(MIL_TEXT("\nPARTIAL GRID CALIBRATION:\n")); MosPrintf(MIL_TEXT("-------------------------\n\n")); MosPrintf(MIL_TEXT("A camera will be calibrated using a rectangular grid that\n")); MosPrintf(MIL_TEXT("is only partially visible in the camera's field of view.\n")); MosPrintf(MIL_TEXT("The 2D code in the center is used as a fiducial to retrieve\n")); MosPrintf(MIL_TEXT("the characteristics of the calibration grid.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Allocate the calibration object. */ McalAlloc(MilSystem, M_TSAI_BASED, M_DEFAULT, &MilCalibration); /* Set the calibration to calibrate a partial grid with fiducial. */ McalControl(MilCalibration, M_GRID_PARTIAL, M_ENABLE); McalControl(MilCalibration, M_GRID_FIDUCIAL, M_DATAMATRIX); /* Calibrate the camera with the partial grid with fiducial. */ McalGrid(MilCalibration, MilImage, GRID_OFFSET_X, GRID_OFFSET_Y, GRID_OFFSET_Z, M_UNKNOWN, M_UNKNOWN, M_FROM_FIDUCIAL, M_FROM_FIDUCIAL, M_DEFAULT, M_CHESSBOARD_GRID); McalInquire(MilCalibration, M_CALIBRATION_STATUS + M_TYPE_MIL_INT, &CalibrationStatus); if(CalibrationStatus == M_CALIBRATED) { /* Draw the absolute coordinate system. */ MgraColor(M_DEFAULT, M_COLOR_RED); McalDraw(M_DEFAULT, MilCalibration, MilGraList, M_DRAW_ABSOLUTE_COORDINATE_SYSTEM, M_DEFAULT, M_DEFAULT); /* Draw a box around the fiducial. */ MgraColor(M_DEFAULT, M_COLOR_CYAN); McalDraw(M_DEFAULT, MilCalibration, MilGraList, M_DRAW_FIDUCIAL_BOX, M_DEFAULT, M_DEFAULT); /* Get the information of the grid read from the fiducial. */ McalInquire(MilCalibration, M_ROW_SPACING, &RowSpacing); McalInquire(MilCalibration, M_COLUMN_SPACING, &ColumnSpacing); McalInquire(MilCalibration, M_GRID_UNIT_SHORT_NAME, UnitName); /* Draw the information of the grid read from the fiducial. */ MgraColor(M_DEFAULT, M_COLOR_RED); MgraControl(M_DEFAULT, M_INPUT_UNITS, M_DISPLAY); DrawGridInfo(MilGraList, MIL_TEXT("Row spacing"), RowSpacing, 0, UnitName); DrawGridInfo(MilGraList, MIL_TEXT("Col spacing"), ColumnSpacing, 1, UnitName); /* Pause to show the calibration result. */ MosPrintf(MIL_TEXT("The camera has been calibrated.\n\n")); MosPrintf(MIL_TEXT("The grid information read is displayed.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Calculate the pixel size and size Y of the corrected image. */ CorrectedPixelSize = CORRECTED_SIZE_X / CORRECTED_IMAGE_SIZE_X; CorrectedImageSizeY = (MIL_INT)(CORRECTED_SIZE_Y / CorrectedPixelSize); /* Allocate the corrected image. */ MbufAlloc2d(MilSystem, CORRECTED_IMAGE_SIZE_X, CorrectedImageSizeY, ImageType, M_IMAGE + M_PROC + M_DISP, &MilCorrectedImage); /* Calibrate the corrected image. */ McalUniform(MilCorrectedImage, CORRECTED_OFFSET_X, CORRECTED_OFFSET_Y, CorrectedPixelSize, CorrectedPixelSize, 0.0, M_DEFAULT); /* Correct the calibrated image. */ McalTransformImage(MilImage, MilCorrectedImage, MilCalibration, M_BILINEAR + M_OVERSCAN_CLEAR, M_DEFAULT, M_WARP_IMAGE + M_USE_DESTINATION_CALIBRATION); /* Select the corrected image on the display. */ MgraClear(M_DEFAULT, MilGraList); MdispSelect(MilDisplay, MilCorrectedImage); /* Pause to show the corrected image. */ MosPrintf(MIL_TEXT("A sub-region of the grid was selected and transformed\n")); MosPrintf(MIL_TEXT("to remove the distortions.\n")); MosPrintf(MIL_TEXT("The sub-region dimensions and position are:\n")); MosPrintf(MIL_TEXT(" Size X : % 3.3g %s\n"), CORRECTED_SIZE_X, UnitName); MosPrintf(MIL_TEXT(" Size Y : % 3.3g %s\n"), CORRECTED_SIZE_Y, UnitName); MosPrintf(MIL_TEXT(" Offset X: % 3.3g %s\n"), CORRECTED_OFFSET_X, UnitName); MosPrintf(MIL_TEXT(" Offset Y: % 3.3g %s\n"), CORRECTED_OFFSET_Y, UnitName); /* Wait for a key to be pressed. */ MosPrintf(MIL_TEXT("Press <Enter> to quit.\n\n")); MosGetch(); MbufFree(MilCorrectedImage); } else { MosPrintf(MIL_TEXT("Calibration generated an exception.\n")); MosPrintf(MIL_TEXT("See User Guide to resolve the situation.\n\n")); MosPrintf(MIL_TEXT("Press <Enter> to quit.\n\n")); MosGetch(); } /* Free all allocations. */ McalFree(MilCalibration); MbufFree(MilImage); MgraFree(MilGraList); } /* Definition of the parameters for the drawing of the grid info */ #define LINE_HEIGHT 16 #define MAX_INFO_SIZE 64 /* Draw an information of the grid. */ void DrawGridInfo(MIL_ID MilGraList, MIL_CONST_TEXT_PTR InfoTag, MIL_DOUBLE Value, MIL_INT LineOffsetY, MIL_CONST_TEXT_PTR Units) { MIL_TEXT_CHAR Info[MAX_INFO_SIZE]; MosSprintf(Info, MAX_INFO_SIZE, MIL_TEXT("%s: %.3g %s"), InfoTag, Value, Units); MgraText(M_DEFAULT, MilGraList, 0, LineOffsetY * LINE_HEIGHT, Info); }