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'******************************************************************************* ' ' File name: Mcal.vb ' 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. ' ' Copyright (C) Matrox Electronic Systems Ltd., 1992-2016. ' All Rights Reserved '******************************************************************************* Imports Microsoft.VisualBasic Imports System Imports System.Collections.Generic Imports System.Text Imports Matrox.MatroxImagingLibrary Namespace Mcal Friend Class Program ' Example selection. Private Const RUN_LINEAR_CALIBRATION_EXAMPLE As Integer = MIL.M_YES Private Const RUN_TSAI_CALIBRATION_EXAMPLE As Integer = MIL.M_YES Private Const RUN_PARTIAL_GRID_CALIBRATION_EXAMPLE As Integer = MIL.M_YES Shared Sub Main(ByVal args() As String) Dim MilApplication As MIL_ID = MIL.M_NULL ' Application identifier. Dim MilSystem As MIL_ID = MIL.M_NULL ' System Identifier. Dim MilDisplay As MIL_ID = MIL.M_NULL ' Display identifier. ' Allocate defaults. MIL.MappAllocDefault(MIL.M_DEFAULT, MilApplication, MilSystem, MilDisplay, CType(MIL.M_NULL, IntPtr), CType(MIL.M_NULL, IntPtr)) ' Print module name. Console.Write("CALIBRATION MODULE:" + Constants.vbLf) Console.Write("-------------------" + Constants.vbLf + Constants.vbLf) If RUN_LINEAR_CALIBRATION_EXAMPLE = MIL.M_YES Then LinearInterpolationCalibration(MilSystem, MilDisplay) End If If RUN_TSAI_CALIBRATION_EXAMPLE = MIL.M_YES Then TsaiCalibration(MilSystem, MilDisplay) End If If RUN_PARTIAL_GRID_CALIBRATION_EXAMPLE = MIL.M_YES Then PartialGridCalibration(MilSystem, MilDisplay) End If ' Free defaults. MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL) End Sub '**************************************************************************** ' Linear interpolation example. '**************************************************************************** ' Source image files specification. Private Const GRID_IMAGE_FILE As String = MIL.M_IMAGE_PATH & "CalGrid.mim" Private Const BOARD_IMAGE_FILE As String = MIL.M_IMAGE_PATH & "CalBoard.mim" ' World description of the calibration grid. Private Const GRID_OFFSET_X As Integer = 0 Private Const GRID_OFFSET_Y As Integer = 0 Private Const GRID_OFFSET_Z As Integer = 0 Private Const GRID_ROW_SPACING As Integer = 1 Private Const GRID_COLUMN_SPACING As Integer = 1 Private Const GRID_ROW_NUMBER As Integer = 18 Private Const GRID_COLUMN_NUMBER As Integer = 25 ' Measurement boxes specification. Private Const MEAS_BOX_POS_X1 As Integer = 55 Private Const MEAS_BOX_POS_Y1 As Integer = 24 Private Const MEAS_BOX_WIDTH1 As Integer = 7 Private Const MEAS_BOX_HEIGHT1 As Integer = 425 Private Const MEAS_BOX_POS_X2 As Integer = 225 Private Const MEAS_BOX_POS_Y2 As Integer = 11 Private Const MEAS_BOX_WIDTH2 As Integer = 7 Private Const MEAS_BOX_HEIGHT2 As Integer = 450 ' Specification of the stripes' constraints. Private Const WIDTH_APPROXIMATION As Integer = 410 Private Const WIDTH_VARIATION As Integer = 25 Private Const MIN_EDGE_VALUE As Integer = 5 Private Shared Sub LinearInterpolationCalibration(ByVal MilSystem As MIL_ID, ByVal MilDisplay As MIL_ID) Dim MilImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim MilOverlayImage As MIL_ID = MIL.M_NULL ' Overlay image. Dim MilCalibration As MIL_ID = MIL.M_NULL ' Calibration identifier. Dim MeasMarker1 As MIL_ID = MIL.M_NULL ' Measurement marker identifier. Dim MeasMarker2 As MIL_ID = MIL.M_NULL ' Measurement marker identifier. Dim WorldDistance1 As Double = 0.0 Dim WorldDistance2 As Double = 0.0 Dim PixelDistance1 As Double = 0.0 Dim PixelDistance2 As Double = 0.0 Dim PosX1 As Double = 0.0 Dim PosY1 As Double = 0.0 Dim PosX2 As Double = 0.0 Dim PosY2 As Double = 0.0 Dim PosX3 As Double = 0.0 Dim PosY3 As Double = 0.0 Dim PosX4 As Double = 0.0 Dim PosY4 As Double = 0.0 Dim CalibrationStatus As MIL_INT = 0 ' Clear the display. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT) ' Restore source image into an automatically allocated image buffer. MIL.MbufRestore(GRID_IMAGE_FILE, MilSystem, MilImage) ' Display the image buffer. MIL.MdispSelect(MilDisplay, MilImage) ' Prepare for overlay annotation. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_ENABLE) MIL.MdispInquire(MilDisplay, MIL.M_OVERLAY_ID, MilOverlayImage) ' Pause to show the original image. Console.Write(Constants.vbLf + "LINEAR INTERPOLATION CALIBRATION:" + Constants.vbLf) Console.Write("---------------------------------" + Constants.vbLf + Constants.vbLf) Console.Write("The displayed grid has been grabbed with a high distortion" + Constants.vbLf) Console.Write("camera and will be used to calibrate the camera." + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Allocate a camera calibration context. MIL.McalAlloc(MilSystem, MIL.M_DEFAULT, MIL.M_DEFAULT, MilCalibration) ' Calibrate the camera with the image of the grid and its world description. MIL.McalGrid(MilCalibration, MilImage, GRID_OFFSET_X, GRID_OFFSET_Y, GRID_OFFSET_Z, GRID_ROW_NUMBER, GRID_COLUMN_NUMBER, GRID_ROW_SPACING, GRID_COLUMN_SPACING, MIL.M_DEFAULT, MIL.M_DEFAULT) MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_STATUS + MIL.M_TYPE_MIL_INT, CalibrationStatus) If CalibrationStatus = MIL.M_CALIBRATED Then ' Perform a first image transformation with the calibration grid. MIL.McalTransformImage(MilImage, MilImage, MilCalibration, MIL.M_BILINEAR Or MIL.M_OVERSCAN_CLEAR, MIL.M_DEFAULT, MIL.M_DEFAULT) ' Pause to show the corrected image of the grid. Console.Write("The camera has been calibrated and the image of the grid" + Constants.vbLf) Console.Write("has been transformed to remove its distortions." + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Read the image of the board and associate the calibration to the image. MIL.MbufLoad(BOARD_IMAGE_FILE, MilImage) MIL.McalAssociate(MilCalibration, MilImage, MIL.M_DEFAULT) ' Allocate the measurement markers. MIL.MmeasAllocMarker(MilSystem, MIL.M_STRIPE, MIL.M_DEFAULT, MeasMarker1) MIL.MmeasAllocMarker(MilSystem, MIL.M_STRIPE, MIL.M_DEFAULT, MeasMarker2) ' Set the markers' measurement regions. MIL.MmeasSetMarker(MeasMarker1, MIL.M_BOX_ORIGIN, MEAS_BOX_POS_X1, MEAS_BOX_POS_Y1) MIL.MmeasSetMarker(MeasMarker1, MIL.M_BOX_SIZE, MEAS_BOX_WIDTH1, MEAS_BOX_HEIGHT1) MIL.MmeasSetMarker(MeasMarker2, MIL.M_BOX_ORIGIN, MEAS_BOX_POS_X2, MEAS_BOX_POS_Y2) MIL.MmeasSetMarker(MeasMarker2, MIL.M_BOX_SIZE, MEAS_BOX_WIDTH2, MEAS_BOX_HEIGHT2) ' Set markers' orientation. MIL.MmeasSetMarker(MeasMarker1, MIL.M_ORIENTATION, MIL.M_HORIZONTAL, MIL.M_NULL) MIL.MmeasSetMarker(MeasMarker2, MIL.M_ORIENTATION, MIL.M_HORIZONTAL, MIL.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. */ MIL.MmeasSetMarker(MeasMarker1, MIL.M_EDGEVALUE_MIN, MIN_EDGE_VALUE, MIL.M_NULL) ' Remove the default strength characteristic score mapping. MIL.MmeasSetScore(MeasMarker1, MIL.M_STRENGTH_SCORE, _ 0.0, _ 0.0, _ MIL.M_MAX_POSSIBLE_VALUE, _ MIL.M_MAX_POSSIBLE_VALUE, _ MIL.M_DEFAULT, _ MIL.M_DEFAULT, _ MIL.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 ' MIL.MmeasSetScore(MeasMarker1, MIL.M_STRIPE_WIDTH_SCORE, _ WIDTH_APPROXIMATION - WIDTH_VARIATION, _ WIDTH_APPROXIMATION + WIDTH_VARIATION, _ WIDTH_APPROXIMATION + WIDTH_VARIATION, _ WIDTH_APPROXIMATION + WIDTH_VARIATION, _ MIL.M_DEFAULT, _ MIL.M_PIXEL, _ MIL.M_DEFAULT) ' Set the same settings for the second marker. MIL.MmeasSetMarker(MeasMarker2, MIL.M_EDGEVALUE_MIN, MIN_EDGE_VALUE, MIL.M_NULL) MIL.MmeasSetScore(MeasMarker2, MIL.M_STRENGTH_SCORE, _ 0.0, _ 0.0, _ MIL.M_MAX_POSSIBLE_VALUE, _ MIL.M_MAX_POSSIBLE_VALUE, _ MIL.M_DEFAULT, _ MIL.M_DEFAULT, _ MIL.M_DEFAULT) MIL.MmeasSetScore(MeasMarker2, MIL.M_STRIPE_WIDTH_SCORE, _ WIDTH_APPROXIMATION - WIDTH_VARIATION, _ WIDTH_APPROXIMATION + WIDTH_VARIATION, _ WIDTH_APPROXIMATION + WIDTH_VARIATION, _ WIDTH_APPROXIMATION + WIDTH_VARIATION, _ MIL.M_DEFAULT, _ MIL.M_PIXEL, _ MIL.M_DEFAULT) ' Find and measure the position and width of the board. MIL.MmeasFindMarker(MIL.M_DEFAULT, MilImage, MeasMarker1, MIL.M_STRIPE_WIDTH + MIL.M_POSITION) MIL.MmeasFindMarker(MIL.M_DEFAULT, MilImage, MeasMarker2, MIL.M_STRIPE_WIDTH + MIL.M_POSITION) ' Get the world width of the two markers. MIL.MmeasGetResult(MeasMarker1, MIL.M_STRIPE_WIDTH, WorldDistance1) MIL.MmeasGetResult(MeasMarker2, MIL.M_STRIPE_WIDTH, WorldDistance2) ' Get the pixel width of the two markers. MIL.MmeasSetMarker(MeasMarker1, MIL.M_RESULT_OUTPUT_UNITS, MIL.M_PIXEL, MIL.M_NULL) MIL.MmeasSetMarker(MeasMarker2, MIL.M_RESULT_OUTPUT_UNITS, MIL.M_PIXEL, MIL.M_NULL) MIL.MmeasGetResult(MeasMarker1, MIL.M_STRIPE_WIDTH, PixelDistance1) MIL.MmeasGetResult(MeasMarker2, MIL.M_STRIPE_WIDTH, PixelDistance2) ' Get the edges position in pixel to draw the annotations. MIL.MmeasGetResult(MeasMarker1, MIL.M_POSITION + MIL.M_EDGE_FIRST, PosX1, PosY1) MIL.MmeasGetResult(MeasMarker1, MIL.M_POSITION + MIL.M_EDGE_SECOND, PosX2, PosY2) MIL.MmeasGetResult(MeasMarker2, MIL.M_POSITION + MIL.M_EDGE_FIRST, PosX3, PosY3) MIL.MmeasGetResult(MeasMarker2, MIL.M_POSITION + MIL.M_EDGE_SECOND, PosX4, PosY4) ' Draw the measurement indicators on the image. MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_YELLOW) MIL.MmeasDraw(MIL.M_DEFAULT, MeasMarker1, MilOverlayImage, MIL.M_DRAW_WIDTH, MIL.M_DEFAULT, MIL.M_RESULT) MIL.MmeasDraw(MIL.M_DEFAULT, MeasMarker2, MilOverlayImage, MIL.M_DRAW_WIDTH, MIL.M_DEFAULT, MIL.M_RESULT) MIL.MgraBackColor(MIL.M_DEFAULT, MIL.M_COLOR_BLACK) MIL.MgraText(MIL.M_DEFAULT, MilOverlayImage, CInt(Fix(PosX1 + 0.5 - 40)), CInt(Fix((PosY1 + 0.5) + ((PosY2 - PosY1) / 2.0))), " Distance 1 ") MIL.MgraText(MIL.M_DEFAULT, MilOverlayImage, CInt(Fix(PosX3 + 0.5 - 40)), CInt(Fix((PosY3 + 0.5) + ((PosY4 - PosY3) / 2.0))), " Distance 2 ") ' Pause to show the original image and the measurement results. Console.Write("A distorted image grabbed with the same camera was loaded and" + Constants.vbLf) Console.Write("calibrated measurements were done to evaluate the board dimensions." + Constants.vbLf) Console.Write(Constants.vbLf + "========================================================" + Constants.vbLf) Console.Write(" Distance 1 Distance 2 " + Constants.vbLf) Console.Write("--------------------------------------------------------" + Constants.vbLf) Console.Write(" Calibrated unit: {0,8:0.00} cm {1,6:0.00} cm " + Constants.vbLf, WorldDistance1, WorldDistance2) Console.Write(" Uncalibrated unit: {0,8:0.00} pixels {1,6:0.00} pixels" + Constants.vbLf, PixelDistance1, PixelDistance2) Console.Write("========================================================" + Constants.vbLf + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Clear the display overlay. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT) ' Read the image of the PCB. MIL.MbufLoad(BOARD_IMAGE_FILE, MilImage) ' Transform the image of the board. MIL.McalTransformImage(MilImage, MilImage, MilCalibration, MIL.M_BILINEAR + MIL.M_OVERSCAN_CLEAR, MIL.M_DEFAULT, MIL.M_DEFAULT) ' show the transformed image of the board. Console.Write("The image was corrected to remove its distortions." + Constants.vbLf) ' Free measurement markers. MIL.MmeasFree(MeasMarker1) MIL.MmeasFree(MeasMarker2) Else Console.Write("Calibration generated an exception." + Constants.vbLf) Console.Write("See User Guide to resolve the situation." + Constants.vbLf + Constants.vbLf) End If ' Wait for a key to be pressed. Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Free all allocations. MIL.McalFree(MilCalibration) MIL.MbufFree(MilImage) End Sub '**************************************************************************** ' Tsai example. '**************************************************************************** ' Source image files specification. Private Const GRID_ORIGINAL_IMAGE_FILE As String = MIL.M_IMAGE_PATH & "CalGridOriginal.mim" Private Const OBJECT_ORIGINAL_IMAGE_FILE As String = MIL.M_IMAGE_PATH & "CalObjOriginal.mim" Private Const OBJECT_MOVED_IMAGE_FILE As String = MIL.M_IMAGE_PATH & "CalObjMoved.mim" ' World description of the calibration grid. Private Const GRID_ORG_ROW_SPACING As Double = 1.5 Private Const GRID_ORG_COLUMN_SPACING As Double = 1.5 Private Const GRID_ORG_ROW_NUMBER As Integer = 12 Private Const GRID_ORG_COLUMN_NUMBER As Integer = 13 Private Const GRID_ORG_OFFSET_X As Integer = 0 Private Const GRID_ORG_OFFSET_Y As Integer = 0 Private Const GRID_ORG_OFFSET_Z As Integer = 0 ' Camera transformation Private Const ENCODER_TRANSLATION_X As Double = 0.817 Private Const ENCODER_TRANSLATION_Y As Double = 13.293 Private Const ENCODER_TRANSLATION_Z As Double = -14.06 Private Const ENCODER_ROTATION_Y As Double = 354.207 Private Const ENCODER_ROTATION_X As Double = 317.467 Private Const ENCODER_ROTATION_Z As Double = 281.969 ' Region parameters for metrology Private Const MEASURED_CIRCLE_LABEL As Integer = 1 Private Const RING1_POS1_X As Double = 2.3 Private Const RING1_POS1_Y As Double = 3.9 Private Const RING2_POS1_X As Double = 10.7 Private Const RING2_POS1_Y As Double = 11.1 Private Const RING1_POS2_X As Double = 8.6 Private Const RING1_POS2_Y As Double = 2.5 Private Const RING2_POS2_X As Double = 7.9 Private Const RING2_POS2_Y As Double = 13.2 Private Const RING_START_RADIUS As Double = 1.25 Private Const RING_END_RADIUS As Double = 2.3 ' measured plane position Private Const RING_THICKNESS As Double = 0.175 Private Const STEP_THICKNESS As Double = 4.0 ' Color definitions Private Shared ReadOnly REGION_COLOR As Integer = MIL.M_RGB888(0, 100, 255) Private Shared ReadOnly FEATURE_COLOR As Integer = MIL.M_RGB888(255, 0, 255) Private Shared Sub TsaiCalibration(ByVal MilSystem As MIL_ID, ByVal MilDisplay As MIL_ID) Dim MilImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim MilCalibration As MIL_ID = MIL.M_NULL ' Calibration identifier. Dim CalibrationStatus As MIL_INT = 0 ' Restore source image into an automatically allocated image buffer. MIL.MbufRestore(GRID_ORIGINAL_IMAGE_FILE, MilSystem, MilImage) ' Display the image buffer. MIL.MdispSelect(MilDisplay, MilImage) ' Pause to show the original image. Console.Write(Constants.vbLf + "TSAI BASED CALIBRATION:" + Constants.vbLf) Console.Write("-----------------------" + Constants.vbLf + Constants.vbLf) Console.Write("The displayed grid has been grabbed with a high perspective" + Constants.vbLf) Console.Write("camera and will be used to calibrate the camera." + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Allocate a camera calibration context. MIL.McalAlloc(MilSystem, MIL.M_TSAI_BASED, MIL.M_DEFAULT, MilCalibration) ' Calibrate the camera with the image of the grid and its world description. MIL.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, _ MIL.M_DEFAULT, _ MIL.M_DEFAULT) ' Verify if the camera calibration was successful. MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_STATUS + MIL.M_TYPE_MIL_INT, CalibrationStatus) If CalibrationStatus = MIL.M_CALIBRATED Then ' Print camera information Console.Write("The camera has been calibrated." + Constants.vbLf + Constants.vbLf) ShowCameraInformation(MilCalibration) ' Load source image into an image buffer. MIL.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. Console.Write("First measured circle at z = {0:0.00} 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. Console.Write("Second measured circle at z = {0:0.00} cm. ", -(STEP_THICKNESS + RING_THICKNESS)) MeasureRing(MilSystem, MilDisplay, MilImage, RING2_POS1_X, RING2_POS1_Y) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Clear the overlay to transparent. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT) ' Move camera rotation with the tool MIL.McalSetCoordinateSystem(MilCalibration, _ MIL.M_TOOL_COORDINATE_SYSTEM, _ MIL.M_ABSOLUTE_COORDINATE_SYSTEM, _ MIL.M_ROTATION_YXZ Or MIL.M_ASSIGN, _ MIL.M_NULL, _ ENCODER_ROTATION_Y, _ ENCODER_ROTATION_X, _ ENCODER_ROTATION_Z, _ MIL.M_DEFAULT) ' Move camera position with the tool MIL.McalSetCoordinateSystem(MilCalibration, _ MIL.M_TOOL_COORDINATE_SYSTEM, _ MIL.M_ABSOLUTE_COORDINATE_SYSTEM, _ MIL.M_TRANSLATION Or MIL.M_COMPOSE_WITH_CURRENT, _ MIL.M_NULL, _ ENCODER_TRANSLATION_X, _ ENCODER_TRANSLATION_Y, _ ENCODER_TRANSLATION_Z, _ MIL.M_DEFAULT) ' Load source image into an image buffer. MIL.MbufLoad(OBJECT_MOVED_IMAGE_FILE, MilImage) ' Print camera information Console.Write("Calibration module moved camera position and camera " + Constants.vbLf) Console.Write("orientation according to known encoder transformation." + Constants.vbLf + Constants.vbLf) 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. Console.Write("First measured circle at z = {0:0.00} 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. Console.Write("Second measured circle at z = {0:0.00} cm. ", -(STEP_THICKNESS + RING_THICKNESS)) MeasureRing(MilSystem, MilDisplay, MilImage, RING2_POS2_X, RING2_POS2_Y) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() Else Console.Write("Calibration generated an exception." + Constants.vbLf) Console.Write("See User Guide to resolve the situation." + Constants.vbLf + Constants.vbLf) End If ' Free all allocations. MIL.McalFree(MilCalibration) MIL.MbufFree(MilImage) End Sub ' Offset camera calibration plane. Private Shared Sub SetCalibrationOffset(ByVal MilCalibration As MIL_ID, ByVal ZOffset As Double, ByVal MilImage As MIL_ID) MIL.McalSetCoordinateSystem(MilCalibration, MIL.M_RELATIVE_COORDINATE_SYSTEM, MIL.M_ABSOLUTE_COORDINATE_SYSTEM, MIL.M_TRANSLATION + MIL.M_ASSIGN, MIL.M_NULL, 0, 0, ZOffset, MIL.M_DEFAULT) ' Associate calibration context to source image MIL.McalAssociate(MilCalibration, MilImage, MIL.M_DEFAULT) End Sub ' Measuring function with MilMetrology module Private Shared Sub MeasureRing(ByVal MilSystem As MIL_ID, ByVal MilDisplay As MIL_ID, ByVal MilImage As MIL_ID, ByVal MeasureRingX As Double, ByVal MeasureRingY As Double) Dim MilMetrolContext As MIL_ID = MIL.M_NULL ' Metrology Context. Dim MilMetrolResult As MIL_ID = MIL.M_NULL ' Metrology Result. Dim MilOverlayImage As MIL_ID = MIL.M_NULL ' Overlay image. Dim Value As Double = 0.0 ' Prepare for overlay annotation. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_ENABLE) MIL.MdispInquire(MilDisplay, MIL.M_OVERLAY_ID, MilOverlayImage) ' Allocate metrology context and result. MIL.MmetAlloc(MilSystem, MIL.M_DEFAULT, MilMetrolContext) MIL.MmetAllocResult(MilSystem, MIL.M_DEFAULT, MilMetrolResult) ' Add a first measured segment feature to context and set its search region. MIL.MmetAddFeature(MilMetrolContext, MIL.M_MEASURED, MIL.M_CIRCLE, MEASURED_CIRCLE_LABEL, MIL.M_DEFAULT, CType(MIL.M_NULL, IntPtr), CType(MIL.M_NULL, IntPtr), 0, MIL.M_DEFAULT) MIL.MmetSetRegion(MilMetrolContext, MIL.M_FEATURE_LABEL(MEASURED_CIRCLE_LABEL), MIL.M_DEFAULT, MIL.M_RING, MeasureRingX, MeasureRingY, RING_START_RADIUS, RING_END_RADIUS, MIL.M_NULL, MIL.M_NULL) ' Calculate. MIL.MmetCalculate(MilMetrolContext, MilImage, MilMetrolResult, MIL.M_DEFAULT) ' Draw region. MIL.MgraColor(MIL.M_DEFAULT, REGION_COLOR) MIL.MmetDraw(MIL.M_DEFAULT, MilMetrolResult, MilOverlayImage, MIL.M_DRAW_REGION, MIL.M_DEFAULT, MIL.M_DEFAULT) ' Draw features. MIL.MgraColor(MIL.M_DEFAULT, FEATURE_COLOR) MIL.MmetDraw(MIL.M_DEFAULT, MilMetrolResult, MilOverlayImage, MIL.M_DRAW_FEATURE, MIL.M_DEFAULT, MIL.M_DEFAULT) MIL.MmetGetResult(MilMetrolResult, MIL.M_FEATURE_LABEL(MEASURED_CIRCLE_LABEL), MIL.M_RADIUS, Value) Console.Write("Measured Radius: {0:0.000} cm" + Constants.vbLf, Value) ' Free all allocations. MIL.MmetFree(MilMetrolResult) MIL.MmetFree(MilMetrolContext) End Sub ' Print the current camera position and orientation Private Shared Sub ShowCameraInformation(ByVal MilCalibration As MIL_ID) Dim CameraPosX As Double = 0.0 Dim CameraPosY As Double = 0.0 Dim CameraPosZ As Double = 0.0 Dim CameraYaw As Double = 0.0 Dim CameraPitch As Double = 0.0 Dim CameraRoll As Double = 0.0 MIL.McalGetCoordinateSystem(MilCalibration, MIL.M_CAMERA_COORDINATE_SYSTEM, MIL.M_ABSOLUTE_COORDINATE_SYSTEM, MIL.M_TRANSLATION, CType(MIL.M_NULL, IntPtr), CameraPosX, CameraPosY, CameraPosZ, CType(MIL.M_NULL, IntPtr)) MIL.McalGetCoordinateSystem(MilCalibration, MIL.M_CAMERA_COORDINATE_SYSTEM, MIL.M_ABSOLUTE_COORDINATE_SYSTEM, MIL.M_ROTATION_YXZ, CType(MIL.M_NULL, IntPtr), CameraYaw, CameraPitch, CameraRoll, CType(MIL.M_NULL, IntPtr)) ' Pause to show the corrected image of the grid. Console.Write("Camera Position in cm: (x, y, z) ({0:0.00}, {1:0.00}, {2:0.00})" + Constants.vbLf, CameraPosX, CameraPosY, CameraPosZ) Console.Write("Camera Orientation in degrees: (yaw, pitch, roll) ({0:0.00}, {1:0.00}, {2:0.00})" + Constants.vbLf, CameraYaw, CameraPitch, CameraRoll) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() End Sub '**************************************************************************** ' Partial grid example. ' *************************************************************************** ' Source image files specification. Private Const PARTIAL_GRID_IMAGE_FILE As String = MIL.M_IMAGE_PATH & "PartialGrid.mim" ' Definition of the region to correct. Private Const CORRECTED_SIZE_X As Double = 60.0 Private Const CORRECTED_SIZE_Y As Double = 50.0 Private Const CORRECTED_OFFSET_X As Double = -35.0 Private Const CORRECTED_OFFSET_Y As Double = -5.0 Private Const CORRECTED_IMAGE_SIZE_X As Integer = 512 ' Definition of the parameters for the drawing of the grid info Private Const LINE_HEIGHT As Integer = 15 Private Const INFO_RECT_WIDTH As Integer = 180 Private Const INFO_RECT_HEIGHT As Integer = 30 Shared Sub PartialGridCalibration(ByVal MilSystem As MIL_ID, ByVal MilDisplay As MIL_ID) Dim MilImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim MilCorrectedImage As MIL_ID = MIL.M_NULL ' Corrected image identifier. Dim MilGraList As MIL_ID = MIL.M_NULL ' Graphic list identifier. Dim MilCalibration As MIL_ID = MIL.M_NULL ' Calibration identifier. Dim CalibrationStatus, ImageType, CorrectedImageSizeY As MIL_INT Dim RowSpacing, ColumnSpacing, CorrectedPixelSize As Double Const BaseUnits As String = "m" Dim BaseUnitFactor As Double = 0.001 ' Clear the display MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT) ' Allocate a graphic list and associate it to the display. MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, MilGraList) MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, MilGraList) ' Restore source image into an automatically allocated image buffer. MIL.MbufRestore(PARTIAL_GRID_IMAGE_FILE, MilSystem, MilImage) MIL.MbufInquire(MilImage, MIL.M_TYPE, ImageType) ' Display the image buffer. MIL.MdispSelect(MilDisplay, MilImage) ' Pause to show the partial grid image. Console.Write(Constants.vbLf & "PARTIAL GRID CALIBRATION:" & Constants.vbLf) Console.Write("-------------------------" & Constants.vbLf + Constants.vbLf) Console.Write("A camera will be calibrated using a rectangular grid that" & Constants.vbLf) Console.Write("is only partially visible in the camera's field of view." & Constants.vbLf) Console.Write("The 2D code in the center is used as a fiducial to retrieve" & Constants.vbLf) Console.Write("the characteristics of the calibration grid." & Constants.vbLf) Console.ReadKey() ' Allocate the calibration object. MIL.McalAlloc(MilSystem, MIL.M_TSAI_BASED, MIL.M_DEFAULT, MilCalibration) ' Set the calibration to calibrate a partial grid with fiducial. MIL.McalControl(MilCalibration, MIL.M_GRID_PARTIAL, MIL.M_ENABLE) MIL.McalControl(MilCalibration, MIL.M_GRID_FIDUCIAL, MIL.M_DATAMATRIX) ' Calibrate the camera with the partial grid with fiducial. MIL.McalGrid(MilCalibration, _ MilImage, _ GRID_OFFSET_X, _ GRID_OFFSET_Y, _ GRID_OFFSET_Z, _ MIL.M_UNKNOWN, _ MIL.M_UNKNOWN, _ MIL.M_FROM_FIDUCIAL, _ MIL.M_FROM_FIDUCIAL, _ MIL.M_DEFAULT, _ MIL.M_CHESSBOARD_GRID) MIL.McalInquire(MilCalibration, MIL.M_CALIBRATION_STATUS + MIL.M_TYPE_MIL_INT, CalibrationStatus) If CalibrationStatus = MIL.M_CALIBRATED Then ' Draw the absolute coordinate system. MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_RED) MIL.McalDraw(MIL.M_DEFAULT, MilCalibration, MilGraList, MIL.M_DRAW_ABSOLUTE_COORDINATE_SYSTEM + MIL.M_DRAW_AXES, MIL.M_DEFAULT, MIL.M_DEFAULT) MIL.McalDraw(MIL.M_DEFAULT, MilCalibration, MilGraList, MIL.M_DRAW_ABSOLUTE_COORDINATE_SYSTEM + MIL.M_DRAW_MAJOR_MARKS, MIL.M_DEFAULT, MIL.M_DEFAULT) MIL.McalDraw(MIL.M_DEFAULT, MilCalibration, MilGraList, MIL.M_DRAW_ABSOLUTE_COORDINATE_SYSTEM + MIL.M_DRAW_MINOR_MARKS, MIL.M_DEFAULT, MIL.M_DEFAULT) ' Get the information of the grid read from the fiducial. MIL.McalInquire(MilCalibration, MIL.M_ROW_SPACING, RowSpacing) MIL.McalInquire(MilCalibration, MIL.M_COLUMN_SPACING, ColumnSpacing) ' Draw the information of the grid read from the fiducial. MIL.MgraControl(MIL.M_DEFAULT, MIL.M_INPUT_UNITS, MIL.M_DISPLAY) MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_BLACK) MIL.MgraRectFill(MIL.M_DEFAULT, MilGraList, 0, 0, INFO_RECT_WIDTH, INFO_RECT_HEIGHT) MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_RED) DrawGridInfo(MilGraList, "Row spacing", RowSpacing * BaseUnitFactor, 0, BaseUnits) DrawGridInfo(MilGraList, "Col spacing", ColumnSpacing * BaseUnitFactor, 1, BaseUnits) ' Pause to show the calibration result. Console.Write("The camera has been calibrated." & Constants.vbLf + Constants.vbLf) Console.Write("The grid information read is displayed." & Constants.vbLf) Console.Write("Press <Enter> to continue." & Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Calculate the pixel size and size Y of the corrected image. CorrectedPixelSize = CORRECTED_SIZE_X / CORRECTED_IMAGE_SIZE_X CorrectedImageSizeY = CType(CORRECTED_SIZE_Y / CorrectedPixelSize, MIL_INT) ' Allocate the corrected image. MIL.MbufAlloc2d(MilSystem, CORRECTED_IMAGE_SIZE_X, CorrectedImageSizeY, ImageType, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP, MilCorrectedImage) ' Calibrate the corrected image. MIL.McalUniform(MilCorrectedImage, CORRECTED_OFFSET_X, CORRECTED_OFFSET_Y, CorrectedPixelSize, CorrectedPixelSize, 0.0, MIL.M_DEFAULT) ' Correct the calibrated image. MIL.McalTransformImage(MilImage, _ MilCorrectedImage, _ MilCalibration, _ MIL.M_BILINEAR + MIL.M_OVERSCAN_CLEAR, _ MIL.M_DEFAULT, _ MIL.M_WARP_IMAGE + MIL.M_USE_DESTINATION_CALIBRATION) ' Select the corrected image on the display. MIL.MgraClear(MIL.M_DEFAULT, MilGraList) MIL.MdispSelect(MilDisplay, MilCorrectedImage) ' Pause to show the corrected image. Console.Write("A sub-region of the grid was selected and transformed" & Constants.vbLf) Console.Write("to remove the distortions." & Constants.vbLf) Console.Write("The sub-region dimensions and position are:" & Constants.vbLf) Console.Write(" Size X : {0:F3} {1}" & Constants.vbLf, CORRECTED_SIZE_X * BaseUnitFactor, BaseUnits) Console.Write(" Size Y : {0:F3} {1}" & Constants.vbLf, CORRECTED_SIZE_Y * BaseUnitFactor, BaseUnits) Console.Write(" Offset X: {0:F3} {1}" & Constants.vbLf, CORRECTED_OFFSET_X * BaseUnitFactor, BaseUnits) Console.Write(" Offset Y: {0:F3} {1}" & Constants.vbLf, CORRECTED_OFFSET_Y * BaseUnitFactor, BaseUnits) Else Console.Write("Calibration generated an exception." & Constants.vbLf) Console.Write("See User Guide to resolve the situation." & Constants.vbLf + Constants.vbLf) End If ' Wait for a key to be pressed. Console.Write("Press <Enter> to quit." & Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Free all allocations. MIL.MbufFree(MilCorrectedImage) MIL.McalFree(MilCalibration) MIL.MbufFree(MilImage) MIL.MgraFree(MilGraList) End Sub ' Draw an information of the grid. Shared Sub DrawGridInfo(ByVal MilGraList As MIL_ID, _ ByVal InfoTag As String, _ ByVal Value As Double, _ ByVal LineOffsetY As MIL_INT, _ ByVal Units As String) Dim Info As String = String.Format("{0}: {1:F3} {2}", InfoTag, Value, Units) MIL.MgraText(MIL.M_DEFAULT, MilGraList, 0, LineOffsetY * LINE_HEIGHT, Info) End Sub End Class End Namespace