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/*****************************************************************************/ /* * File name: MImLocatePeak1d.cpp * Location: See Matrox Example Launcher in the MIL Control Center * * * Synopsis: This program finds the peak in each column of an input sequence * and reconstruct the height of a 3d object using it. * * Copyright (C) Matrox Electronic Systems Ltd., 1992-2016. * All Rights Reserved */ #include <mil.h> #if M_MIL_USE_WINDOWS && !M_MIL_USE_CE && !M_MIL_USE_RT /*Include DirectX display only in Windows*/ #include "MdispD3D.h" #endif /* Input sequence specifications. */ #define SEQUENCE_FILE M_IMAGE_PATH MIL_TEXT("HandWithLaser.avi") /* Peak detection parameters. */ // ^ + // | + + // | + <-Width-> + <------------ // | + + | Min contrast // | ++++ ++++++++ <--- // | // | // ------------------------------> // Peak intensity profile #define LINE_WIDTH_AVERAGE 20 #define LINE_WIDTH_DELTA 20 #define MIN_CONTRAST 100.0 #define NB_FIXED_POINT 4 /* D3D display parameters */ #define D3D_DISPLAY_SIZE_X 640 #define D3D_DISPLAY_SIZE_Y 480 #define D3D_MESH_SCALING_X -1.0 #define D3D_MESH_SCALING_Y 4.0 #define D3D_MESH_SCALING_Z -0.13 int MosMain(void) { MIL_ID MilApplication, /* Application identifier. */ MilSystem, /* System identifier. */ MilDisplay, /* Display identifier. */ MilDisplayImage, /* Image buffer identifier. */ MilImage, /* Image buffer identifier. */ MilPosYImage, /* Image buffer identifier. */ MilValImage, /* Image buffer identifier. */ MilContext, /* Processing context identifier. */ MilLocatePeak, /* Processing result identifier. */ MilStatContext = M_NULL, /* Statistics context identifier. */ MilExtreme = M_NULL; /* Result buffer identifier. */ MIL_INT SizeX, SizeY, NumberOfImages; MIL_DOUBLE FrameRate; MIL_INT n; MIL_DOUBLE PreviousTime, StartTime, EndTime, TotalProcessTime, WaitTime; MIL_INT ExtremePosY[2] = {0, 0}; /* Allocate defaults. */ MappAllocDefault(M_DEFAULT, &MilApplication, &MilSystem, &MilDisplay, M_NULL, M_NULL); /* Inquire characteristics of the input sequence. */ MbufDiskInquire(SEQUENCE_FILE, M_SIZE_X, &SizeX); MbufDiskInquire(SEQUENCE_FILE, M_SIZE_Y, &SizeY); MbufDiskInquire(SEQUENCE_FILE, M_NUMBER_OF_IMAGES, &NumberOfImages); MbufDiskInquire(SEQUENCE_FILE, M_FRAME_RATE, &FrameRate); /* Allocate buffers to hold images. */ MbufAlloc2d(MilSystem, SizeX, SizeY , 8+M_UNSIGNED, M_IMAGE+M_PROC, &MilImage); MbufAlloc2d(MilSystem, SizeX, SizeY , 8+M_UNSIGNED, M_IMAGE+M_DISP, &MilDisplayImage); MbufAlloc2d(MilSystem, SizeX, NumberOfImages, 16+M_UNSIGNED, M_IMAGE+M_PROC, &MilPosYImage); MbufAlloc2d(MilSystem, SizeX, NumberOfImages, 8+M_UNSIGNED, M_IMAGE+M_PROC, &MilValImage); /* Allocate context for MimLocatePeak1D */ MimAlloc(MilSystem,M_LOCATE_PEAK_1D_CONTEXT, M_DEFAULT, &MilContext); /* Allocate result for MimLocatePeak1D */ MimAllocResult(MilSystem,M_DEFAULT, M_LOCATE_PEAK_1D_RESULT, &MilLocatePeak); /* Select display. */ MdispSelect(MilDisplay, MilDisplayImage); /* Print a message. */ MosPrintf(MIL_TEXT("\nEXTRACTING 3D IMAGE FROM A LASER LINE (SHEET-OF-LIGHT):\n")); MosPrintf(MIL_TEXT("--------------------------------------------------------\n\n")); MosPrintf(MIL_TEXT("The position of a laser line is being extracted from ") MIL_TEXT("an image\n")); MosPrintf(MIL_TEXT("to generate a depth image.\n\n")); /* Open the sequence file for reading. */ MbufImportSequence(SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_OPEN); /* Preprocess the context. */ MimLocatePeak1d(MilContext, MilImage, MilLocatePeak, M_NULL, M_NULL, M_NULL, M_PREPROCESS, M_DEFAULT); /* Read and process all images in the input sequence. */ MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &PreviousTime); TotalProcessTime = 0.0; for (n = 0; n < NumberOfImages; n++) { /* Read image from sequence. */ MbufImportSequence(SEQUENCE_FILE, M_DEFAULT, M_LOAD, M_NULL, &MilImage, M_DEFAULT, 1, M_READ); /* Display the image. */ MbufCopy(MilImage, MilDisplayImage); /* Locate the peak in each column of the image. */ MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &StartTime); MimLocatePeak1d(MilContext, MilImage, MilLocatePeak, LINE_WIDTH_AVERAGE, LINE_WIDTH_DELTA, MIN_CONTRAST, M_DEFAULT, M_DEFAULT); /* Draw peak's data to depth map. */ MimDraw(M_DEFAULT,MilLocatePeak,M_NULL,MilPosYImage,M_DRAW_DEPTH_MAP_ROW, MIL_DOUBLE(n),M_NULL,M_FIXED_POINT+NB_FIXED_POINT); MimDraw(M_DEFAULT,MilLocatePeak,M_NULL,MilValImage,M_DRAW_INTENSITY_MAP_ROW, MIL_DOUBLE(n),M_NULL,M_FIXED_POINT+NB_FIXED_POINT); MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &EndTime); TotalProcessTime += EndTime - StartTime; /* Wait to have a proper frame rate. */ WaitTime = (1.0/FrameRate) - (EndTime - PreviousTime); if (WaitTime > 0) MappTimer(M_DEFAULT, M_TIMER_WAIT, &WaitTime); MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &PreviousTime); } /* Close the sequence file. */ MbufImportSequence(SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_CLOSE); MosPrintf(MIL_TEXT("%d images processed in %7.2lf s (%7.2lf ms/image).\n"), (int)NumberOfImages, TotalProcessTime, TotalProcessTime / (MIL_DOUBLE)NumberOfImages * 1000.0); /* Pause to show the result. */ MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); MosPrintf(MIL_TEXT("The reconstructed images are being displayed.\n")); /* Draw extracted peak position in each column of each image. */ for (n = 0; n < NumberOfImages; n++) { MbufClear(MilImage, 0); MimDraw(M_DEFAULT, MilPosYImage, MilValImage, MilImage, M_DRAW_PEAKS+M_1D_COLUMNS+M_LINES, (MIL_DOUBLE)n, 1, M_FIXED_POINT+NB_FIXED_POINT); /* Display the result image. */ MbufCopy(MilImage, MilDisplayImage); } /* Pause to show the result. */ MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); #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(MilPosYImage, MilValImage, D3D_DISPLAY_SIZE_X, D3D_DISPLAY_SIZE_Y, D3D_MESH_SCALING_X, D3D_MESH_SCALING_Y, D3D_MESH_SCALING_Z, M_DEFAULT, M_DEFAULT, M_DEFAULT, 0); if (DispHandle != NULL) { MosPrintf(MIL_TEXT("The depth buffer is displayed using D3D.\n")); /* Hide Mil Display */ MdispControl(MilDisplay, M_WINDOW_SHOW, M_DISABLE ); MdispD3DShow(DispHandle); MdispD3DPrintHelp(DispHandle); /* Pause to show the result. */ MosPrintf(MIL_TEXT("Press <Enter> to end.\n")); MosGetch(); MdispD3DHide(DispHandle); MdispD3DFree(DispHandle); } else #endif { MosPrintf(MIL_TEXT("The depth buffer is displayed using MIL.\n")); /* Find the remapping for result buffers. */ MimAlloc( MilSystem, M_STATISTICS_CONTEXT, M_DEFAULT, &MilStatContext); MimAllocResult( MilSystem, M_DEFAULT, M_STATISTICS_RESULT, &MilExtreme); MimControl(MilStatContext, M_STAT_MIN, M_ENABLE); MimControl(MilStatContext, M_STAT_MAX, M_ENABLE); MimControl(MilStatContext, M_CONDITION, M_NOT_EQUAL); MimControl(MilStatContext, M_COND_LOW, 0xFFFF); MimStatCalculate(MilStatContext, MilPosYImage, MilExtreme, M_DEFAULT); MimGetResult(MilExtreme, M_STAT_MIN + M_TYPE_MIL_INT, &ExtremePosY[0]); MimGetResult(MilExtreme, M_STAT_MAX + M_TYPE_MIL_INT, &ExtremePosY[1]); MimFree(MilExtreme); MimFree(MilStatContext); /* Free the display and reallocate a new one of the proper dimension for results. */ MbufFree(MilDisplayImage); MbufAlloc2d(MilSystem, (MIL_INT)((MIL_DOUBLE)SizeX*(D3D_MESH_SCALING_X > 0 ? D3D_MESH_SCALING_X : -D3D_MESH_SCALING_X)), (MIL_INT)((MIL_DOUBLE)NumberOfImages*D3D_MESH_SCALING_Y), 8+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, &MilDisplayImage); MdispSelect(MilDisplay, MilDisplayImage); /* Display the height buffer. */ MimClip(MilPosYImage, MilPosYImage, M_GREATER, (MIL_DOUBLE)ExtremePosY[1], M_NULL, (MIL_DOUBLE)ExtremePosY[1], M_NULL); MimArith(MilPosYImage, (MIL_DOUBLE)ExtremePosY[0], MilPosYImage, M_SUB_CONST); MimArith(MilPosYImage, ((ExtremePosY[1]-ExtremePosY[0])/255.0)+1, MilPosYImage, M_DIV_CONST); MimResize(MilPosYImage, MilDisplayImage, M_FILL_DESTINATION, M_FILL_DESTINATION, M_BILINEAR); /* Pause to show the result. */ MosPrintf(MIL_TEXT("Press <Enter> to end.\n")); MosGetch(); } /* Free all allocations. */ MimFree(MilLocatePeak); MimFree(MilContext); MbufFree(MilImage); MbufFree(MilDisplayImage); MbufFree(MilPosYImage); MbufFree(MilValImage); MappFreeDefault(MilApplication, MilSystem, MilDisplay, M_NULL, M_NULL); return 0; }