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//***************************************************************************** // // File name: MImLocatePeak1d.cs // 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 //***************************************************************************** using System; using System.Collections.Generic; using System.Text; using System.Runtime.InteropServices; using Matrox.MatroxImagingLibrary; namespace MImLocatePeak1d { class Program { // Input sequence specifications. private const string SEQUENCE_FILE = MIL.M_IMAGE_PATH + "HandWithLaser.avi"; // Peak detection parameters. // ^ + // | + + // | + <-Width-> + <------------ // | + + | Min contrast // | ++++ ++++++++ <--- // | // | // ------------------------------> // Peak intensity profile private const int LINE_WIDTH_AVERAGE = 20; private const int LINE_WIDTH_DELTA = 20; private const double MIN_CONTRAST = 100.0; private const int NB_FIXED_POINT = 4; // D3D display parameters private static readonly int D3D_DISPLAY_SIZE_X = 640; private static readonly int D3D_DISPLAY_SIZE_Y = 480; private static readonly double D3D_MESH_SCALING_X = -1.0; private static readonly double D3D_MESH_SCALING_Y = 4.0; private static readonly double D3D_MESH_SCALING_Z = -0.13; // Function declarations for DirectX display [DllImport("mdispd3d.dll", CallingConvention = CallingConvention.Cdecl)] private static extern IntPtr MdepthD3DAlloc(MIL_ID DepthBuffer, MIL_ID IntensityBuffer, MIL_INT DisplaySizeX, MIL_INT DisplaySizeY, double ScaleX, double ScaleY, double ScaleZ, double MinZ, double MaxZ, double MaxDistanceZ, IntPtr WindowHandle); [DllImport("mdispd3d.dll", CallingConvention = CallingConvention.Cdecl)] private static extern void MdispD3DFree(IntPtr DispHandle); [DllImport("mdispd3d.dll", CallingConvention = CallingConvention.Cdecl)] private static extern void MdispD3DShow(IntPtr DispHandle); [DllImport("mdispd3d.dll", CallingConvention = CallingConvention.Cdecl)] private static extern void MdispD3DHide(IntPtr DispHandle); [DllImport("mdispd3d.dll", CallingConvention = CallingConvention.Cdecl)] private static extern void MdispD3DPrintHelp(IntPtr DispHandle); 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. MIL_ID MilDisplayImage = MIL.M_NULL; // Image buffer identifier. MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier. MIL_ID MilPosYImage = MIL.M_NULL; // Image buffer identifier. MIL_ID MilValImage = MIL.M_NULL; // Image buffer identifier. MIL_ID MilContext = MIL.M_NULL; // Processing context identifier. MIL_ID MilLocatePeak = MIL.M_NULL; // Processing result identifier. MIL_ID MilStatContext = MIL.M_NULL; // Statistics context identifier. MIL_ID MilExtreme = MIL.M_NULL; // Result buffer identifier. MIL_INT SizeX = 0; MIL_INT SizeY = 0; MIL_INT NumberOfImages = 0; double FrameRate = 0.0; int n = 0; double PreviousTime = 0.0; double StartTime = 0.0; double EndTime = 0.0; double TotalProcessTime = 0.0; double WaitTime = 0.0; MIL_INT[] ExtremePosY = new MIL_INT[] { 0, 0 }; // Allocate defaults. MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL); // Inquire characteristics of the input sequence. MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_SIZE_X, ref SizeX); MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_SIZE_Y, ref SizeY); MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_NUMBER_OF_IMAGES, ref NumberOfImages); MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_FRAME_RATE, ref FrameRate); // Allocate buffers to hold images. MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilImage); MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_DISP, ref MilDisplayImage); MIL.MbufAlloc2d(MilSystem, SizeX, NumberOfImages, 16 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilPosYImage); MIL.MbufAlloc2d(MilSystem, SizeX, NumberOfImages, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, ref MilValImage); // Allocate context for MimLocatePeak1D MIL.MimAlloc(MilSystem, MIL.M_LOCATE_PEAK_1D_CONTEXT, MIL.M_DEFAULT, ref MilContext); // Allocate result for MimLocatePeak1D MIL.MimAllocResult(MilSystem, MIL.M_DEFAULT, MIL.M_LOCATE_PEAK_1D_RESULT, ref MilLocatePeak); // Select display. MIL.MdispSelect(MilDisplay, MilDisplayImage); // Print a message. Console.Write("\nEXTRACTING 3D IMAGE FROM A LASER LINE (SHEET-OF-LIGHT):\n"); Console.Write("-------------------------------------------------------\n\n"); Console.Write("The position of a laser line is being extracted from an image\n"); Console.Write("to generate a depth image.\n\n"); // Open the sequence file for reading. MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_OPEN); // Preprocess the context. MIL.MimLocatePeak1d(MilContext, MilImage, MilLocatePeak, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_PREPROCESS, MIL.M_DEFAULT); // Read and process all images in the input sequence. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref PreviousTime); TotalProcessTime = 0.0; for (n = 0; n < NumberOfImages; n++) { // Read image from sequence. MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_LOAD, MIL.M_NULL, ref MilImage, MIL.M_DEFAULT, 1, MIL.M_READ); // Display the image. MIL.MbufCopy(MilImage, MilDisplayImage); // Locate the peak in each column of the image. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref StartTime); MIL.MimLocatePeak1d(MilContext, MilImage, MilLocatePeak, LINE_WIDTH_AVERAGE, LINE_WIDTH_DELTA, MIN_CONTRAST, MIL.M_DEFAULT, MIL.M_DEFAULT); // Draw peak's data to depth map. MIL.MimDraw(MIL.M_DEFAULT, MilLocatePeak, MIL.M_NULL, MilPosYImage, MIL.M_DRAW_DEPTH_MAP_ROW, n, MIL.M_NULL, MIL.M_FIXED_POINT + NB_FIXED_POINT); MIL.MimDraw(MIL.M_DEFAULT, MilLocatePeak, MIL.M_NULL, MilValImage, MIL.M_DRAW_INTENSITY_MAP_ROW, n, MIL.M_NULL, MIL.M_FIXED_POINT + NB_FIXED_POINT); MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref EndTime); TotalProcessTime += EndTime - StartTime; // Wait to have a proper frame rate. WaitTime = (1.0 / FrameRate) - (EndTime - PreviousTime); if (WaitTime > 0) { MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_WAIT, ref WaitTime); } MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref PreviousTime); } // Close the sequence file. MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_NULL, MIL.M_CLOSE); Console.Write("{0} images processed in {1,7:0.00} s ({2,7:0.00} ms/image).\n", NumberOfImages, TotalProcessTime, TotalProcessTime / (double)NumberOfImages * 1000.0); // Pause to show the result. Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); Console.Write("The reconstructed images are being displayed.\n"); // Draw extracted peak position in each column of each image. for (n = 0; n < NumberOfImages; n++) { MIL.MbufClear(MilImage, 0); MIL.MimDraw(MIL.M_DEFAULT, MilPosYImage, MilValImage, MilImage, MIL.M_DRAW_PEAKS + MIL.M_1D_COLUMNS + MIL.M_LINES, (double)n, 1, MIL.M_FIXED_POINT + NB_FIXED_POINT); // Display the result image. MIL.MbufCopy(MilImage, MilDisplayImage); } // Pause to show the result. Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Try to allocate D3D display IntPtr 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, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_DEFAULT, IntPtr.Zero); if (DispHandle != IntPtr.Zero) { Console.Write("The depth buffer is displayed using D3D.\n"); // Hide Mil Display MIL.MdispControl(MilDisplay, MIL.M_WINDOW_SHOW, MIL.M_DISABLE); MdispD3DShow(DispHandle); MdispD3DPrintHelp(DispHandle); // Pause to show the result. Console.Write("Press <Enter> to end.\n"); Console.ReadKey(); MdispD3DHide(DispHandle); MdispD3DFree(DispHandle); } else { Console.Write("The depth buffer is displayed using MIL.\n"); // Find the remapping for result buffers. MIL.MimAlloc(MilSystem, MIL.M_STATISTICS_CONTEXT, MIL.M_DEFAULT, ref MilStatContext); MIL.MimAllocResult(MilSystem, MIL.M_DEFAULT, MIL.M_STATISTICS_RESULT, ref MilExtreme); MIL.MimControl(MilStatContext, MIL.M_MIN, MIL.M_ENABLE); MIL.MimControl(MilStatContext, MIL.M_MAX, MIL.M_ENABLE); MIL.MimControl(MilStatContext, MIL.M_CONDITION, MIL.M_NOT_EQUAL); MIL.MimControl(MilStatContext, MIL.M_COND_LOW, 0xFFFF); MIL.MimStatCalculate(MilStatContext, MilPosYImage, MilExtreme, MIL.M_DEFAULT); MIL.MimGetResult(MilExtreme, MIL.M_MIN + MIL.M_TYPE_MIL_INT, ref ExtremePosY[0]); MIL.MimGetResult(MilExtreme, MIL.M_MAX + MIL.M_TYPE_MIL_INT, ref ExtremePosY[1]); MIL.MimFree(MilExtreme); MIL.MimFree(MilStatContext); // Free the display and reallocate a new one of the proper dimension for results. MIL.MbufFree(MilDisplayImage); MIL.MbufAlloc2d(MilSystem, (MIL_INT)((double)SizeX * (D3D_MESH_SCALING_X > 0 ? D3D_MESH_SCALING_X : -D3D_MESH_SCALING_X)), (MIL_INT)((double)NumberOfImages * D3D_MESH_SCALING_Y), 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP, ref MilDisplayImage); MIL.MdispSelect(MilDisplay, MilDisplayImage); // Display the height buffer. MIL.MimClip(MilPosYImage, MilPosYImage, MIL.M_GREATER, (double)ExtremePosY[1], MIL.M_NULL, (double)ExtremePosY[1], MIL.M_NULL); MIL.MimArith(MilPosYImage, (double)ExtremePosY[0], MilPosYImage, MIL.M_SUB_CONST); MIL.MimArith(MilPosYImage, ((ExtremePosY[1] - ExtremePosY[0]) / 255.0) + 1, MilPosYImage, MIL.M_DIV_CONST); MIL.MimResize(MilPosYImage, MilDisplayImage, MIL.M_FILL_DESTINATION, MIL.M_FILL_DESTINATION, MIL.M_BILINEAR); // Pause to show the result. Console.Write("Press <Enter> to end.\n"); Console.ReadKey(); } // Free all allocations. MIL.MimFree(MilLocatePeak); MIL.MimFree(MilContext); MIL.MbufFree(MilImage); MIL.MbufFree(MilDisplayImage); MIL.MbufFree(MilPosYImage); MIL.MbufFree(MilValImage); MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL); } } }