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'***************************************************************************** ' ' File name: MimLocatePeak1d.vb ' 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 '***************************************************************************** Imports Microsoft.VisualBasic Imports System Imports System.Collections.Generic Imports System.Text Imports System.Runtime.InteropServices Imports Matrox.MatroxImagingLibrary Namespace MImLocatePeak1d Friend Class Program ' Input sequence specifications. Private Const SEQUENCE_FILE As String = MIL.M_IMAGE_PATH & "HandWithLaser.avi" ' Peak detection parameters. ' ^ + ' | + + ' | + <-Width-> + <------------ ' | + + | Min contrast ' | ++++ ++++++++ <--- ' | ' | ' ------------------------------> ' Peak intensity profile Private Const LINE_WIDTH_AVERAGE As Integer = 20 Private Const LINE_WIDTH_DELTA As Integer = 20 Private Const MIN_CONTRAST As Double = 100.0 Private Const NB_FIXED_POINT As Integer = 4 ' D3D display parameters Private Const D3D_DISPLAY_SIZE_X As Integer = 640 Private Const D3D_DISPLAY_SIZE_Y As Integer = 480 Private Const D3D_MESH_SCALING_X As Double = -1.0 Private Const D3D_MESH_SCALING_Y As Double = 4.0 Private Const D3D_MESH_SCALING_Z As Double = -0.13 ' Function declarations for DirectX display <DllImport("mdispd3d.dll", CallingConvention:=CallingConvention.Cdecl)> _ Private Shared Function MdepthD3DAlloc(ByVal DepthBuffer As MIL_ID, _ ByVal IntensityBuffer As MIL_ID, _ ByVal DisplaySizeX As MIL_INT, _ ByVal DisplaySizeY As MIL_INT, _ ByVal ScaleX As Double, _ ByVal ScaleY As Double, _ ByVal ScaleZ As Double, _ ByVal MinZ As Double, _ ByVal MaxZ As Double, _ ByVal MaxDistanceZ As Double, _ ByVal WindowHandle As IntPtr) As IntPtr End Function <DllImport("mdispd3d.dll", CallingConvention:=CallingConvention.Cdecl)> _ Private Shared Sub MdispD3DFree(ByVal DispHandle As IntPtr) End Sub <DllImport("mdispd3d.dll", CallingConvention:=CallingConvention.Cdecl)> _ Private Shared Sub MdispD3DShow(ByVal DispHandle As IntPtr) End Sub <DllImport("mdispd3d.dll", CallingConvention:=CallingConvention.Cdecl)> _ Private Shared Sub MdispD3DHide(ByVal DispHandle As IntPtr) End Sub <DllImport("mdispd3d.dll", CallingConvention:=CallingConvention.Cdecl)> _ Private Shared Sub MdispD3DPrintHelp(ByVal DispHandle As IntPtr) End Sub 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. Dim MilDisplayImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim MilImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim MilPosYImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim MilValImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim MilContext As MIL_ID = MIL.M_NULL ' Processing context identifier. Dim MilLocatePeak As MIL_ID = MIL.M_NULL ' Processing result identifier. Dim MilStatContext As MIL_ID = MIL.M_NULL ' Statistics context identifier. Dim MilExtreme As MIL_ID = MIL.M_NULL ' Result buffer identifier. Dim SizeX As MIL_INT = 0 Dim SizeY As MIL_INT = 0 Dim NumberOfImages As MIL_INT = 0 Dim FrameRate As Double = 0.0 Dim n As Integer = 0 Dim PreviousTime As Double = 0.0 Dim StartTime As Double = 0.0 Dim EndTime As Double = 0.0 Dim TotalProcessTime As Double = 0.0 Dim WaitTime As Double = 0.0 Dim ExtremePosY() As MIL_INT = {0, 0} ' Allocate defaults. MIL.MappAllocDefault(MIL.M_DEFAULT, MilApplication, MilSystem, MilDisplay, CType(MIL.M_NULL, IntPtr), CType(MIL.M_NULL, IntPtr)) ' Inquire characteristics of the input sequence. MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_SIZE_X, SizeX) MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_SIZE_Y, SizeY) MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_NUMBER_OF_IMAGES, NumberOfImages) MIL.MbufDiskInquire(SEQUENCE_FILE, MIL.M_FRAME_RATE, FrameRate) ' Allocate buffers to hold images. MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, MilImage) MIL.MbufAlloc2d(MilSystem, SizeX, SizeY, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_DISP, MilDisplayImage) MIL.MbufAlloc2d(MilSystem, SizeX, NumberOfImages, 16 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, MilPosYImage) MIL.MbufAlloc2d(MilSystem, SizeX, NumberOfImages, 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC, MilValImage) ' Allocate context for MimLocatePeak1D MIL.MimAlloc(MilSystem, MIL.M_LOCATE_PEAK_1D_CONTEXT, MIL.M_DEFAULT, MilContext) ' Allocate result for MimLocatePeak1D MIL.MimAllocResult(MilSystem, MIL.M_DEFAULT, MIL.M_LOCATE_PEAK_1D_RESULT, MilLocatePeak) ' Select display. MIL.MdispSelect(MilDisplay, MilDisplayImage) ' Print a message. Console.Write(Constants.vbLf + "EXTRACTING 3D IMAGE FROM A LASER LINE (SHEET-OF-LIGHT):" + Constants.vbLf) Console.Write("-------------------------------------------------------" + Constants.vbLf + Constants.vbLf) Console.Write("The position of a laser line is being extracted from an image" + Constants.vbLf) Console.Write("to generate a depth image." + Constants.vbLf + Constants.vbLf) ' Open the sequence file for reading. MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, CType(MIL.M_NULL, IntPtr), 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, PreviousTime) TotalProcessTime = 0.0 For n = 0 To CType((NumberOfImages - 1), Integer) ' Read image from sequence. MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_LOAD, MIL.M_NULL, 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, 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, EndTime) TotalProcessTime += EndTime - StartTime ' Wait to have a proper frame rate. WaitTime = (1.0 / FrameRate) - (EndTime - PreviousTime) If (WaitTime > 0) Then MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_WAIT, WaitTime) End If MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, PreviousTime) Next n ' Close the sequence file. MIL.MbufImportSequence(SEQUENCE_FILE, MIL.M_DEFAULT, MIL.M_NULL, MIL.M_NULL, CType(MIL.M_NULL, IntPtr), 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.)" + Constants.vbLf, NumberOfImages, TotalProcessTime, TotalProcessTime / CDbl(NumberOfImages) * 1000.0) ' Pause to show the result. Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() Console.Write("The reconstructed images are being displayed." + Constants.vbLf) ' Draw extracted peak position in each column of each image. For n = 0 To CType((NumberOfImages - 1), Integer) MIL.MbufClear(MilImage, 0) MIL.MimDraw(MIL.M_DEFAULT, MilPosYImage, MilValImage, MilImage, MIL.M_DRAW_PEAKS + MIL.M_1D_COLUMNS + MIL.M_LINES, CDbl(n), 1, MIL.M_FIXED_POINT + NB_FIXED_POINT) ' Display the result image. MIL.MbufCopy(MilImage, MilDisplayImage) Next n ' Pause to show the result. Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Try to allocate D3D display Dim DispHandle As IntPtr 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 Then Console.Write("The depth buffer is displayed using D3D." + Constants.vbLf) ' 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." + Constants.vbLf) Console.ReadKey() MdispD3DHide(DispHandle) MdispD3DFree(DispHandle) Else Console.Write("The depth buffer is displayed using MIL." + Constants.vbLf) ' Find the remapping for result buffers. MIL.MimAlloc(MilSystem, MIL.M_STATISTICS_CONTEXT, MIL.M_DEFAULT, MilStatContext) MIL.MimAllocResult(MilSystem, MIL.M_DEFAULT, MIL.M_STATISTICS_RESULT, 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, &HFFFF) MIL.MimStatCalculate(MilStatContext, MilPosYImage, MilExtreme, MIL.M_DEFAULT) MIL.MimGetResult(MilExtreme, MIL.M_MIN + MIL.M_TYPE_MIL_INT, ExtremePosY(0)) MIL.MimGetResult(MilExtreme, MIL.M_MAX + MIL.M_TYPE_MIL_INT, 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) Dim RealSizeX As MIL_INT = 0 If D3D_MESH_SCALING_X > 0 Then RealSizeX = CType((CDbl(SizeX) * D3D_MESH_SCALING_X), MIL_INT) Else RealSizeX = CType((CDbl(SizeX) * -D3D_MESH_SCALING_X), MIL_INT) End If MIL.MbufAlloc2d(MilSystem, RealSizeX, CType((CDbl(NumberOfImages) * D3D_MESH_SCALING_Y), MIL_INT), 8 + MIL.M_UNSIGNED, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP, MilDisplayImage) MIL.MdispSelect(MilDisplay, MilDisplayImage) ' Display the height buffer. MIL.MimClip(MilPosYImage, MilPosYImage, MIL.M_GREATER, CDbl(ExtremePosY(1)), MIL.M_NULL, CDbl(ExtremePosY(1)), MIL.M_NULL) MIL.MimArith(MilPosYImage, CDbl(ExtremePosY(0)), MilPosYImage, MIL.M_SUB_CONST) MIL.MimArith(MilPosYImage, ((ExtremePosY(1) - ExtremePosY(0)) / 255) + 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." + Constants.vbLf) Console.ReadKey() End If ' 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) End Sub End Class End Namespace