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//************************************************************************************ // // File name: Mmod.cs // Location: See Matrox Example Launcher in the MIL Control Center // // // Synopsis: This program uses the Geometric Model Finder module to define geometric // models and searches for these models in a target image. A simple single model // example (1 model, 1 occurrence, good search conditions) is presented first, // followed by a more complex example (multiple models, multiple occurrences in a // complex scene with bad search conditions). //************************************************************************************ using System; using System.Collections.Generic; using System.Text; using Matrox.MatroxImagingLibrary; namespace MMod { class Program { 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. // Allocate defaults. MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, MIL.M_NULL, MIL.M_NULL); // Run single model example. SingleModelExample(MilSystem, MilDisplay); // Run multiple model example. MultipleModelExample(MilSystem, MilDisplay); // Free defaults MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MIL.M_NULL, MIL.M_NULL); } //***************************************************************************** // Single model example. // // Source MIL image file specifications. private const string SINGLE_MODEL_IMAGE = MIL.M_IMAGE_PATH + "SingleModel.mim"; // Target MIL image file specifications. private const string SINGLE_MODEL_TARGET_IMAGE = MIL.M_IMAGE_PATH + "SingleTarget.mim"; //Search speed: M_VERY_HIGH for faster search, M_MEDIUM for precision and robustness. private const int SINGLE_MODEL_SEARCH_SPEED = MIL.M_VERY_HIGH; // Model specifications. private const int MODEL_OFFSETX = 176; private const int MODEL_OFFSETY = 136; private const int MODEL_SIZEX = 128; private const int MODEL_SIZEY = 128; private const int MODEL_MAX_OCCURRENCES = 16; static void SingleModelExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier. MIL_ID GraphicList = MIL.M_NULL; // Graphic list indentifier. MIL_ID MilSearchContext = MIL.M_NULL; // Search context. MIL_ID MilResult = MIL.M_NULL; // Result identifier. double ModelDrawColor = MIL.M_COLOR_RED; // Model draw color. MIL_INT[] Model = new MIL_INT[MODEL_MAX_OCCURRENCES]; // Model index. MIL_INT NumResults = 0; // Number of results found. double[] Score = new double[MODEL_MAX_OCCURRENCES]; // Model correlation score. double[] XPosition = new double[MODEL_MAX_OCCURRENCES]; // Model X position. double[] YPosition = new double[MODEL_MAX_OCCURRENCES]; // Model Y position. double[] Angle = new double[MODEL_MAX_OCCURRENCES]; // Model occurrence angle. double[] Scale = new double[MODEL_MAX_OCCURRENCES]; // Model occurrence scale. double Time = 0.0; // Bench variable. int i = 0; // Loop variable. // Restore the model image and display it. MIL.MbufRestore(SINGLE_MODEL_IMAGE, MilSystem, ref MilImage); MIL.MdispSelect(MilDisplay, MilImage); // Allocate a graphic list to hold the subpixel annotations to draw. MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, ref GraphicList); // Associate the graphic list to the display for annotations. MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList); // Allocate a Geometric Model Finder context. MIL.MmodAlloc(MilSystem, MIL.M_GEOMETRIC, MIL.M_DEFAULT, ref MilSearchContext); // Allocate a result buffer. MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, ref MilResult); // Define the model. MIL.MmodDefine(MilSearchContext, MIL.M_IMAGE, MilImage, MODEL_OFFSETX, MODEL_OFFSETY, MODEL_SIZEX, MODEL_SIZEY); // Set the search speed. MIL.MmodControl(MilSearchContext, MIL.M_CONTEXT, MIL.M_SPEED, SINGLE_MODEL_SEARCH_SPEED); // Preprocess the search context. MIL.MmodPreprocess(MilSearchContext, MIL.M_DEFAULT); // Draw box and position it in the source image to show the model. MIL.MgraColor(MIL.M_DEFAULT, ModelDrawColor); MIL.MmodDraw(MIL.M_DEFAULT, MilSearchContext, GraphicList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, 0, MIL.M_ORIGINAL); // Pause to show the model. Console.Write("\nGEOMETRIC MODEL FINDER:\n"); Console.Write("-----------------------\n\n"); Console.Write("A model context was defined with the model in the displayed image.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Clear annotations. MIL.MgraClear(MIL.M_DEFAULT, GraphicList); // Load the single model target image. MIL.MbufLoad(SINGLE_MODEL_TARGET_IMAGE, MilImage); // Dummy first call for bench measure purpose only (bench stabilization, cache effect, etc...). This first call is NOT required by the application. MIL.MmodFind(MilSearchContext, MilImage, MilResult); // Reset the timer. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL); // Find the model. MIL.MmodFind(MilSearchContext, MilImage, MilResult); // Read the find time. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time); // Get the number of models found. MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, ref NumResults); // If a model was found above the acceptance threshold. if ((NumResults >= 1) && (NumResults <= MODEL_MAX_OCCURRENCES)) { // Get the results of the single model. MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_INDEX + MIL.M_TYPE_MIL_INT, Model); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_POSITION_X, XPosition); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_POSITION_Y, YPosition); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_ANGLE, Angle); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_SCALE, Scale); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_SCORE, Score); // Print the results for each model found. Console.Write("The model was found in the target image:\n\n"); Console.Write("Result Model X Position Y Position Angle Scale Score\n\n"); for (i = 0; i < NumResults; i++) { Console.Write("{0,-9}{1,-8}{2,-13:0.00}{3,-13:0.00}{4,-8:0.00}{5,-8:0.00}{6,-5:0.00}%\n", i, Model[i], XPosition[i], YPosition[i], Angle[i], Scale[i], Score[i]); } Console.Write("\nThe search time is {0:0.0} ms\n\n", Time * 1000.0); // Draw edges, position and box over the occurrences that were found. for (i = 0; i < NumResults; i++) { MIL.MgraColor(MIL.M_DEFAULT, ModelDrawColor); MIL.MmodDraw(MIL.M_DEFAULT, MilResult, GraphicList, MIL.M_DRAW_EDGES + MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, i, MIL.M_DEFAULT); } } else { Console.Write("The model was not found or the number of models found is greater than\n"); Console.Write("the specified maximum number of occurrence !\n\n"); } // Wait for a key to be pressed. Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Free MIL objects. MIL.MgraFree(GraphicList); MIL.MbufFree(MilImage); MIL.MmodFree(MilSearchContext); MIL.MmodFree(MilResult); } //**************************************************************************** // Multiple models example. // Source MIL image file specifications. private const string MULTI_MODELS_IMAGE = MIL.M_IMAGE_PATH + "MultipleModel.mim"; // Target MIL image file specifications. private const string MULTI_MODELS_TARGET_IMAGE = MIL.M_IMAGE_PATH + "MultipleTarget.mim"; // Search speed: M_VERY_HIGH for faster search, M_MEDIUM for precision and robustness. private const int MULTI_MODELS_SEARCH_SPEED = MIL.M_VERY_HIGH; // Number of models. private const int NUMBER_OF_MODELS = 3; private const int MODELS_MAX_OCCURRENCES = 16; // Model 1 specifications. private const int MODEL0_OFFSETX = 34; private const int MODEL0_OFFSETY = 93; private const int MODEL0_SIZEX = 214; private const int MODEL0_SIZEY = 76; private static readonly int MODEL0_DRAW_COLOR = MIL.M_COLOR_RED; // Model 2 specifications. private const int MODEL1_OFFSETX = 73; private const int MODEL1_OFFSETY = 232; private const int MODEL1_SIZEX = 150; private const int MODEL1_SIZEY = 154; private const int MODEL1_REFERENCEX = 23; private const int MODEL1_REFERENCEY = 127; private static readonly int MODEL1_DRAW_COLOR = MIL.M_COLOR_GREEN; // Model 3 specifications. private const int MODEL2_OFFSETX = 308; private const int MODEL2_OFFSETY = 39; private const int MODEL2_SIZEX = 175; private const int MODEL2_SIZEY = 357; private const int MODEL2_REFERENCEX = 62; private const int MODEL2_REFERENCEY = 150; private static readonly int MODEL2_DRAW_COLOR = MIL.M_COLOR_BLUE; // Models array size. private const int MODELS_ARRAY_SIZE = 3; static void MultipleModelExample(MIL_ID MilSystem, MIL_ID MilDisplay) { MIL_ID MilImage = MIL.M_NULL; // Image buffer identifier. MIL_ID GraphicList = MIL.M_NULL; // Graphic list identifier. MIL_ID MilSearchContext = MIL.M_NULL; // Search context. MIL_ID MilResult = MIL.M_NULL; // Result identifier. double[] ModelsDrawColor = new double[MODELS_ARRAY_SIZE]; // Model drawing colors. MIL_INT NumResults = 0; // Number of results found. MIL_INT[] Models = new MIL_INT[MODELS_MAX_OCCURRENCES]; // Model indices. MIL_INT[] ModelsOffsetX = new MIL_INT[MODELS_ARRAY_SIZE]; // Model X offsets array. MIL_INT[] ModelsOffsetY = new MIL_INT[MODELS_ARRAY_SIZE]; // Model Y offsets array. MIL_INT[] ModelsSizeX = new MIL_INT[MODELS_ARRAY_SIZE]; // Model X sizes array. MIL_INT[] ModelsSizeY = new MIL_INT[MODELS_ARRAY_SIZE]; // Model Y sizes array. double[] Score = new double[MODELS_MAX_OCCURRENCES]; // Model correlation scores. double[] XPosition = new double[MODELS_MAX_OCCURRENCES]; // Model X positions. double[] YPosition = new double[MODELS_MAX_OCCURRENCES]; // Model Y positions. double[] Angle = new double[MODELS_MAX_OCCURRENCES]; // Model occurrence angles. double[] Scale = new double[MODELS_MAX_OCCURRENCES]; // Model occurrence scales. double Time = 0.0; // Time variable. int i; // Loop variable. // Models array specifications. ModelsOffsetX[0] = MODEL0_OFFSETX; ModelsOffsetX[1] = MODEL1_OFFSETX; ModelsOffsetX[2] = MODEL2_OFFSETX; ModelsOffsetY[0] = MODEL0_OFFSETY; ModelsOffsetY[1] = MODEL1_OFFSETY; ModelsOffsetY[2] = MODEL2_OFFSETY; ModelsSizeX[0] = MODEL0_SIZEX; ModelsSizeX[1] = MODEL1_SIZEX; ModelsSizeX[2] = MODEL2_SIZEX; ModelsSizeY[0] = MODEL0_SIZEY; ModelsSizeY[1] = MODEL1_SIZEY; ModelsSizeY[2] = MODEL2_SIZEY; ModelsDrawColor[0] = MODEL0_DRAW_COLOR; ModelsDrawColor[1] = MODEL1_DRAW_COLOR; ModelsDrawColor[2] = MODEL2_DRAW_COLOR; // Restore the model image and display it. MIL.MbufRestore(MULTI_MODELS_IMAGE, MilSystem, ref MilImage); MIL.MdispSelect(MilDisplay, MilImage); // Allocate a graphic list to hold the subpixel annotations to draw. MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, ref GraphicList); // Associate the graphic list to the display for annotations. MIL.MdispControl(MilDisplay, MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList); // Allocate a geometric model finder. MIL.MmodAlloc(MilSystem, MIL.M_GEOMETRIC, MIL.M_DEFAULT, ref MilSearchContext); // Allocate a result buffer. MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, ref MilResult); // Define the models. for (i = 0; i < NUMBER_OF_MODELS; i++) { MIL.MmodDefine(MilSearchContext, MIL.M_IMAGE, MilImage, (double)ModelsOffsetX[i], (double)ModelsOffsetY[i], (double)ModelsSizeX[i], (double)ModelsSizeY[i]); } // Set the desired search speed. MIL.MmodControl(MilSearchContext, MIL.M_CONTEXT, MIL.M_SPEED, MULTI_MODELS_SEARCH_SPEED); // Increase the smoothness for the edge extraction in the search context. MIL.MmodControl(MilSearchContext, MIL.M_CONTEXT, MIL.M_SMOOTHNESS, 75); // Modify the acceptance and the certainty for all the models that were defined. MIL.MmodControl(MilSearchContext, MIL.M_DEFAULT, MIL.M_ACCEPTANCE, 40); MIL.MmodControl(MilSearchContext, MIL.M_DEFAULT, MIL.M_CERTAINTY, 60); // Set the number of occurrences to 2 for all the models that were defined. MIL.MmodControl(MilSearchContext, MIL.M_DEFAULT, MIL.M_NUMBER, 2); if (NUMBER_OF_MODELS > 1) { // Change the reference point of the second model. MIL.MmodControl(MilSearchContext, 1, MIL.M_REFERENCE_X, MODEL1_REFERENCEX); MIL.MmodControl(MilSearchContext, 1, MIL.M_REFERENCE_Y, MODEL1_REFERENCEY); } if (NUMBER_OF_MODELS > 2) { // Change the reference point of the third model. MIL.MmodControl(MilSearchContext, 2, MIL.M_REFERENCE_X, MODEL2_REFERENCEX); MIL.MmodControl(MilSearchContext, 2, MIL.M_REFERENCE_Y, MODEL2_REFERENCEY); } // Preprocess the search context. MIL.MmodPreprocess(MilSearchContext, MIL.M_DEFAULT); // Draw boxes and positions in the source image to identify the models. for (i = 0; i < NUMBER_OF_MODELS; i++) { MIL.MgraColor(MIL.M_DEFAULT, ModelsDrawColor[i]); MIL.MmodDraw(MIL.M_DEFAULT, MilSearchContext, GraphicList, MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, i, MIL.M_ORIGINAL); } // Pause to show the models. Console.Write("A model context was defined with the models in the displayed image.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Clear annotations. MIL.MgraClear(MIL.M_DEFAULT, GraphicList); // Load the complex target image. MIL.MbufLoad(MULTI_MODELS_TARGET_IMAGE, MilImage); // Dummy first call for bench measure purpose only (bench stabilization, cache effect, etc...). This first call is NOT required by the application. MIL.MmodFind(MilSearchContext, MilImage, MilResult); // Reset the timer. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL); // Find the models. MIL.MmodFind(MilSearchContext, MilImage, MilResult); // Read the find time. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref Time); // Get the number of models found. MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, ref NumResults); // If the models were found above the acceptance threshold. if ((NumResults >= 1) && (NumResults <= MODELS_MAX_OCCURRENCES)) { // Get the results for each model. MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_INDEX + MIL.M_TYPE_MIL_INT, Models); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_POSITION_X, XPosition); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_POSITION_Y, YPosition); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_ANGLE, Angle); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_SCALE, Scale); MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_SCORE, Score); // Print information about the target image. Console.Write("The models were found in the target image although there is:\n"); Console.Write(" Full rotation\n Small scale change\n Contrast variation\n"); Console.Write(" Specular reflection\n Occlusion\n Multiple models\n"); Console.Write(" Multiple occurrences\n\n"); // Print the results for the found models. Console.Write("Result Model X Position Y Position Angle Scale Score\n\n"); for (i = 0; i < NumResults; i++) { Console.Write("{0,-9}{1,-8}{2,-13:0.00}{3,-13:#.00}{4,-8:0.00}{5,-8:0.00}{6,-5:0.00}%\n", i, Models[i], XPosition[i], YPosition[i], Angle[i], Scale[i], Score[i]); } Console.Write("\nThe search time is {0:0.0} ms\n\n", Time * 1000.0); // Draw edges and positions over the occurrences that were found. for (i = 0; i < NumResults; i++) { MIL.MgraColor(MIL.M_DEFAULT, ModelsDrawColor[Models[i]]); MIL.MmodDraw(MIL.M_DEFAULT, MilResult, GraphicList, MIL.M_DRAW_EDGES + MIL.M_DRAW_POSITION, i, MIL.M_DEFAULT); } } else { Console.Write("The models were not found or the number of models found is greater than\n"); Console.Write("the defined value of maximum occurrences !\n\n"); } // Wait for a key to be pressed. Console.Write("Press <Enter> to end.\n\n"); Console.ReadKey(); // Free MIL objects. MIL.MgraFree(GraphicList); MIL.MbufFree(MilImage); MIL.MmodFree(MilSearchContext); MIL.MmodFree(MilResult); } } }