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'************************************************************************************ ' ' File name: Mmod.vb ' 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). '************************************************************************************ Imports Microsoft.VisualBasic Imports System Imports System.Collections.Generic Imports System.Text Imports Matrox.MatroxImagingLibrary Namespace MMod Friend Class Program 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)) ' 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) End Sub '***************************************************************************** ' Single model example. ' ' Source MIL image file specifications. Private Const SINGLE_MODEL_IMAGE As String = MIL.M_IMAGE_PATH & "SingleModel.mim" ' Target MIL image file specifications. Private Const SINGLE_MODEL_TARGET_IMAGE As String = MIL.M_IMAGE_PATH & "SingleTarget.mim" 'Search speed: M_VERY_HIGH for faster search, M_MEDIUM for precision and robustness. Private Const SINGLE_MODEL_SEARCH_SPEED As Integer = MIL.M_VERY_HIGH ' Model specifications. Private Const MODEL_OFFSETX As Integer = 176 Private Const MODEL_OFFSETY As Integer = 136 Private Const MODEL_SIZEX As Integer = 128 Private Const MODEL_SIZEY As Integer = 128 Private Const MODEL_MAX_OCCURRENCES As Integer = 16 Private Shared Sub SingleModelExample(ByVal MilSystem As MIL_ID, ByVal MilDisplay As MIL_ID) Dim MilImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim GraphicList As MIL_ID = MIL.M_NULL ' Graphic list identifier Dim MilSearchContext As MIL_ID = MIL.M_NULL ' Search context. Dim MilResult As MIL_ID = MIL.M_NULL ' Result identifier. Dim ModelDrawColor As Double = MIL.M_COLOR_RED ' Model draw color. Dim Model(MODEL_MAX_OCCURRENCES - 1) As MIL_INT ' Model index. Dim NumResults As Integer = 0 ' Number of results found. double[] Score = New double[MODEL_MAX_OCCURRENCES]; ' Model correlation score. Dim Score(MODEL_MAX_OCCURRENCES - 1) As Double Dim XPosition(MODEL_MAX_OCCURRENCES - 1) As Double ' Model X position. Dim YPosition(MODEL_MAX_OCCURRENCES - 1) As Double ' Model Y position. Dim Angle(MODEL_MAX_OCCURRENCES - 1) As Double ' Model occurrence angle. Dim Scale(MODEL_MAX_OCCURRENCES - 1) As Double ' Model occurrence scale. Dim Time As Double = 0.0 ' Bench variable. Dim i As Integer = 0 ' Loop variable. ' Restore the model image and display it. MIL.MbufRestore(SINGLE_MODEL_IMAGE, MilSystem, MilImage) MIL.MdispSelect(MilDisplay, MilImage) ' Allocate a graphic list to hold the subpixel annotations to draw. MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, 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, MilSearchContext) ' Allocate a result buffer. MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, 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(Constants.vbLf + "GEOMETRIC MODEL FINDER:" + Constants.vbLf) Console.Write("-----------------------" + Constants.vbLf + Constants.vbLf) Console.Write("A model context was defined with the model in the displayed image." + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) 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, CType(MIL.M_NULL, IntPtr)) ' Find the model. MIL.MmodFind(MilSearchContext, MilImage, MilResult) ' Read the find time. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, Time) ' Get the number of models found. MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, NumResults) ' If a model was found above the acceptance threshold. If (NumResults >= 1) AndAlso (NumResults <= MODEL_MAX_OCCURRENCES) Then ' 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:" + Constants.vbLf + Constants.vbLf) Console.Write("Result Model X Position Y Position Angle Scale Score" + Constants.vbLf + Constants.vbLf) For i = 0 To CType((NumResults - 1), Integer) 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}%" + Constants.vbLf, i, Model(i), XPosition(i), YPosition(i), Angle(i), Scale(i), Score(i)) Next i Console.Write(Constants.vbLf + "The search time is {0:0.0} ms" + Constants.vbLf + Constants.vbLf, Time * 1000.0) ' Draw edges, position and box over the occurrences that were found. For i = 0 To CType((NumResults - 1), Integer) 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) Next i Else Console.Write("The model was not found or the number of models found is greater than" + Constants.vbLf) Console.Write("the specified maximum number of occurrence !" + 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 MIL objects. MIL.MgraFree(GraphicList) MIL.MbufFree(MilImage) MIL.MmodFree(MilSearchContext) MIL.MmodFree(MilResult) End Sub '**************************************************************************** ' Multiple models example. ' Source MIL image file specifications. Private Const MULTI_MODELS_IMAGE As String = MIL.M_IMAGE_PATH & "MultipleModel.mim" ' Target MIL image file specifications. Private Const MULTI_MODELS_TARGET_IMAGE As String = MIL.M_IMAGE_PATH & "MultipleTarget.mim" ' Search speed: M_VERY_HIGH for faster search, M_MEDIUM for precision and robustness. Private Const MULTI_MODELS_SEARCH_SPEED As Integer = MIL.M_VERY_HIGH ' Number of models. Private Const NUMBER_OF_MODELS As Integer = 3 Private Const MODELS_MAX_OCCURRENCES As Integer = 16 ' Model 1 specifications. Private Const MODEL0_OFFSETX As Integer = 34 Private Const MODEL0_OFFSETY As Integer = 93 Private Const MODEL0_SIZEX As Integer = 214 Private Const MODEL0_SIZEY As Integer = 76 Private Shared ReadOnly MODEL0_DRAW_COLOR As Integer = MIL.M_COLOR_RED ' Model 2 specifications. Private Const MODEL1_OFFSETX As Integer = 73 Private Const MODEL1_OFFSETY As Integer = 232 Private Const MODEL1_SIZEX As Integer = 150 Private Const MODEL1_SIZEY As Integer = 154 Private Const MODEL1_REFERENCEX As Integer = 23 Private Const MODEL1_REFERENCEY As Integer = 127 Private Shared ReadOnly MODEL1_DRAW_COLOR As Integer = MIL.M_COLOR_GREEN ' Model 3 specifications. Private Const MODEL2_OFFSETX As Integer = 308 Private Const MODEL2_OFFSETY As Integer = 39 Private Const MODEL2_SIZEX As Integer = 175 Private Const MODEL2_SIZEY As Integer = 357 Private Const MODEL2_REFERENCEX As Integer = 62 Private Const MODEL2_REFERENCEY As Integer = 150 Private Shared ReadOnly MODEL2_DRAW_COLOR As Integer = MIL.M_COLOR_BLUE ' Models array size. Private Const MODELS_ARRAY_SIZE As Integer = 3 Private Shared Sub MultipleModelExample(ByVal MilSystem As MIL_ID, ByVal MilDisplay As MIL_ID) Dim MilImage As MIL_ID = MIL.M_NULL ' Image buffer identifier. Dim GraphicList As MIL_ID = MIL.M_NULL ' Graphic list identifier. Dim MilSearchContext As MIL_ID = MIL.M_NULL ' Search context. Dim MilResult As MIL_ID = MIL.M_NULL ' Result identifier. Dim ModelsDrawColor(MODELS_ARRAY_SIZE - 1) As Double ' Model drawing colors. Dim NumResults As MIL_INT = 0 ' Number of results found. Dim Models(MODELS_MAX_OCCURRENCES - 1) As MIL_INT ' Model indices. Dim ModelsOffsetX(MODELS_ARRAY_SIZE - 1) As MIL_INT ' Model X offsets array. Dim ModelsOffsetY(MODELS_ARRAY_SIZE - 1) As MIL_INT ' Model Y offsets array. Dim ModelsSizeX(MODELS_ARRAY_SIZE - 1) As MIL_INT ' Model X sizes array. Dim ModelsSizeY(MODELS_ARRAY_SIZE - 1) As MIL_INT ' Model Y sizes array. Dim Score(MODELS_MAX_OCCURRENCES - 1) As Double ' Model correlation scores. Dim XPosition(MODELS_MAX_OCCURRENCES - 1) As Double ' Model X positions. Dim YPosition(MODELS_MAX_OCCURRENCES - 1) As Double ' Model Y positions. Dim Angle(MODELS_MAX_OCCURRENCES - 1) As Double ' Model occurrence angles. Dim Scale(MODELS_MAX_OCCURRENCES - 1) As Double ' Model occurrence scales. Dim Time As Double = 0.0 ' Time variable. Dim i As Integer ' 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, MilImage) MIL.MdispSelect(MilDisplay, MilImage) ' Allocate a graphic list to hold the subpixel annotations to draw. MIL.MgraAllocList(MilSystem, MIL.M_DEFAULT, 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, MilSearchContext) ' Allocate a result buffer. MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, MilResult) ' Define the models. For i = 0 To NUMBER_OF_MODELS - 1 MIL.MmodDefine(MilSearchContext, MIL.M_IMAGE, MilImage, CDbl(ModelsOffsetX(i)), CDbl(ModelsOffsetY(i)), CDbl(ModelsSizeX(i)), CDbl(ModelsSizeY(i))) Next 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 Then ' 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) End If If NUMBER_OF_MODELS > 2 Then ' 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) End If ' 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 To NUMBER_OF_MODELS - 1 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) Next i ' Pause to show the models. Console.Write("A model context was defined with the models in the displayed image." + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Clear the overlay image. 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, CType(MIL.M_NULL, IntPtr)) ' Find the models. MIL.MmodFind(MilSearchContext, MilImage, MilResult) ' Read the find time. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, Time) ' Get the number of models found. MIL.MmodGetResult(MilResult, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, NumResults) ' If the models were found above the acceptance threshold. If (NumResults >= 1) AndAlso (NumResults <= MODELS_MAX_OCCURRENCES) Then ' 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:" + Constants.vbLf) Console.Write(" Full rotation" + Constants.vbLf + " Small scale change" + Constants.vbLf + " Contrast variation" + Constants.vbLf) Console.Write(" Specular reflection" + Constants.vbLf + " Occlusion" + Constants.vbLf + " Multiple models" + Constants.vbLf) Console.Write(" Multiple occurrences" + Constants.vbLf + Constants.vbLf) ' Print the results for the found models. Console.Write("Result Model X Position Y Position Angle Scale Score" + Constants.vbLf + Constants.vbLf) For i = 0 To CType((NumResults - 1), Integer) 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}%" + Constants.vbLf, i, Models(i), XPosition(i), YPosition(i), Angle(i), Scale(i), Score(i)) Next i Console.Write(Constants.vbLf + "The search time is {0:0.0} ms" + Constants.vbLf + Constants.vbLf, Time * 1000.0) ' Draw edges and positions over the occurrences that were found. For i = 0 To CType((NumResults - 1), Integer) MIL.MgraColor(MIL.M_DEFAULT, ModelsDrawColor(CType(Models(i), Integer))) MIL.MmodDraw(MIL.M_DEFAULT, MilResult, GraphicList, MIL.M_DRAW_EDGES + MIL.M_DRAW_POSITION, i, MIL.M_DEFAULT) Next i Else Console.Write("The models were not found or the number of models found is greater than" + Constants.vbLf) Console.Write("the defined value of maximum occurrences !" + Constants.vbLf + Constants.vbLf) End If ' Wait for a key to be pressed. Console.Write("Press <Enter> to end." + Constants.vbLf + Constants.vbLf) Console.ReadKey() ' Free MIL objects. MIL.MgraFree(GraphicList) MIL.MbufFree(MilImage) MIL.MmodFree(MilSearchContext) MIL.MmodFree(MilResult) End Sub End Class End Namespace