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/*********************************************************************************/ /* * File name: MModelTracking.cpp * Location: See Matrox Example Launcher in the MIL Control Center * * * Synopsis: This program shows how to track a unique object using * pattern recognition. It allocates a model in the field of * view of the camera and finds it in a loop. It also prints * the coordinates of the found model and draws a box around it. * It searches using 2 methods, the normalized grayscale * correlation (Mpat), which is very fast and with the Geometric * Model Finder (Mmod), which is independent of the model rotation * and scale but slower. * * Note: Display update and annotations drawing can require * significant CPU usage. * * Copyright (C) Matrox Electronic Systems Ltd., 1992-2016. * All Rights Reserved */ #include <mil.h> /* Model specification. */ #define MODEL_WIDTH 128L #define MODEL_HEIGHT 128L #define MODEL_POS_X_INIT(TargetImage) (MbufInquire(TargetImage, M_SIZE_X, M_NULL)/2) #define MODEL_POS_Y_INIT(TargetImage) (MbufInquire(TargetImage, M_SIZE_Y, M_NULL)/2) /* Minimum score to consider the object found (in percent). */ #define MODEL_MIN_MATCH_SCORE 50.0 /* Drawing color */ #define DRAW_COLOR 0xFF /* White */ /* Example selection. */ #define RUN_PAT_TRACKING_EXAMPLE M_YES #define RUN_MOD_TRACKING_EXAMPLE M_YES /* Example functions declarations. */ void MpatTrackingExample(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage); void MmodTrackingExample(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage); void GetModelImage(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage); /***************************************************************************** Main. *****************************************************************************/ int MosMain(void) { MIL_ID MilApplication, /* Application identifier. */ MilSystem, /* System identifier. */ MilDisplay, /* Display identifier. */ MilDigitizer, /* Digitizer identifier. */ MilDisplayImage, /* Display image identifier. */ MilModelImage; /* Model image identifier. */ /* Allocate defaults. */ MappAllocDefault(M_DEFAULT, &MilApplication, &MilSystem, &MilDisplay, &MilDigitizer, &MilDisplayImage); /* Allocate a model image buffer. */ MbufAlloc2d(MilSystem, MbufInquire(MilDisplayImage, M_SIZE_X, M_NULL), MbufInquire(MilDisplayImage, M_SIZE_Y, M_NULL), 8, M_IMAGE+M_PROC, &MilModelImage); MosPrintf(MIL_TEXT("\nMODEL TRACKING:\n")); MosPrintf(MIL_TEXT("---------------\n\n")); /* Get the model image. */ GetModelImage(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage); #if (RUN_PAT_TRACKING_EXAMPLE) /* Finds the model using pattern matching. */ MpatTrackingExample(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage); #endif #if (RUN_MOD_TRACKING_EXAMPLE) /* Finds the model using geometric model finder. */ MmodTrackingExample(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage); #endif /* Free allocated buffers. */ MbufFree(MilModelImage); /* Free defaults. */ MappFreeDefault(MilApplication, MilSystem, MilDisplay, MilDigitizer, MilDisplayImage); return 0; } /***************************************************************************** Get Model Image Function. *****************************************************************************/ void GetModelImage(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage) { MIL_ID MilOverlayImage; /* Overlay image. */ MIL_DOUBLE DrawColor = DRAW_COLOR; /* Drawing color. */ /* Prepare for overlay annotations. */ MdispControl(MilDisplay, M_OVERLAY, M_ENABLE); MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); MdispInquire(MilDisplay, M_OVERLAY_ID, &MilOverlayImage); /* Draw the position of the model to define in the overlay. */ MgraColor(M_DEFAULT, DrawColor); MgraRect(M_DEFAULT, MilOverlayImage, MODEL_POS_X_INIT(MilOverlayImage) - (MODEL_WIDTH/2), MODEL_POS_Y_INIT(MilOverlayImage) - (MODEL_HEIGHT/2), MODEL_POS_X_INIT(MilOverlayImage) + (MODEL_WIDTH/2), MODEL_POS_Y_INIT(MilOverlayImage) + (MODEL_HEIGHT/2)); /* Grab continuously. */ MosPrintf(MIL_TEXT("Model definition:\n\n")); MosPrintf(MIL_TEXT("Place a unique model to find in the marked rectangle.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); /* Grab a reference model image. */ MdigGrabContinuous(MilDigitizer, MilDisplayImage); MosGetch(); MdigHalt(MilDigitizer); /* Copy the grabbed image to the Model image to keep it. */ MbufCopy(MilDisplayImage, MilModelImage); /* Clear and disable the overlay. */ MdispControl(MilDisplay, M_OVERLAY, M_DISABLE); MdispControl(MilDisplay, M_OVERLAY_CLEAR, M_DEFAULT); } /***************************************************************************** Tracking object with pattern matching module. *****************************************************************************/ void MpatTrackingExample(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage) { MIL_ID MilImage[2], /* Processing image buffer identifiers. */ ContextId, /* Model identifier. */ Result; /* Result identifier. */ MIL_DOUBLE DrawColor = DRAW_COLOR; /* Model drawing color. */ MIL_INT Found; /* Number of found models. */ MIL_INT NbFindDone = 0; /* Number of loops to find model done. */ MIL_DOUBLE OrgX = 0.0, OrgY = 0.0; /* Original center of model. */ MIL_DOUBLE x, y, Score = 0.0; /* Result variables. */ MIL_DOUBLE Time = 0.0; /* Timer. */ /* Print a start message. */ MosPrintf(MIL_TEXT("\nGRAYSCALE PATTERN MATCHING:\n")); MosPrintf(MIL_TEXT("---------------------------\n\n")); /* Display the model image. */ MbufCopy(MilModelImage, MilDisplayImage); /* Allocate normalized grayscale type model. */ MpatAlloc(MilSystem, M_NORMALIZED, M_DEFAULT, &ContextId); MpatDefine(ContextId, M_REGULAR_MODEL, MilModelImage, MODEL_POS_X_INIT(MilModelImage)-(MODEL_WIDTH/2), MODEL_POS_Y_INIT(MilModelImage)-(MODEL_HEIGHT/2), MODEL_WIDTH, MODEL_HEIGHT, M_DEFAULT); /* Allocate result. */ MpatAllocResult(MilSystem, M_DEFAULT, &Result); /* Draw box around the model. */ MgraColor(M_DEFAULT, DrawColor); MpatDraw(M_DEFAULT, ContextId, MilDisplayImage, M_DRAW_BOX, M_DEFAULT, M_ORIGINAL); /* Set minimum acceptance for search. */ MpatControl(ContextId, 0, M_ACCEPTANCE, MODEL_MIN_MATCH_SCORE); /* Set speed. */ MpatControl(ContextId, 0, M_SPEED, M_HIGH); /* Set accuracy. */ MpatControl(ContextId, 0, M_ACCURACY, M_LOW); /* Preprocess model. */ MpatPreprocess(ContextId, M_DEFAULT, MilModelImage); /* Inquire about center of model. */ MpatInquire(ContextId, 0, M_ORIGINAL_X, &OrgX); MpatInquire(ContextId, 0, M_ORIGINAL_Y, &OrgY); /* Print the original position. */ MosPrintf(MIL_TEXT("A Grayscale Model was defined.\n")); MosPrintf(MIL_TEXT("Model dimensions: %ld x %ld.\n"), MODEL_WIDTH, MODEL_HEIGHT); MosPrintf(MIL_TEXT("Model center: X=%.2f, Y=%.2f.\n"), OrgX, OrgY); MosPrintf(MIL_TEXT("Model is scale and rotation dependant.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Allocate 2 grab buffers. */ MbufAlloc2d(MilSystem, MbufInquire(MilModelImage, M_SIZE_X, M_NULL), MbufInquire(MilModelImage, M_SIZE_Y, M_NULL), 8, M_IMAGE+M_GRAB+M_PROC, &MilImage[0]); MbufAlloc2d(MilSystem, MbufInquire(MilModelImage, M_SIZE_X, M_NULL), MbufInquire(MilModelImage, M_SIZE_Y, M_NULL), 8, M_IMAGE+M_GRAB+M_PROC, &MilImage[1]); /* Grab continuously and perform the find operation using double buffering. */ MosPrintf(MIL_TEXT("\nContinuously finding the Grayscale model.\n")); MosPrintf(MIL_TEXT("Press <Enter> to stop.\n\n")); /* Grab a first target image into first buffer (done twice for timer reset accuracy). */ MdigControl(MilDigitizer, M_GRAB_MODE, M_ASYNCHRONOUS); MdigGrab(MilDigitizer, MilImage[NbFindDone%2]); MdigGrab(MilDigitizer, MilImage[NbFindDone%2]); MappTimer(M_DEFAULT, M_TIMER_RESET, &Time); /* Loop, processing one buffer while grabbing the other. */ do { /* Grab a target image into the other buffer. */ MdigGrab(MilDigitizer, MilImage[(NbFindDone+1)%2]); /* Read the time. */ MappTimer(M_DEFAULT, M_TIMER_READ, &Time); /* Find model. */ MpatFind(ContextId, MilImage[NbFindDone%2], Result); /* Get results. */ MpatGetResult(Result, M_GENERAL, M_NUMBER+M_TYPE_MIL_INT, &Found); MpatGetResult(Result, M_DEFAULT, M_POSITION_X, &x); MpatGetResult(Result, M_DEFAULT, M_POSITION_Y, &y); MpatGetResult(Result, M_DEFAULT, M_SCORE, &Score); /* Print a message based upon the score. */ if(Found) { /* Draw a box around the model and print the results. */ MpatDraw(M_DEFAULT, Result, MilImage[NbFindDone%2], M_DRAW_BOX+M_DRAW_POSITION, M_DEFAULT, M_DEFAULT); MosPrintf(MIL_TEXT("Found: X=%7.2f, Y=%7.2f, Score=%5.1f%% (%.1f fps). \r"), x, y, Score, (NbFindDone+1)/Time); } else { /* Print the "not found" message. */ MosPrintf(MIL_TEXT("Not found ! (score<%5.1f%%) (%.1f fps). \r"), MODEL_MIN_MATCH_SCORE, (NbFindDone+1)/Time); } /* Copy target image to the display. */ MbufCopy(MilImage[NbFindDone%2], MilDisplayImage); /* Increment find count */ NbFindDone++; } while (!MosKbhit()); MosGetch(); MosPrintf(MIL_TEXT("\n\n")); /* Wait for end of last grab. */ MdigGrabWait(MilDigitizer, M_GRAB_END); /* Free all allocated objects. */ MpatFree(Result); MpatFree(ContextId); MbufFree(MilImage[1]); MbufFree(MilImage[0]); } /***************************************************************************** Tracking object with Geometric Model Finder module *****************************************************************************/ #define MODEL_MAX_OCCURRENCES 16L void MmodTrackingExample(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage) { MIL_ID MilImage[2], /* Processing image buffer identifiers. */ SearchContext, /* Search context identifier. */ Result; /* Result identifier. */ MIL_DOUBLE DrawColor = DRAW_COLOR; /* Model drawing color. */ MIL_INT Found; /* Number of models found. */ MIL_INT NbFindDone = 0; /* Number of loops to find model done. */ MIL_DOUBLE OrgX = 0.0, OrgY = 0.0; /* Original center of model. */ MIL_DOUBLE Score[MODEL_MAX_OCCURRENCES], /* Model correlation score. */ x[MODEL_MAX_OCCURRENCES], /* Model X position. */ y[MODEL_MAX_OCCURRENCES], /* Model Y position. */ Angle[MODEL_MAX_OCCURRENCES], /* Model occurrence angle. */ Scale[MODEL_MAX_OCCURRENCES]; /* Model occurrence scale. */ MIL_DOUBLE Time = 0.0; /* Timer. */ /* Print a start message. */ MosPrintf(MIL_TEXT("\nGEOMETRIC MODEL FINDER (scale and rotation independent):\n")); MosPrintf(MIL_TEXT("--------------------------------------------------------\n\n")); /* Display model image. */ MbufCopy(MilModelImage, MilDisplayImage); /* Allocate a context and define a geometric model. */ MmodAlloc(MilSystem, M_GEOMETRIC, M_DEFAULT, &SearchContext); MmodDefine(SearchContext, M_IMAGE, MilModelImage, (MIL_DOUBLE)MODEL_POS_X_INIT(MilModelImage) - (MODEL_WIDTH/2), (MIL_DOUBLE)MODEL_POS_Y_INIT(MilModelImage) - (MODEL_HEIGHT/2), MODEL_WIDTH, MODEL_HEIGHT); /* Allocate result. */ MmodAllocResult(MilSystem, M_DEFAULT, &Result); /* Draw a box around the model. */ MgraColor(M_DEFAULT, DrawColor); MmodDraw(M_DEFAULT, SearchContext, MilDisplayImage, M_DRAW_BOX, M_DEFAULT, M_ORIGINAL); /* Set speed to VERY HIGH for fast but less precise search. */ MmodControl(SearchContext, M_CONTEXT, M_SPEED, M_VERY_HIGH); /* Set minimum acceptance for the search. */ MmodControl(SearchContext, M_DEFAULT, M_ACCEPTANCE, MODEL_MIN_MATCH_SCORE); /* Preprocess model. */ MmodPreprocess(SearchContext, M_DEFAULT); /* Inquire about center of model. */ MmodInquire(SearchContext, M_DEFAULT, M_ORIGINAL_X, &OrgX); MmodInquire(SearchContext, M_DEFAULT, M_ORIGINAL_Y, &OrgY); /* Print the original position. */ MosPrintf(MIL_TEXT("The Geometric target model was defined.\n")); MosPrintf(MIL_TEXT("Model dimensions: %ld x %ld.\n"), MODEL_WIDTH, MODEL_HEIGHT); MosPrintf(MIL_TEXT("Model center: X=%.2f, Y=%.2f.\n"), OrgX, OrgY); MosPrintf(MIL_TEXT("Model is scale and rotation independent.\n")); MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n")); MosGetch(); /* Allocate 2 grab buffers. */ MbufAlloc2d(MilSystem, MbufInquire(MilModelImage, M_SIZE_X, M_NULL), MbufInquire(MilModelImage, M_SIZE_Y, M_NULL), 8, M_IMAGE+M_GRAB+M_PROC, &MilImage[0]); MbufAlloc2d(MilSystem, MbufInquire(MilModelImage, M_SIZE_X, M_NULL), MbufInquire(MilModelImage, M_SIZE_Y, M_NULL), 8, M_IMAGE+M_GRAB+M_PROC, &MilImage[1]); /* Grab continuously grab and perform the find operation using double buffering. */ MosPrintf(MIL_TEXT("\nContinuously finding the Geometric Model.\n")); MosPrintf(MIL_TEXT("Press a <Enter> to stop.\n\n")); /* Grab a first target image into first buffer (done twice for timer reset accuracy). */ MdigControl(MilDigitizer, M_GRAB_MODE, M_ASYNCHRONOUS); MdigGrab(MilDigitizer, MilImage[NbFindDone%2]); MdigGrab(MilDigitizer, MilImage[NbFindDone%2]); MappTimer(M_DEFAULT, M_TIMER_RESET, &Time); /* Loop, processing one buffer while grabbing the other. */ do { /* Grab a target image into the other buffer. */ MdigGrab(MilDigitizer, MilImage[(NbFindDone+1)%2]); /* Read the time. */ MappTimer(M_DEFAULT, M_TIMER_READ, &Time); /* Find model. */ MmodFind(SearchContext, MilImage[NbFindDone%2], Result); /* Get the number of occurrences found. */ MmodGetResult(Result, M_DEFAULT, M_NUMBER+M_TYPE_MIL_INT, &Found); /* Print a message based on the score. */ if ( (Found >= 1) && (Found < MODEL_MAX_OCCURRENCES) ) { /* Get results. */ MmodGetResult(Result, M_DEFAULT, M_POSITION_X, x); MmodGetResult(Result, M_DEFAULT, M_POSITION_Y, y); MmodGetResult(Result, M_DEFAULT, M_SCALE, Scale); MmodGetResult(Result, M_DEFAULT, M_ANGLE, Angle); MmodGetResult(Result, M_DEFAULT, M_SCORE, Score); /* Draw a box and a cross where the model was found and print the results. */ MmodDraw(M_DEFAULT, Result, MilImage[NbFindDone%2], M_DRAW_BOX+M_DRAW_POSITION+M_DRAW_EDGES, M_DEFAULT, M_DEFAULT); MosPrintf(MIL_TEXT("Found: X=%6.1f, Y=%6.1f, Angle=%6.1f, Scale=%5.2f, ") MIL_TEXT("Score=%5.1f%% (%5.1f fps).\r"), x[0], y[0], Angle[0], Scale[0], Score[0], (NbFindDone+1)/Time); } else { /* Print the "not found" message. */ MosPrintf(MIL_TEXT("Not found! (score<%5.1f%%) ") MIL_TEXT("(%5.1f fps).\r"), MODEL_MIN_MATCH_SCORE, (NbFindDone+1)/Time); } /* Copy target image to the display. */ MbufCopy(MilImage[NbFindDone%2], MilDisplayImage); /* Increment the counter. */ NbFindDone++; } while (!MosKbhit()); MosGetch(); MosPrintf(MIL_TEXT("\n\n")); /* Wait for the end of last grab. */ MdigGrabWait(MilDigitizer, M_GRAB_END); /* Free all allocations. */ MmodFree(Result); MmodFree(SearchContext); MbufFree(MilImage[1]); MbufFree(MilImage[0]); }