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//********************************************************************************* // // File name: MmodelTracking.cs // 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 (MIL.Mpat), which is very fast and with the Geometric // Model Finder (MIL.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 //********************************************************************************* using System; using System.Collections.Generic; using System.Text; using Matrox.MatroxImagingLibrary; namespace MModelTracking { class Program { // Model specification. private const int MODEL_WIDTH = 128; private const int MODEL_HEIGHT = 128; static MIL_INT MODEL_POS_X_INIT(MIL_ID TargetImage) { return (MIL.MbufInquire(TargetImage, MIL.M_SIZE_X, MIL.M_NULL) / 2); } static MIL_INT MODEL_POS_Y_INIT(MIL_ID TargetImage) { return (MIL.MbufInquire(TargetImage, MIL.M_SIZE_Y, MIL.M_NULL) / 2); } // Minimum score to consider the object found (in percent). private const double MODEL_MIN_MATCH_SCORE = 50.0; // Drawing color private const int DRAW_COLOR = 0xFF; // White // Example selection. private const int RUN_PAT_TRACKING_EXAMPLE = MIL.M_YES; private const int RUN_MOD_TRACKING_EXAMPLE = MIL.M_YES; //**************************************************************************** // Main. //**************************************************************************** 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 MilDigitizer = MIL.M_NULL; // Digitizer identifier. MIL_ID MilDisplayImage = MIL.M_NULL; // Display image identifier. MIL_ID MilModelImage = MIL.M_NULL; // Model image identifier. // Allocate defaults. MIL.MappAllocDefault(MIL.M_DEFAULT, ref MilApplication, ref MilSystem, ref MilDisplay, ref MilDigitizer, ref MilDisplayImage); // Allocate a model image buffer. MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilDisplayImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilDisplayImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_PROC, ref MilModelImage); Console.Write("\nMODEL TRACKING:\n"); Console.Write("---------------\n\n"); // Get the model image. GetModelImage(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage); if (RUN_PAT_TRACKING_EXAMPLE == MIL.M_YES) { // Finds the model using pattern matching. MpatTrackingExample(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage); } if (RUN_MOD_TRACKING_EXAMPLE == MIL.M_YES) { // Finds the model using geometric model finder. MmodTrackingExample(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage); } // Free allocated buffers. MIL.MbufFree(MilModelImage); // Free defaults. MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MilDigitizer, MilDisplayImage); } //**************************************************************************** // Get Model Image Function. //**************************************************************************** static void GetModelImage(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage) { MIL_ID MilOverlayImage = MIL.M_NULL; // Overlay image. double DrawColor = DRAW_COLOR; // Drawing color. // Prepare for overlay annotations. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_ENABLE); MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT); MIL.MdispInquire(MilDisplay, MIL.M_OVERLAY_ID, ref MilOverlayImage); // Draw the position of the model to define in the overlay. MIL.MgraColor(MIL.M_DEFAULT, DrawColor); MIL.MgraRect(MIL.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. Console.Write("Model definition:\n\n"); Console.Write("Place a unique model to find in the marked rectangle.\n"); Console.Write("Press <Enter> to continue.\n\n"); // Grab a reference model image. MIL.MdigGrabContinuous(MilDigitizer, MilDisplayImage); Console.ReadKey(); MIL.MdigHalt(MilDigitizer); // Copy the grabbed image to the Model image to keep it. MIL.MbufCopy(MilDisplayImage, MilModelImage); // Clear and disable the overlay. MIL.MdispControl(MilDisplay, MIL.M_OVERLAY, MIL.M_DISABLE); MIL.MdispControl(MilDisplay, MIL.M_OVERLAY_CLEAR, MIL.M_DEFAULT); } //**************************************************************************** // Tracking object with pattern matching module. //**************************************************************************** static void MpatTrackingExample(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage) { MIL_ID[] MilImage = new MIL_ID[2] { MIL.M_NULL, MIL.M_NULL }; // Processing image buffer identifiers. MIL_ID ContextId = MIL.M_NULL; // Model identifier. MIL_ID Result = MIL.M_NULL; // Result identifier. double DrawColor = DRAW_COLOR; // Model drawing color. MIL_INT Found = 0; // Number of found models. int NbFindDone = 0; // Number of loops to find model done. double OrgX = 0.0; // Original center of model. double OrgY = 0.0; double x = 0.0; // Result variables. double y = 0.0; double Score = 0.0; double Time = 0.0; // Timer. // Print a start message. Console.Write("\nGRAYSCALE PATTERN MATCHING:\n"); Console.Write("---------------------------\n\n"); // Display the model image. MIL.MbufCopy(MilModelImage, MilDisplayImage); // Allocate normalized grayscale type model. MIL.MpatAlloc(MilSystem, MIL.M_NORMALIZED, MIL.M_DEFAULT, ref ContextId); MIL.MpatDefine(ContextId, MIL.M_REGULAR_MODEL, MilModelImage, MODEL_POS_X_INIT(MilModelImage) - (MODEL_WIDTH / 2), MODEL_POS_Y_INIT(MilModelImage) - (MODEL_HEIGHT / 2), MODEL_WIDTH, MODEL_HEIGHT, MIL.M_DEFAULT); // Allocate result. MIL.MpatAllocResult(MilSystem, MIL.M_DEFAULT, ref Result); // Draw box around the model. MIL.MgraColor(MIL.M_DEFAULT, DrawColor); MIL.MpatDraw(MIL.M_DEFAULT, ContextId, MilDisplayImage, MIL.M_DRAW_BOX, MIL.M_DEFAULT, MIL.M_ORIGINAL); // Set minimum acceptance for search. MIL.MpatControl(ContextId, 0, MIL.M_ACCEPTANCE, MODEL_MIN_MATCH_SCORE); // Set speed. MIL.MpatControl(ContextId, 0, MIL.M_SPEED, MIL.M_HIGH); // Set accuracy. MIL.MpatControl(ContextId, 0, MIL.M_ACCURACY, MIL.M_LOW); // Preprocess model. MIL.MpatPreprocess(ContextId, MIL.M_DEFAULT, MilModelImage); // Inquire about center of model. MIL.MpatInquire(ContextId, 0, MIL.M_ORIGINAL_X, ref OrgX); MIL.MpatInquire(ContextId, 0, MIL.M_ORIGINAL_Y, ref OrgY); // Print the original position. Console.Write("A Grayscale Model was defined.\n"); Console.Write("Model dimensions: {0} x {1}.\n", MODEL_WIDTH, MODEL_HEIGHT); Console.Write("Model center: X={0:0.00}, Y={0:0.00}.\n", OrgX, OrgY); Console.Write("Model is scale and rotation dependant.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Allocate 2 grab buffers. MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilModelImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilModelImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC, ref MilImage[0]); MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilModelImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilModelImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC, ref MilImage[1]); // Grab continuously and perform the find operation using double buffering. Console.Write("\nContinuously finding the Grayscale model.\n"); Console.Write("Press <Enter> to stop.\n\n"); // Grab a first target image into first buffer (done twice for timer reset accuracy). MIL.MdigControl(MilDigitizer, MIL.M_GRAB_MODE, MIL.M_ASYNCHRONOUS); MIL.MdigGrab(MilDigitizer, MilImage[NbFindDone % 2]); MIL.MdigGrab(MilDigitizer, MilImage[NbFindDone % 2]); MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET, ref Time); // Loop, processing one buffer while grabbing the other. do { // Grab a target image into the other buffer. MIL.MdigGrab(MilDigitizer, MilImage[(NbFindDone + 1) % 2]); // Read the time. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref Time); // Find model. MIL.MpatFind(ContextId, MilImage[NbFindDone % 2], Result); // Get results. MIL.MpatGetResult(Result, MIL.M_GENERAL, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, ref Found); MIL.MpatGetResult(Result, MIL.M_DEFAULT, MIL.M_POSITION_X, ref x); MIL.MpatGetResult(Result, MIL.M_DEFAULT, MIL.M_POSITION_Y, ref y); MIL.MpatGetResult(Result, MIL.M_DEFAULT, MIL.M_SCORE, ref Score); // Print a message based upon the score. if (Found > 0) { // Draw a box around the model and print the results. MIL.MpatDraw(MIL.M_DEFAULT, Result, MilImage[NbFindDone % 2], MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION, MIL.M_DEFAULT, MIL.M_DEFAULT); Console.Write("Found: X={0,7:0.00}, Y={1,7:0.00}, Score={2,5:0.0}% ({3:0.0} fps). \r", x, y, Score, (NbFindDone + 1) / Time); } else { // Print the "not found" message. Console.Write("Not found ! (score<{0,5:0.0}%) ({1:0.0} fps). \r", MODEL_MIN_MATCH_SCORE, (NbFindDone + 1) / Time); } // Copy target image to the display. MIL.MbufCopy(MilImage[NbFindDone % 2], MilDisplayImage); // Increment find count NbFindDone++; } while (!Console.KeyAvailable); Console.ReadKey(); Console.Write("\n\n"); // Wait for end of last grab. MIL.MdigGrabWait(MilDigitizer, MIL.M_GRAB_END); // Free all allocated objects. MIL.MpatFree(Result); MIL.MpatFree(ContextId); MIL.MbufFree(MilImage[1]); MIL.MbufFree(MilImage[0]); } /***************************************************************************** Tracking object with Geometric Model Finder module *****************************************************************************/ private const int MODEL_MAX_OCCURRENCES = 16; static void MmodTrackingExample(MIL_ID MilSystem, MIL_ID MilDisplay, MIL_ID MilDigitizer, MIL_ID MilDisplayImage, MIL_ID MilModelImage) { MIL_ID[] MilImage = new MIL_ID[2] { MIL.M_NULL, MIL.M_NULL }; // Processing image buffer identifiers. MIL_ID SearchContext = MIL.M_NULL; // Search context identifier. MIL_ID Result = MIL.M_NULL; // Result identifier. double DrawColor = DRAW_COLOR; // Model drawing color. MIL_INT Found = 0; // Number of models found. int NbFindDone = 0; // Number of loops to find model done. double OrgX = 0.0; // Original center of model. double OrgY = 0.0; double[] Score = new double[MODEL_MAX_OCCURRENCES]; // Model correlation score. double[] x = new double[MODEL_MAX_OCCURRENCES]; // Model X position. double[] y = 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; // Timer. // Print a start message. Console.Write("\nGEOMETRIC MODEL FINDER (scale and rotation independent):\n"); Console.Write("--------------------------------------------------------\n\n"); // Display model image. MIL.MbufCopy(MilModelImage, MilDisplayImage); // Allocate a context and define a geometric model. MIL.MmodAlloc(MilSystem, MIL.M_GEOMETRIC, MIL.M_DEFAULT, ref SearchContext); MIL.MmodDefine(SearchContext, MIL.M_IMAGE, MilModelImage, (double)MODEL_POS_X_INIT(MilModelImage) - (MODEL_WIDTH / 2), (double)MODEL_POS_Y_INIT(MilModelImage) - (MODEL_HEIGHT / 2), MODEL_WIDTH, MODEL_HEIGHT); // Allocate result. MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, ref Result); // Draw a box around the model. MIL.MgraColor(MIL.M_DEFAULT, DrawColor); MIL.MmodDraw(MIL.M_DEFAULT, SearchContext, MilDisplayImage, MIL.M_DRAW_BOX, MIL.M_DEFAULT, MIL.M_ORIGINAL); // Set speed to VERY HIGH for fast but less precise search. MIL.MmodControl(SearchContext, MIL.M_CONTEXT, MIL.M_SPEED, MIL.M_VERY_HIGH); // Set minimum acceptance for the search. MIL.MmodControl(SearchContext, MIL.M_DEFAULT, MIL.M_ACCEPTANCE, MODEL_MIN_MATCH_SCORE); // Preprocess model. MIL.MmodPreprocess(SearchContext, MIL.M_DEFAULT); // Inquire about center of model. MIL.MmodInquire(SearchContext, MIL.M_DEFAULT, MIL.M_ORIGINAL_X, ref OrgX); MIL.MmodInquire(SearchContext, MIL.M_DEFAULT, MIL.M_ORIGINAL_Y, ref OrgY); // Print the original position. Console.Write("The Geometric target model was defined.\n"); Console.Write("Model dimensions: {0} x {1}.\n", MODEL_WIDTH, MODEL_HEIGHT); Console.Write("Model center: X={0:0.00}, Y={0:0.00}.\n", OrgX, OrgY); Console.Write("Model is scale and rotation independent.\n"); Console.Write("Press <Enter> to continue.\n\n"); Console.ReadKey(); // Allocate 2 grab buffers. MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilModelImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilModelImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC, ref MilImage[0]); MIL.MbufAlloc2d(MilSystem, MIL.MbufInquire(MilModelImage, MIL.M_SIZE_X, MIL.M_NULL), MIL.MbufInquire(MilModelImage, MIL.M_SIZE_Y, MIL.M_NULL), 8, MIL.M_IMAGE + MIL.M_GRAB + MIL.M_PROC, ref MilImage[1]); // Grab continuously grab and perform the find operation using double buffering. Console.Write("\nContinuously finding the Geometric Model.\n"); Console.Write("Press a <Enter> to stop.\n\n"); // Grab a first target image into first buffer (done twice for timer reset accuracy). MIL.MdigControl(MilDigitizer, MIL.M_GRAB_MODE, MIL.M_ASYNCHRONOUS); MIL.MdigGrab(MilDigitizer, MilImage[NbFindDone % 2]); MIL.MdigGrab(MilDigitizer, MilImage[NbFindDone % 2]); MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET, ref Time); // Loop, processing one buffer while grabbing the other. do { // Grab a target image into the other buffer. MIL.MdigGrab(MilDigitizer, MilImage[(NbFindDone + 1) % 2]); // Read the time. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, ref Time); // Find model. MIL.MmodFind(SearchContext, MilImage[NbFindDone % 2], Result); // Get the number of occurrences found. MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, ref Found); // Print a message based on the score. if ((Found >= 1) && (Found < MODEL_MAX_OCCURRENCES)) { // Get results. MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_POSITION_X, x); MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_POSITION_Y, y); MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_SCALE, Scale); MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_ANGLE, Angle); MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_SCORE, Score); // Draw a box and a cross where the model was found and print the results. MIL.MmodDraw(MIL.M_DEFAULT, Result, MilImage[NbFindDone % 2], MIL.M_DRAW_BOX + MIL.M_DRAW_POSITION + MIL.M_DRAW_EDGES, MIL.M_DEFAULT, MIL.M_DEFAULT); Console.Write("Found: X={0,6:0.0}, Y={1,6:0.0}, Angle={2,6:0.0}, Scale={3,5:0.00}, Score={4,5:0.0}% ({5,5:0.0} fps).\r", x[0], y[0], Angle[0], Scale[0], Score[0], (NbFindDone + 1) / Time); } else { // Print the "not found" message. Console.Write("Not found! (score<{0,5:0.0}%) ({1,5:0.0} fps).\r", MODEL_MIN_MATCH_SCORE, (NbFindDone + 1) / Time); } // Copy target image to the display. MIL.MbufCopy(MilImage[NbFindDone % 2], MilDisplayImage); // Increment the counter. NbFindDone++; } while (!Console.KeyAvailable); Console.ReadKey(); Console.Write("\n\n"); // Wait for the end of last grab. MIL.MdigGrabWait(MilDigitizer, MIL.M_GRAB_END); // Free all allocations. MIL.MmodFree(Result); MIL.MmodFree(SearchContext); MIL.MbufFree(MilImage[1]); MIL.MbufFree(MilImage[0]); } } }