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'********************************************************************************* ' ' File name: MmodelTracking.vb ' 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 '********************************************************************************* Imports Microsoft.VisualBasic Imports System Imports System.Collections.Generic Imports System.Text Imports Matrox.MatroxImagingLibrary Namespace MModelTracking Friend Class Program ' Model specification. Private Const MODEL_WIDTH As Integer = 128 Private Const MODEL_HEIGHT As Integer = 128 Private Shared Function MODEL_POS_X_INIT(ByVal TargetImage As MIL_ID) As MIL_INT Return CType((MIL.MbufInquire(TargetImage, MIL.M_SIZE_X, MIL.M_NULL) / 2), MIL_INT) End Function Private Shared Function MODEL_POS_Y_INIT(ByVal TargetImage As MIL_ID) As MIL_INT Return CType((MIL.MbufInquire(TargetImage, MIL.M_SIZE_Y, MIL.M_NULL) / 2), MIL_INT) End Function ' Minimum score to consider the object found (in percent). Private Const MODEL_MIN_MATCH_SCORE As Double = 50.0 ' Drawing color Private Const DRAW_COLOR As Integer = &HFF ' White ' Example selection. Private Const RUN_PAT_TRACKING_EXAMPLE As Integer = MIL.M_YES Private Const RUN_MOD_TRACKING_EXAMPLE As Integer = MIL.M_YES '**************************************************************************** ' Main. '**************************************************************************** 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 MilDigitizer As MIL_ID = MIL.M_NULL ' Digitizer identifier. Dim MilDisplayImage As MIL_ID = MIL.M_NULL ' Display image identifier. Dim MilModelImage As MIL_ID = MIL.M_NULL ' Model image identifier. ' Allocate defaults. MIL.MappAllocDefault(MIL.M_DEFAULT, MilApplication, MilSystem, MilDisplay, MilDigitizer, 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, MilModelImage) Console.Write(Constants.vbLf + "MODEL TRACKING:" + Constants.vbLf) Console.Write("---------------" + Constants.vbLf + Constants.vbLf) ' Get the model image. GetModelImage(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage) If RUN_PAT_TRACKING_EXAMPLE = MIL.M_YES Then ' Finds the model using pattern matching. MpatTrackingExample(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage) End If If RUN_MOD_TRACKING_EXAMPLE = MIL.M_YES Then ' Finds the model using geometric model finder. MmodTrackingExample(MilSystem, MilDisplay, MilDigitizer, MilDisplayImage, MilModelImage) End If ' Free allocated buffers. MIL.MbufFree(MilModelImage) ' Free defaults. MIL.MappFreeDefault(MilApplication, MilSystem, MilDisplay, MilDigitizer, MilDisplayImage) End Sub '**************************************************************************** ' Get Model Image Function. '**************************************************************************** Private Shared Sub GetModelImage(ByVal MilSystem As MIL_ID, _ ByVal MilDisplay As MIL_ID, _ ByVal MilDigitizer As MIL_ID, _ ByVal MilDisplayImage As MIL_ID, _ ByVal MilModelImage As MIL_ID) Dim MilOverlayImage As MIL_ID = MIL.M_NULL ' Overlay image. Dim DrawColor As Double = 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, 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) - CType((MODEL_WIDTH / 2), MIL_INT), _ MODEL_POS_Y_INIT(MilOverlayImage) - CType((MODEL_HEIGHT / 2), MIL_INT), _ MODEL_POS_X_INIT(MilOverlayImage) + CType((MODEL_WIDTH / 2), MIL_INT), _ MODEL_POS_Y_INIT(MilOverlayImage) + CType((MODEL_HEIGHT / 2), MIL_INT)) ' Grab continuously. Console.Write("Model definition:" + Constants.vbLf + Constants.vbLf) Console.Write("Place a unique model to find in the marked rectangle." + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) ' 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) End Sub '**************************************************************************** ' Tracking object with pattern matching module. '**************************************************************************** Private Shared Sub MpatTrackingExample(ByVal MilSystem As MIL_ID, _ ByVal MilDisplay As MIL_ID, _ ByVal MilDigitizer As MIL_ID, _ ByVal MilDisplayImage As MIL_ID, _ ByVal MilModelImage As MIL_ID) Dim MilImage() As MIL_ID = {MIL.M_NULL, MIL.M_NULL} ' Processing image buffer identifiers. Dim ContextId As MIL_ID = MIL.M_NULL ' Model identifier. Dim Result As MIL_ID = MIL.M_NULL ' Result identifier. Dim DrawColor As Double = DRAW_COLOR ' Model drawing color. Dim Found As MIL_INT = 0 ' Number of found models. int NbFindDone = 0; Dim NbFindDone As Integer = 0 ' Number of loops to find model done. Dim OrgX As Double = 0.0 ' Original center of model. Dim OrgY As Double = 0.0 Dim x As Double = 0.0 ' Result variables. Dim y As Double = 0.0 Dim Score As Double = 0.0 Dim Time As Double = 0.0 ' Timer. ' Print a start message. Console.Write(Constants.vbLf + "GRAYSCALE PATTERN MATCHING:" + Constants.vbLf) Console.Write("---------------------------" + Constants.vbLf + Constants.vbLf) ' Display the model image. MIL.MbufCopy(MilModelImage, MilDisplayImage) ' Allocate normalized grayscale type model. MIL.MpatAlloc(MilSystem, MIL.M_NORMALIZED, MIL.M_DEFAULT, ContextId) MIL.MpatDefine(ContextId, MIL.M_REGULAR_MODEL, MilModelImage, _ MODEL_POS_X_INIT(MilModelImage) - CType((MODEL_WIDTH / 2), MIL_INT), _ MODEL_POS_Y_INIT(MilModelImage) - CType((MODEL_HEIGHT / 2), MIL_INT), _ MODEL_WIDTH, MODEL_HEIGHT, MIL.M_DEFAULT) ' Allocate result. MIL.MpatAllocResult(MilSystem, MIL.M_DEFAULT, 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, OrgX) MIL.MpatInquire(ContextId, 0, MIL.M_ORIGINAL_Y, OrgY) ' Print the original position. Console.Write("A Grayscale Model was defined." + Constants.vbLf) Console.Write("Model dimensions: {0} x {1}." + Constants.vbLf, MODEL_WIDTH, MODEL_HEIGHT) Console.Write("Model center: X={0:0.00}, Y={0:0.00}." + Constants.vbLf, OrgX, OrgY) Console.Write("Model is scale and rotation dependant." + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) 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, 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, MilImage(1)) ' Grab continuously and perform the find operation using double buffering. Console.Write(Constants.vbLf + "Continuously finding the Grayscale model." + Constants.vbLf) Console.Write("Press <Enter> to stop." + Constants.vbLf + Constants.vbLf) ' 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 Mod 2)) MIL.MdigGrab(MilDigitizer, MilImage(NbFindDone Mod 2)) MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET, Time) ' Loop, processing one buffer while grabbing the other. Do ' Grab a target image into the other buffer. MIL.MdigGrab(MilDigitizer, MilImage((NbFindDone + 1) Mod 2)) ' Read the time. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, Time) ' Find model. MIL.MpatFind(ContextId, MilImage(NbFindDone Mod 2), Result) ' Get results. MIL.MpatGetResult(Result, MIL.M_GENERAL, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, Found) MIL.MpatGetResult(Result, MIL.M_DEFAULT, MIL.M_POSITION_X, x) MIL.MpatGetResult(Result, MIL.M_DEFAULT, MIL.M_POSITION_Y, y) MIL.MpatGetResult(Result, MIL.M_DEFAULT, MIL.M_SCORE, Score) ' Print a message based upon the score. If Found > 0 Then ' Draw a box around the model and print the results. MIL.MpatDraw(MIL.M_DEFAULT, Result, MilImage(NbFindDone Mod 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). " & Constants.vbCr, 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). " & Constants.vbCr, MODEL_MIN_MATCH_SCORE, (NbFindDone + 1) / Time) End If ' Copy target image to the display. MIL.MbufCopy(MilImage(NbFindDone Mod 2), MilDisplayImage) ' Increment find count NbFindDone += 1 Loop While Not Console.KeyAvailable Console.ReadKey() Console.Write(Constants.vbLf + Constants.vbLf) ' 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)) End Sub '**************************************************************************** ' Tracking object with Geometric Model Finder module '**************************************************************************** Private Const MODEL_MAX_OCCURRENCES As Integer = 16 Private Shared Sub MmodTrackingExample(ByVal MilSystem As MIL_ID, _ ByVal MilDisplay As MIL_ID, _ ByVal MilDigitizer As MIL_ID, _ ByVal MilDisplayImage As MIL_ID, _ ByVal MilModelImage As MIL_ID) Dim MilImage() As MIL_ID = {MIL.M_NULL, MIL.M_NULL} ' Processing image buffer identifiers. Dim SearchContext As MIL_ID = MIL.M_NULL ' Search context identifier. Dim Result As MIL_ID = MIL.M_NULL ' Result identifier. Dim DrawColor As Double = DRAW_COLOR ' Model drawing color. Dim Found As MIL_INT = 0 ' Number of models found. Dim NbFindDone As Integer = 0 ' Number of loops to find model done. Dim OrgX As Double = 0.0 ' Original center of model. Dim OrgY As Double = 0.0 Dim Score(MODEL_MAX_OCCURRENCES - 1) As Double ' Model correlation score. Dim x(MODEL_MAX_OCCURRENCES - 1) As Double ' Model X position. Dim y(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 ' Timer. ' Print a start message. Console.Write(Constants.vbLf + "GEOMETRIC MODEL FINDER (scale and rotation independent):" + Constants.vbLf) Console.Write("--------------------------------------------------------" + Constants.vbLf + Constants.vbLf) ' Display model image. MIL.MbufCopy(MilModelImage, MilDisplayImage) ' Allocate a context and define a geometric model. MIL.MmodAlloc(MilSystem, MIL.M_GEOMETRIC, MIL.M_DEFAULT, SearchContext) MIL.MmodDefine(SearchContext, MIL.M_IMAGE, MilModelImage, CDbl(MODEL_POS_X_INIT(MilModelImage)) - (MODEL_WIDTH / 2), CDbl(MODEL_POS_Y_INIT(MilModelImage)) - (MODEL_HEIGHT / 2), MODEL_WIDTH, MODEL_HEIGHT) ' Allocate result. MIL.MmodAllocResult(MilSystem, MIL.M_DEFAULT, 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, OrgX) MIL.MmodInquire(SearchContext, MIL.M_DEFAULT, MIL.M_ORIGINAL_Y, OrgY) ' Print the original position. Console.Write("The Geometric target model was defined." + Constants.vbLf) Console.Write("Model dimensions: {0} x {1}." + Constants.vbLf, MODEL_WIDTH, MODEL_HEIGHT) Console.Write("Model center: X={0:0.00}, Y={0:0.00}." + Constants.vbLf, OrgX, OrgY) Console.Write("Model is scale and rotation independent." + Constants.vbLf) Console.Write("Press <Enter> to continue." + Constants.vbLf + Constants.vbLf) 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, 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, MilImage(1)) ' Grab continuously grab and perform the find operation using double buffering. Console.Write(Constants.vbLf + "Continuously finding the Geometric Model." + Constants.vbLf) Console.Write("Press a <Enter> to stop." + Constants.vbLf + Constants.vbLf) ' 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 Mod 2)) MIL.MdigGrab(MilDigitizer, MilImage(NbFindDone Mod 2)) MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET, Time) ' Loop, processing one buffer while grabbing the other. Do ' Grab a target image into the other buffer. MIL.MdigGrab(MilDigitizer, MilImage((NbFindDone + 1) Mod 2)) ' Read the time. MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ, Time) ' Find model. MIL.MmodFind(SearchContext, MilImage(NbFindDone Mod 2), Result) ' Get the number of occurrences found. MIL.MmodGetResult(Result, MIL.M_DEFAULT, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, Found) ' Print a message based on the score. If (Found >= 1) AndAlso (Found < MODEL_MAX_OCCURRENCES) Then ' 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 Mod 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)." & Constants.vbCr, 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)." & Constants.vbCr, MODEL_MIN_MATCH_SCORE, (NbFindDone + 1) / Time) End If ' Copy target image to the display. MIL.MbufCopy(MilImage(NbFindDone Mod 2), MilDisplayImage) ' Increment the counter. NbFindDone += 1 Loop While Not Console.KeyAvailable Console.ReadKey() Console.Write(Constants.vbLf + Constants.vbLf) ' 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)) End Sub End Class End Namespace