#include <mil.h>
#include <math.h>
#include "BlisterPackInspection.h"
static const MIL_STRING FILENAMES[2] = {EX_PATH("Blister_pack_Cam0.ply"),
EX_PATH("Blister_pack_Cam1.ply")};
static const MIL_STRING ILLUSTRATION_FILE = EX_PATH("BlisterPack.png");
static const MIL_INT ILLUSTRATION_OFFSET_X = 800;
static const MIL_INT NBCLOUDS = 2;
void PrintHeader()
{
MosPrintf(MIL_TEXT("[EXAMPLE NAME]\n"));
MosPrintf(MIL_TEXT("BlisterPackInspection\n\n"));
MosPrintf(MIL_TEXT("[SYNOPSIS]\n"));
MosPrintf(MIL_TEXT("This example demonstrates the inspection of a blister pack ")
MIL_TEXT("using 3d\npoint clouds. ")
MIL_TEXT("\n\n"));
MosPrintf(MIL_TEXT("[MODULES USED]\n"));
MosPrintf(MIL_TEXT("Modules used: Application, Display, Buffer, Graphics,\n"));
MosPrintf(MIL_TEXT("Image Processing, Calibration, Geometric Model Finder,\n")
MIL_TEXT("3D Metrology, 3D Image Processing and 3D Display. \n\n"));
}
int MosMain(void)
{
MIL_UNIQUE_APP_ID MilApplication = MappAlloc(M_NULL, M_DEFAULT, M_UNIQUE_ID);
MIL_UNIQUE_SYS_ID MilSystem = MsysAlloc(M_DEFAULT, M_SYSTEM_HOST, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID);
PrintHeader();
if(!CheckForRequiredMILFile(FILENAMES[0]))
{ return -1; }
MIL_ID IllustrationDispId = MdispAlloc(MilSystem, M_DEFAULT, MIL_TEXT("M_DEFAULT"), M_WINDOWED, M_NULL);
MIL_ID IllustrationImageId = MbufRestore(ILLUSTRATION_FILE, MilSystem, M_NULL);
MdispControl(IllustrationDispId, M_TITLE, MIL_TEXT("Object to inspect."));
MdispControl(IllustrationDispId, M_WINDOW_INITIAL_POSITION_X, ILLUSTRATION_OFFSET_X);
MdispSelect(IllustrationDispId, IllustrationImageId);
SMapGeneration MapData;
MapData.BoxCornerX = -20.00;
MapData.BoxCornerY = 0.00;
MapData.BoxCornerZ = 0.50;
MapData.BoxSizeX = 112.00;
MapData.BoxSizeY = 112.00;
MapData.BoxSizeZ = -8.00;
MapData.MapSizeX = 400;
MapData.MapSizeY = 400;
MapData.PixelSizeX = 0.22;
MapData.PixelSizeY = 0.22;
MapData.GrayScaleZ = (MapData.BoxSizeZ / 65534.0);
MapData.IntensityMapType = 8 + M_UNSIGNED;
MapData.SetExtractOverlap = true;
MapData.ExtractOverlap = M_MIN_Z;
MapData.FillXThreshold = 1.0;
MapData.FillYThreshold = 1.0;
MIL_UNIQUE_BUF_ID ContainerIds[NBCLOUDS];
for(MIL_INT i = 0; i < NBCLOUDS; ++i)
{
ContainerIds[i] = MbufRestore(FILENAMES[i], MilSystem, M_UNIQUE_ID);
}
MIL_UNIQUE_BUF_ID ContainerId = MbufAllocContainer(MilSystem, M_PROC + M_DISP, M_DEFAULT, M_UNIQUE_ID);
M3dimMerge(ContainerIds, ContainerId, NBCLOUDS, M_NULL, M_DEFAULT);
MIL_ID MilDisplay3D = Alloc3dDisplayId(MilSystem);
if(MilDisplay3D)
{
M3ddispControl(MilDisplay3D, M_TITLE, MIL_TEXT("Merged Cloud"));
M3ddispSetView(MilDisplay3D, M_AUTO, M_BOTTOM_TILTED, M_DEFAULT, M_DEFAULT, M_DEFAULT);
M3ddispSelect(MilDisplay3D, ContainerId, M_SELECT, M_DEFAULT);
M3ddispSetView(MilDisplay3D, M_ZOOM, 1.5, M_DEFAULT, M_DEFAULT, M_DEFAULT);
MosPrintf(MIL_TEXT("Input files are imported and merged into a single cloud.\n\n"));
MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n"));
MosGetch();
}
MosPrintf(MIL_TEXT("The 3D cloud is projected into a depth map for 2D analysis.\n\n"));
MIL_ID BlisterPackDepthmap = M_NULL;
GenerateDepthMap(ContainerId, MilSystem, MapData, &BlisterPackDepthmap);
CAnalyzeBlisterPack ProbObj;
ProbObj.AllocProcessingObjects(MilSystem);
ProbObj.Analyze(BlisterPackDepthmap);
ProbObj.FreeProcessingObjects();
if(BlisterPackDepthmap != M_NULL)
MbufFree(BlisterPackDepthmap);
if(MilDisplay3D)
M3ddispFree(MilDisplay3D);
MdispFree(IllustrationDispId);
MbufFree(IllustrationImageId);
return 0;
}
void CAnalyzeBlisterPack::Analyze(MIL_ID MilDepthMap)
{
const MIL_DOUBLE PROC_DISPLAY_ZOOM_FACTOR_X = 1;
const MIL_DOUBLE PROC_DISPLAY_ZOOM_FACTOR_Y = 1;
const MIL_DOUBLE PROC_TEXT_PASS_COLOR = M_COLOR_GREEN;
const MIL_DOUBLE PROC_TEXT_FAIL_COLOR = M_COLOR_RED;
const MIL_DOUBLE MOD_BOX_COLOR = M_COLOR_CYAN;
const MIL_DOUBLE MOD_EDGE_COLOR = M_COLOR_GREEN;
const MIL_INT ITEM_CHILD_SIZE_X = 30;
const MIL_INT ITEM_CHILD_SIZE_Y = 30;
const MIL_INT ITEM_DISTANCE_X = 70;
const MIL_INT ITEM_DISTANCE_Y = 72;
const MIL_INT NUM_ITEMS_X = 3;
const MIL_INT NUM_ITEMS_Y = 4;
const MIL_DOUBLE ITEM_HEIGHT = -5.0;
MIL_UNIQUE_DISP_ID MilDisplay = MdispAlloc(m_MilSystem, M_DEFAULT, MIL_TEXT("M_DEFAULT"), M_DEFAULT, M_UNIQUE_ID);
MIL_UNIQUE_GRA_ID MilGraphicList= MgraAllocList(m_MilSystem, M_DEFAULT, M_UNIQUE_ID);
MIL_ID MilGraphics = M_DEFAULT;
MdispControl(MilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, MilGraphicList);
MdispControl(MilDisplay, M_WINDOW_INITIAL_POSITION_X , ILLUSTRATION_OFFSET_X);
MdispControl(MilDisplay, M_UPDATE_GRAPHIC_LIST, M_DISABLE);
MgraClear(M_DEFAULT, MilGraphicList);
MdispZoom(MilDisplay, PROC_DISPLAY_ZOOM_FACTOR_X, PROC_DISPLAY_ZOOM_FACTOR_Y);
MIL_ID MilRemapped8BitImage;
MbufAlloc2d(m_MilSystem,
MbufInquire(MilDepthMap, M_SIZE_X, M_NULL),
MbufInquire(MilDepthMap, M_SIZE_Y, M_NULL),
8, M_IMAGE + M_PROC + M_DISP, &MilRemapped8BitImage);
MbufClear(MilRemapped8BitImage, 0);
MimShift(MilDepthMap, MilRemapped8BitImage, -8);
McalAssociate(M_NULL, MilRemapped8BitImage, M_DEFAULT);
MdispSelect(MilDisplay, MilRemapped8BitImage);
MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n"));
MosGetch();
MmodFind(m_MilModel, MilRemapped8BitImage, m_MilModelResult);
MIL_INT NumOfOccurences = 0;
MIL_INT PositionX = -1, PositionY = -1;
MmodGetResult(m_MilModelResult, M_DEFAULT, M_NUMBER + M_TYPE_MIL_INT, &NumOfOccurences);
MmodGetResult(m_MilModelResult, M_DEFAULT, M_POSITION_X + M_TYPE_MIL_INT, &PositionX);
MmodGetResult(m_MilModelResult, M_DEFAULT, M_POSITION_Y + M_TYPE_MIL_INT, &PositionY);
if (NumOfOccurences >= 1)
{
MgraControl(M_DEFAULT, M_BACKGROUND_MODE, M_OPAQUE);
MgraControl(M_DEFAULT, M_FONT_SIZE, TEXT_FONT_SIZE_MEDIUM);
MgraControl(M_DEFAULT, M_BACKGROUND_MODE, M_TRANSPARENT);
MgraColor(M_DEFAULT, MOD_BOX_COLOR);
MmodDraw(M_DEFAULT, m_MilModelResult, MilGraphicList, M_DRAW_BOX, M_ALL, M_DEFAULT);
MIL_ID ItemChild;
MIL_DOUBLE DeviationMean = 0.0;
MIL_INT OffsetX, OffsetY;
MIL_ID StatResultId = M3dmetAllocResult(m_MilSystem, M_STATISTICS_RESULT, M_DEFAULT, M_NULL);
for (MIL_INT y = 0; y < NUM_ITEMS_Y; y++)
{
for (MIL_INT x = 0; x < NUM_ITEMS_X; x++)
{
OffsetX = PositionX + x*ITEM_DISTANCE_X;
OffsetY = PositionY + y*ITEM_DISTANCE_Y;
MbufChild2d(MilDepthMap,
OffsetX, OffsetY,
ITEM_CHILD_SIZE_X, ITEM_CHILD_SIZE_Y,
&ItemChild);
M3dmetStat(M_STAT_CONTEXT_MEAN, ItemChild, M_XY_PLANE, StatResultId, M_SIGNED_DISTANCE_Z_TO_SURFACE, M_ALL, M_NULL, M_NULL, M_DEFAULT);
M3dmetGetResult(StatResultId, M_STAT_MEAN, &DeviationMean);
if (DeviationMean > ITEM_HEIGHT)
{
MgraColor(MilGraphics, PROC_TEXT_FAIL_COLOR);
MgraLine(MilGraphics, MilGraphicList, OffsetX, OffsetY, OffsetX+ITEM_CHILD_SIZE_X, OffsetY+ITEM_CHILD_SIZE_Y);
MgraLine(MilGraphics, MilGraphicList, OffsetX+ITEM_CHILD_SIZE_X, OffsetY, OffsetX, OffsetY+ITEM_CHILD_SIZE_Y);
MgraRect(MilGraphics, MilGraphicList, OffsetX, OffsetY, OffsetX+ITEM_CHILD_SIZE_X, OffsetY+ITEM_CHILD_SIZE_Y);
}
else
{
MgraColor(MilGraphics, PROC_TEXT_PASS_COLOR);
MgraRect(MilGraphics, MilGraphicList, OffsetX, OffsetY, OffsetX+ITEM_CHILD_SIZE_X, OffsetY+ITEM_CHILD_SIZE_Y);
}
MbufFree(ItemChild);
}
}
M3dmetFree(StatResultId);
MosPrintf(MIL_TEXT("The blister pack items were verified and the results"));
MosPrintf(MIL_TEXT(" are shown.\n\tGreen box: Pass\n\tRed box: Missing or ")
MIL_TEXT("broken\n\n"));
}
else
{
MosPrintf(MIL_TEXT("Blister pack not found.\n"));
}
MdispControl(MilDisplay, M_UPDATE_GRAPHIC_LIST, M_ENABLE);
MdispSelect(MilDisplay, MilRemapped8BitImage);
MosPrintf(MIL_TEXT("Press <Enter> to end.\n\n"));
MosGetch();
MbufFree(MilRemapped8BitImage);
}
void CAnalyzeBlisterPack::AllocProcessingObjects(MIL_ID MilSystem)
{
m_MilSystem = MilSystem;
MIL_CONST_TEXT_PTR PACK_MODEL = EX_PATH("PackModel.mmf");
MmodAllocResult(MilSystem, M_DEFAULT, &m_MilModelResult);
MmodRestore(PACK_MODEL, MilSystem, M_DEFAULT, &m_MilModel);
MmodPreprocess(m_MilModel, M_DEFAULT);
}
void CAnalyzeBlisterPack::FreeProcessingObjects()
{
if(m_MilModelResult != M_NULL)
{ MmodFree(m_MilModelResult); m_MilModelResult = M_NULL; }
if(m_MilModel != M_NULL)
{ MmodFree(m_MilModel); m_MilModel = M_NULL; }
}