M3dmod
This example demonstrates how to use the 3D model finder module to define surface models and search for them in 3D scenes.
Language: C#
Functions used: M3ddispAlloc, M3ddispControl, M3ddispCopy, M3ddispFree, M3ddispInquire, M3ddispSelect, M3ddispSetView, M3dgraControl, M3dgraCopy, M3dgraRemove, M3dmodAlloc, M3dmodAllocResult, M3dmodControl, M3dmodDefine, M3dmodDraw3d, M3dmodFind, M3dmodFree, M3dmodGetResult, M3dmodPreprocess, MappAlloc, MappControl, MappFree, MappTimer, MbufFree, MbufInquireContainer, MbufRestore, MobjInquire, MsysAlloc, MsysFree
Categories: Overview, General, Industries, Machining, Automation, Applications, Finding/Locating, Identifying, Modules, 3D Display, 3D Graphics, 3D Model Finder, Buffer, What's New, AIL 10.0 SP6
///////////////////////////////////////////////////////////////////////////////
// Aurora Imaging Library
// Filename: M3dmod.cs
//
// Description: This example demonstrates how to use the 3D model finder module
// to define surface models and search for them in 3D scenes.
// A simple single model search is presented first followed by a more
// complex example of multiple occurrences in a complex scene.
//
// (C) 1992-2026 Zebra Technologies Corp. and/or its affiliates
// All Rights Reserved
///////////////////////////////////////////////////////////////////////////////
using System;
using Zebra.AuroraImagingLibrary;
namespace M3dmod
{
class Program
{
// --------------------------------------------------------------
// Example description.
// --------------------------------------------------------------
private static void PrintHeader()
{
Console.WriteLine("[EXAMPLE NAME]");
Console.WriteLine("M3dmod");
Console.WriteLine();
Console.WriteLine("[SYNOPSIS]");
Console.WriteLine("This example demonstrates how to use the 3D model finder module");
Console.WriteLine("to define surface models and search for them in 3D scenes.");
Console.WriteLine();
Console.WriteLine("[MODULES USED]");
Console.WriteLine("Modules used: 3D Model Finder, 3D Display, 3D Graphics, and 3D"+
" Image\nProcessing.");
Console.WriteLine();
}
// Input scanned point cloud files.
const string SINGLE_MODEL = AIL.M_IMAGE_PATH + "SimpleModel.mbufc";
const string SINGLE_SCENE = AIL.M_IMAGE_PATH + "SimpleScene.mbufc";
const string COMPLEX_MODEL1 = AIL.M_IMAGE_PATH + "ComplexModel1.ply";
const string COMPLEX_MODEL2 = AIL.M_IMAGE_PATH + "ComplexModel2.ply";
const string COMPLEX_SCENE = AIL.M_IMAGE_PATH + "ComplexScene.ply";
// Constants.
private static readonly AIL_INT DISP_SIZE_X = 480;
private static readonly AIL_INT DISP_SIZE_Y = 420;
// --------------------------------------------------------------
private static void Main(string[] args)
{
// Print example information in console.
PrintHeader();
AIL_ID AilApplication = AIL.M_NULL; // Application identifier
AIL_ID AilSystem = AIL.M_NULL; // System identifier
// Allocate objects.
AIL.MappAlloc(AIL.M_NULL, AIL.M_DEFAULT, ref AilApplication);
AIL.MsysAlloc(AIL.M_DEFAULT, AIL.M_SYSTEM_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT,
ref AilSystem);
// Allocate the display.
CDisplay DisplayModel = new CDisplay(AilSystem);
DisplayModel.Alloc3dDisplayId();
DisplayModel.Size(DISP_SIZE_X / 2, DISP_SIZE_Y / 2);
DisplayModel.Title("Model Cloud");
CDisplay DisplayScene = new CDisplay(AilSystem);
DisplayScene.Alloc3dDisplayId();
DisplayScene.Size(DISP_SIZE_X, DISP_SIZE_Y);
DisplayScene.PositionX((AIL_INT)(1.04 * 0.5 * DISP_SIZE_X));
DisplayScene.Title("Scene Cloud");
SimpleSceneSurfaceFinder(AilSystem, ref DisplayModel,ref DisplayScene);
ComplexSceneSurfaceFinder(AilSystem, ref DisplayModel, ref DisplayScene);
// Free objects.
DisplayModel.FreeDisplay();
DisplayScene.FreeDisplay();
AIL.MsysFree(AilSystem);
AIL.MappFree(AilApplication);
}
// --------------------------------------------------------------
// Simple scene with a single occurrence
// --------------------------------------------------------------
static void SimpleSceneSurfaceFinder(AIL_ID AilSystem ,
ref CDisplay DisplayModel,
ref CDisplay DisplayScene)
{
// Allocate a surface Model Finder context.
AIL_ID AilContext = AIL.M3dmodAlloc(AilSystem, AIL.M_FIND_SURFACE_CONTEXT,
AIL.M_DEFAULT, AIL.M_NULL);
// Allocate a surface Model Finder result.
AIL_ID AilResult = AIL.M3dmodAllocResult(AilSystem, AIL.M_FIND_SURFACE_RESULT,
AIL.M_DEFAULT, AIL.M_NULL);
// Restore the model container and display it
AIL_ID AilModelContainer = AIL.MbufRestore(SINGLE_MODEL, AilSystem, AIL.M_NULL);
DisplayModel.SetView(AIL.M_AZIM_ELEV_ROLL, 45, -35, 180);
DisplayModel.DisplayContainer(AilModelContainer, true);
Console.WriteLine("The 3D point cloud of the model is restored from a file and "+
"displayed.");
// Load the single model scene point cloud.
AIL_ID AilSceneContainer = AIL.MbufRestore(SINGLE_SCENE, AilSystem, AIL.M_NULL);
DisplayScene.SetView(AIL.M_AZIM_ELEV_ROLL, 202, -20.0, 182.0);
DisplayScene.DisplayContainer(AilSceneContainer, true);
Console.WriteLine("The 3D point cloud of the scene is restored from a file and"+
" displayed.\n");
Console.WriteLine("Press any key to start.\n");
Console.ReadKey(true);
// Define the surface model.
AIL.M3dmodDefine(AilContext, AIL.M_ADD_FROM_POINT_CLOUD, AIL.M_SURFACE,
AilModelContainer, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT);
Console.WriteLine("Define the model using the given model point cloud.\n");
// Set the search perseverance.
Console.WriteLine("Set the lowest perseverance to increase the search speed for" +
" a simple scene.\n");
AIL.M3dmodControl(AilContext, AIL.M_DEFAULT, AIL.M_PERSEVERANCE, 0.0);
Console.WriteLine("Set the scene complexity to low to increase the search speed " +
"for a simple scene.\n");
AIL.M3dmodControl(AilContext, AIL.M_DEFAULT, AIL.M_SCENE_COMPLEXITY, AIL.M_LOW);
// Preprocess the search context.
AIL.M3dmodPreprocess(AilContext, AIL.M_DEFAULT);
Console.WriteLine("M_COMPONENT_NORMALS_AIL is added to the point cloud if not " +
"present.\n");
// The surface finder requires the existence of M_COMPONENT_NORMALS_AIL in the
// point cloud.
AddComponentNormalsIfMissing(AilSceneContainer);
Console.WriteLine("3D surface finder is running..\n");
// Reset the timer.
double ComputationTime = 0.0;
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_RESET + AIL.M_SYNCHRONOUS, AIL.M_NULL);
// Find the model.
AIL.M3dmodFind(AilContext, AilSceneContainer, AilResult, AIL.M_DEFAULT);
// Read the find time.
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_READ + AIL.M_SYNCHRONOUS,
ref ComputationTime);
ShowResults(AilResult, ComputationTime);
DisplayScene.Draw(AilResult);
Console.WriteLine("Press any key to continue.\n");
Console.ReadKey(true);
// Free objects
AIL.M3dmodFree(AilContext);
AIL.M3dmodFree(AilResult);
AIL.MbufFree(AilModelContainer);
AIL.MbufFree(AilSceneContainer);
}
// --------------------------------------------------------------
// Complex scene with multiple occurrences
// --------------------------------------------------------------
static void ComplexSceneSurfaceFinder(AIL_ID AilSystem ,
ref CDisplay DisplayModel,
ref CDisplay DisplayScene)
{
// Allocate a surface 3D Model Finder context.
AIL_ID AilContext = AIL.M3dmodAlloc(AilSystem, AIL.M_FIND_SURFACE_CONTEXT,
AIL.M_DEFAULT, AIL.M_NULL);
// Allocate a surface 3D Model Finder result.
AIL_ID AilResult = AIL.M3dmodAllocResult(AilSystem, AIL.M_FIND_SURFACE_RESULT,
AIL.M_DEFAULT, AIL.M_NULL);
DisplayModel.Clear(AIL.M_ALL);
DisplayScene.Clear(AIL.M_ALL);
// Restore the first model container and display it.
AIL_ID AilModelContainer = AIL.MbufRestore(COMPLEX_MODEL1, AilSystem,
AIL.M_NULL);
DisplayModel.SetView(AIL.M_AZIM_ELEV_ROLL, 290, -67, 265);
DisplayModel.DisplayContainer(AilModelContainer, false);
DisplayModel.SetView(AIL.M_AUTO, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT);
Console.WriteLine("The 3D point cloud of the first model is restored from a file" +
" and displayed.");
// Load the complex scene point cloud.
AIL_ID AilSceneContainer = AIL.MbufRestore(COMPLEX_SCENE, AilSystem, AIL.M_NULL);
DisplayScene.SetView(AIL.M_AZIM_ELEV_ROLL, 260, -72, 142);
DisplayScene.DisplayContainer(AilSceneContainer, false);
DisplayScene.SetView(AIL.M_AUTO, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT);
DisplayScene.SetView(AIL.M_ZOOM, 1.2, AIL.M_DEFAULT, AIL.M_DEFAULT);
Console.WriteLine("The 3D point cloud of the scene is restored from a file and" +
" displayed.\n");
Console.WriteLine("Press any key to start.\n");
Console.ReadKey(true);
Console.WriteLine("M_COMPONENT_NORMALS_AIL is added to the point cloud if not " +
"present.\n");
// The surface finder requires the existence of M_COMPONENT_NORMALS_AIL in the
// point cloud.
AddComponentNormalsIfMissing(AilSceneContainer);
// Define the surface model.
AIL.M3dmodDefine(AilContext, AIL.M_ADD_FROM_POINT_CLOUD, AIL.M_SURFACE,
AilModelContainer, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT);
// Find all ocurrences.
AIL.M3dmodControl(AilContext, 0, AIL.M_NUMBER, AIL.M_ALL);
AIL.M3dmodControl(AilContext, 0, AIL.M_COVERAGE_MAX, 75);
AIL.M3dmodPreprocess(AilContext, AIL.M_DEFAULT);
Console.WriteLine("3D surface finder is running..\n");
// Reset the timer.
double ComputationTime = 0.0;
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_RESET + AIL.M_SYNCHRONOUS, AIL.M_NULL);
// Find the model.
AIL.M3dmodFind(AilContext, AilSceneContainer, AilResult, AIL.M_DEFAULT);
// Read the find time.
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_READ + AIL.M_SYNCHRONOUS,
ref ComputationTime);
ShowResults(AilResult, ComputationTime);
AIL_INT Label = DisplayScene.Draw(AilResult);
Console.WriteLine("Press any key to continue.\n");
Console.ReadKey(true);
DisplayScene.Clear(Label);
AIL.MbufFree(AilModelContainer);
AilModelContainer = AIL.MbufRestore(COMPLEX_MODEL2, AilSystem, AIL.M_NULL);
DisplayModel.DisplayContainer(AilModelContainer, false);
DisplayModel.SetView(AIL.M_AUTO, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT);
Console.WriteLine("The 3D point cloud of the second model is restored from file" +
" and displayed.\n");
// Delete the previous model.
AIL.M3dmodDefine(AilContext, AIL.M_DELETE, AIL.M_DEFAULT, 0, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT);
// Define the surface model.
AIL.M3dmodDefine(AilContext, AIL.M_ADD_FROM_POINT_CLOUD, AIL.M_SURFACE,
AilModelContainer, AIL.M_DEFAULT, AIL.M_DEFAULT,
AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT, AIL.M_DEFAULT);
// Find all ocurrences.
AIL.M3dmodControl(AilContext, 0, AIL.M_NUMBER, AIL.M_ALL);
AIL.M3dmodControl(AilContext, 0, AIL.M_COVERAGE_MAX, 95);
AIL.M3dmodPreprocess(AilContext, AIL.M_DEFAULT);
Console.WriteLine("3D surface finder is running..\n");
// Reset the timer.
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_RESET + AIL.M_SYNCHRONOUS, AIL.M_NULL);
// Find the model.
AIL.M3dmodFind(AilContext, AilSceneContainer, AilResult, AIL.M_DEFAULT);
// Read the find time.
AIL.MappTimer(AIL.M_DEFAULT, AIL.M_TIMER_READ + AIL.M_SYNCHRONOUS,
ref ComputationTime);
ShowResults(AilResult, ComputationTime);
DisplayScene.Draw(AilResult);
Console.WriteLine("Press any key to end.\n");
Console.ReadKey(true);
// Free objects
AIL.M3dmodFree(AilContext);
AIL.M3dmodFree(AilResult);
AIL.MbufFree(AilModelContainer);
AIL.MbufFree(AilSceneContainer);
}
// --------------------------------------------------------------
// Adds the component M_COMPONENT_NORMALS_AIL if it's not found.
// --------------------------------------------------------------
static void AddComponentNormalsIfMissing(AIL_ID AilContainer)
{
AIL_ID AilNormals =
(AIL_ID)AIL.MbufInquireContainer(AilContainer, AIL.M_COMPONENT_NORMALS_AIL,
AIL.M_COMPONENT_ID, AIL.M_NULL);
if (AilNormals != AIL.M_NULL)
return;
AIL_INT SizeX = AIL.MbufInquireContainer(AilContainer, AIL.M_COMPONENT_RANGE,
AIL.M_SIZE_X, AIL.M_NULL);
AIL_INT SizeY = AIL.MbufInquireContainer(AilContainer, AIL.M_COMPONENT_RANGE,
AIL.M_SIZE_Y, AIL.M_NULL);
if (SizeX < 50 || SizeY < 50)
AIL.M3dimNormals(AIL.M_NORMALS_CONTEXT_TREE, AilContainer, AilContainer,
AIL.M_DEFAULT);
else
AIL.M3dimNormals(AIL.M_NORMALS_CONTEXT_ORGANIZED, AilContainer, AilContainer,
AIL.M_DEFAULT);
}
// ---------------------------------------------------------
// Shows the surface finder results.
// ---------------------------------------------------------
static void ShowResults(AIL_ID AilResult, double ComputationTime)
{
AIL_INT Status = 0 ;
AIL.M3dmodGetResult(AilResult, AIL.M_DEFAULT, AIL.M_STATUS, ref Status);
if (Status != AIL.M_COMPLETE)
{
Console.WriteLine("The find process is not completed.");
}
AIL_INT NbOcc = 0;
AIL.M3dmodGetResult(AilResult, AIL.M_DEFAULT, AIL.M_NUMBER, ref NbOcc);
Console.WriteLine("Found {0} occurrence(s) in "+String.Format("{0:F2}",
ComputationTime)+" s.\n", NbOcc);
if (NbOcc == 0)
return;
Console.WriteLine("Index Score Score_Target");
Console.WriteLine("------------------------------------------------------");
double ScoreTarget = 0.0;
double Score = 0.0;
for (AIL_INT i = 0; i < NbOcc; ++i)
{
AIL.M3dmodGetResult(AilResult, i, AIL.M_SCORE_TARGET, ref ScoreTarget);
AIL.M3dmodGetResult(AilResult, i, AIL.M_SCORE , ref Score);
Console.WriteLine(" {0} "+ String.Format("{0:F4}", Score) + " "
+ String.Format("{0:F2}", ScoreTarget) +" ", i);
}
Console.WriteLine();
}
}
}