MimLocatePeak1d
This program finds the peak in each column of an input sequence and reconstruct the height of a 3D object using it.
Language: C++
Functions used: M3ddispAlloc, M3ddispControl, M3ddispFree, M3ddispSelect, MappControl, MbufAllocComponent, MbufAllocContainer, MbufConvert3d, McalControl, McalUniform, MgraAllocList, MgraClear, MgraFree, MimAlloc, MappAlloc, MappFree, MappTimer, MbufAlloc2d, MbufClear, MbufCopy, MbufDiskInquire, MbufFree, MbufImportSequence, MdispAlloc, MdispControl, MdispFree, MdispSelect, MimAllocResult, MimDraw, MimFree, MimGetResult, MimLocatePeak1d, MimStatCalculate, MimArith, MimClip, MimControl, MimResize, MsysAlloc, MsysFree
Categories: Overview, General, Industries, Applications, Modules, Buffer, Display, Image Processing, 3D Display, Calibration, Graphics, What's New, AIL 10.0 SP4, Older
///////////////////////////////////////////////////////////////////////////////
// Aurora Imaging Library
// Filename: MImLocatePeak1d.cpp
//
// Description: This program finds the peak in each column of an input sequence
// and reconstruct the height of a 3D object using it.
//
// (C) 1992-2026 Zebra Technologies Corp. and/or its affiliates
// All Rights Reserved
///////////////////////////////////////////////////////////////////////////////
#include <AIL.h>
// Input sequence specifications.
#define SEQUENCE_FILE M_IMAGE_PATH AIL_TEXT("HandWithLaser.avi")
// ^ +
// | + +
// | + <-Width-> + <------------
// | + + | Min contrast
// | ++++ ++++++++ <---
// |
// |
// ------------------------------>
// Peak intensity profile
// Peak detection parameters.
#define LINE_WIDTH_AVERAGE 20
#define LINE_WIDTH_DELTA 20
#define MIN_CONTRAST 100.0
#define NB_FIXED_POINT 4
// 3D display parameters.
#define M3D_MESH_SCALING_X 1.0
#define M3D_MESH_SCALING_Y 4.0
#define M3D_MESH_SCALING_Z -0.13
// Utility functions.
AIL_ID Alloc3dDisplayId(AIL_ID AilSystem);
void AutoRotate3dDisplay(AIL_ID AilDisplay);
//*****************************************************************************
int MosMain(void)
{
AIL_ID AilApplication, // Application identifier.
AilSystem, // System identifier.
AilDisplay, // Display identifier.
AilDisplayImage, // Image buffer identifier.
AilGraList, // Graphic list identifier.
AilImage, // Image buffer identifier.
AilPosYImage, // Image buffer identifier.
AilValImage, // Image buffer identifier.
AilContext, // Processing context identifier.
AilLocatePeak, // Processing result identifier.
AilStatContext = M_NULL, // Statistics context identifier.
AilExtreme = M_NULL; // Result buffer identifier.
AIL_INT SizeX,
SizeY,
NumberOfImages,
n;
AIL_INT ExtremePosY[2] = { 0, 0 };
AIL_DOUBLE FrameRate,
PreviousTime,
StartTime,
EndTime,
TotalProcessTime,
WaitTime;
// Allocate defaults.
MappAllocDefault(M_DEFAULT, &AilApplication, &AilSystem,
&AilDisplay, M_NULL, M_NULL);
// Inquire characteristics of the input sequence.
MbufDiskInquire(SEQUENCE_FILE, M_SIZE_X, &SizeX);
MbufDiskInquire(SEQUENCE_FILE, M_SIZE_Y, &SizeY);
MbufDiskInquire(SEQUENCE_FILE, M_NUMBER_OF_IMAGES, &NumberOfImages);
MbufDiskInquire(SEQUENCE_FILE, M_FRAME_RATE, &FrameRate);
// Allocate buffers to hold images.
MbufAlloc2d(AilSystem, SizeX, SizeY, 8 + M_UNSIGNED, M_IMAGE + M_PROC, &AilImage);
MbufAlloc2d(AilSystem, SizeX, SizeY, 8 + M_UNSIGNED, M_IMAGE + M_DISP, &AilDisplayImage);
MbufAlloc2d(AilSystem, SizeX, NumberOfImages, 16 + M_UNSIGNED, M_IMAGE + M_PROC, &AilPosYImage);
MbufAlloc2d(AilSystem, SizeX, NumberOfImages, 8 + M_UNSIGNED, M_IMAGE + M_PROC, &AilValImage);
// Allocate context for MimLocatePeak1D.
MimAlloc(AilSystem, M_LOCATE_PEAK_1D_CONTEXT, M_DEFAULT, &AilContext);
// Allocate result for MimLocatePeak1D.
MimAllocResult(AilSystem, M_DEFAULT, M_LOCATE_PEAK_1D_RESULT, &AilLocatePeak);
// Allocate graphic list.
MgraAllocList(AilSystem, M_DEFAULT, &AilGraList);
// Select display.
MdispSelect(AilDisplay, AilDisplayImage);
MdispControl(AilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, AilGraList);
// Print a message.
MosPrintf(AIL_TEXT("\nEXTRACTING 3D IMAGE FROM A LASER LINE (SHEET-OF-LIGHT):\n"));
MosPrintf(AIL_TEXT("--------------------------------------------------------\n\n"));
MosPrintf(AIL_TEXT("The position of a laser line is being extracted from ")
AIL_TEXT("an image\n"));
MosPrintf(AIL_TEXT("to generate a depth image.\n\n"));
// Open the sequence file for reading.
MbufImportSequence(SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_OPEN);
// Preprocess the context.
MimLocatePeak1d(AilContext,
AilImage,
AilLocatePeak,
M_NULL,
M_NULL,
M_NULL,
M_PREPROCESS,
M_DEFAULT);
// Read and process all images in the input sequence.
MappTimer(M_DEFAULT, M_TIMER_READ + M_SYNCHRONOUS, &PreviousTime);
TotalProcessTime = 0.0;
for (n = 0; n < NumberOfImages; n++)
{
// Read image from sequence.
MbufImportSequence(SEQUENCE_FILE, M_DEFAULT, M_LOAD, M_NULL,
&AilImage, M_DEFAULT, 1, M_READ);
// Display the image.
MbufCopy(AilImage, AilDisplayImage);
// Locate the peak in each column of the image.
MappTimer(M_DEFAULT, M_TIMER_READ + M_SYNCHRONOUS, &StartTime);
MimLocatePeak1d(AilContext,
AilImage,
AilLocatePeak,
LINE_WIDTH_AVERAGE,
LINE_WIDTH_DELTA,
MIN_CONTRAST,
M_DEFAULT,
M_DEFAULT);
// Draw extracted peaks.
MgraControl(M_DEFAULT, M_COLOR, M_COLOR_RED);
MgraClear(M_DEFAULT, AilGraList);
MimDraw(M_DEFAULT, AilLocatePeak, M_NULL, AilGraList, M_DRAW_PEAKS + M_CROSS, M_ALL, M_DEFAULT, M_DEFAULT);
// Draw peak's data to depth map.
MimDraw(M_DEFAULT, AilLocatePeak, M_NULL, AilPosYImage, M_DRAW_DEPTH_MAP_ROW, AIL_DOUBLE(n), M_NULL, M_FIXED_POINT + NB_FIXED_POINT);
MimDraw(M_DEFAULT, AilLocatePeak, M_NULL, AilValImage, M_DRAW_INTENSITY_MAP_ROW, AIL_DOUBLE(n), M_NULL, M_DEFAULT);
MappTimer(M_DEFAULT, M_TIMER_READ + M_SYNCHRONOUS, &EndTime);
TotalProcessTime += EndTime - StartTime;
// Wait to have a proper frame rate.
WaitTime = (1.0 / FrameRate) - (EndTime - PreviousTime);
if (WaitTime > 0)
MappTimer(M_DEFAULT, M_TIMER_WAIT, &WaitTime);
MappTimer(M_DEFAULT, M_TIMER_READ + M_SYNCHRONOUS, &PreviousTime);
}
MgraClear(M_DEFAULT, AilGraList);
// Close the sequence file.
MbufImportSequence(SEQUENCE_FILE, M_DEFAULT, M_NULL, M_NULL, NULL, M_NULL, M_NULL, M_CLOSE);
MosPrintf(AIL_TEXT("%d images processed in %7.2lf s (%7.2lf ms/image).\n"),
(int)NumberOfImages, TotalProcessTime,
TotalProcessTime / (AIL_DOUBLE)NumberOfImages * 1000.0);
// Pause to show the result.
MosPrintf(AIL_TEXT("Press any key to continue.\n\n"));
MosGetch();
MosPrintf(AIL_TEXT("The reconstructed images are being displayed.\n"));
// Draw extracted peak position in each column of each image.
const AIL_INT VisualizationDelayMsec = 10;
for (n = 0; n < NumberOfImages; n++)
{
MbufClear(AilImage, 0);
MimDraw(M_DEFAULT, AilPosYImage, AilValImage, AilImage,
M_DRAW_PEAKS + M_VERTICAL + M_LINES, (AIL_DOUBLE)n,
1, M_FIXED_POINT + NB_FIXED_POINT);
// Display the result image.
MbufCopy(AilImage, AilDisplayImage);
MosSleep(VisualizationDelayMsec);
}
// Pause to show the result.
MosPrintf(AIL_TEXT("Press any key to continue.\n\n"));
MosGetch();
// Try to allocate 3D display.
AIL_ID AilDisplay3D = Alloc3dDisplayId(AilSystem);
if(AilDisplay3D)
{
McalUniform(AilPosYImage, 0.0, 0.0, M3D_MESH_SCALING_X, M3D_MESH_SCALING_Y, 0.0, M_DEFAULT);
McalControl(AilPosYImage, M_GRAY_LEVEL_SIZE_Z, M3D_MESH_SCALING_Z);
AIL_ID ContainerId = MbufAllocContainer(AilSystem, M_PROC | M_DISP, M_DEFAULT, M_NULL);
MbufConvert3d(AilPosYImage, ContainerId, M_NULL, M_DEFAULT, M_DEFAULT);
AIL_ID Reflectance = MbufAllocComponent(ContainerId, 1, SizeX, NumberOfImages, 8 + M_UNSIGNED, M_IMAGE, M_COMPONENT_REFLECTANCE, M_NULL);
MbufCopy(AilValImage, Reflectance);
MosPrintf(AIL_TEXT("The depth buffer is displayed using a 3D display.\n"));
MosPrintf(AIL_TEXT("Press <R> on the display window to stop/start the rotation.\n\n"));
// Hide display.
MdispControl(AilDisplay, M_WINDOW_SHOW, M_DISABLE);
M3ddispSelect(AilDisplay3D, ContainerId, M_SELECT, M_DEFAULT);
AutoRotate3dDisplay(AilDisplay3D);
// Pause to show the result.
MosPrintf(AIL_TEXT("Press any key to end.\n"));
MosGetch();
M3ddispFree(AilDisplay3D);
MbufFree(ContainerId);
}
else
{
MosPrintf(AIL_TEXT("The depth buffer is displayed using a 2D display.\n"));
// Find the remapping for result buffers.
MimAlloc(AilSystem, M_STATISTICS_CONTEXT, M_DEFAULT, &AilStatContext);
MimAllocResult(AilSystem, M_DEFAULT, M_STATISTICS_RESULT, &AilExtreme);
MimControl(AilStatContext, M_STAT_MIN, M_ENABLE);
MimControl(AilStatContext, M_STAT_MAX, M_ENABLE);
MimControl(AilStatContext, M_CONDITION, M_NOT_EQUAL);
MimControl(AilStatContext, M_COND_LOW, 0xFFFF);
MimStatCalculate(AilStatContext, AilPosYImage, AilExtreme, M_DEFAULT);
MimGetResult(AilExtreme, M_STAT_MIN + M_TYPE_AIL_INT, &ExtremePosY[0]);
MimGetResult(AilExtreme, M_STAT_MAX + M_TYPE_AIL_INT, &ExtremePosY[1]);
MimFree(AilExtreme);
MimFree(AilStatContext);
// Free the display and reallocate a new one of the proper dimension for results.
MbufFree(AilDisplayImage);
MbufAlloc2d(AilSystem,
(AIL_INT) ( (AIL_DOUBLE) SizeX * (M3D_MESH_SCALING_X > 0 ? M3D_MESH_SCALING_X : -M3D_MESH_SCALING_X) ),
(AIL_INT) ( (AIL_DOUBLE) NumberOfImages * M3D_MESH_SCALING_Y),
8 + M_UNSIGNED,
M_IMAGE + M_PROC + M_DISP,
&AilDisplayImage);
MdispSelect(AilDisplay, AilDisplayImage);
// Display the height buffer.
MimClip(AilPosYImage, AilPosYImage, M_GREATER,
(AIL_DOUBLE) ExtremePosY[1], M_NULL,
(AIL_DOUBLE) ExtremePosY[1], M_NULL);
MimArith(AilPosYImage, (AIL_DOUBLE) ExtremePosY[0],
AilPosYImage, M_SUB_CONST);
MimArith(AilPosYImage, ((ExtremePosY[1] - ExtremePosY[0]) / 255.0) + 1,
AilPosYImage, M_DIV_CONST);
MimResize(AilPosYImage, AilDisplayImage,
M_FILL_DESTINATION,
M_FILL_DESTINATION,
M_BILINEAR);
// Pause to show the result.
MosPrintf(AIL_TEXT("Press any key to end.\n"));
MosGetch();
}
// Free all allocations.
MimFree(AilLocatePeak);
MimFree(AilContext);
MbufFree(AilImage);
MgraFree(AilGraList);
MbufFree(AilDisplayImage);
MbufFree(AilPosYImage);
MbufFree(AilValImage);
MappFreeDefault(AilApplication, AilSystem, AilDisplay, M_NULL, M_NULL);
return 0;
}
//*****************************************************************************
// Allocates a 3D display and returns its identifier.
//*****************************************************************************
AIL_ID Alloc3dDisplayId(AIL_ID AilSystem)
{
MappControl(M_DEFAULT, M_ERROR, M_PRINT_DISABLE);
AIL_ID AilDisplay3D = M3ddispAlloc(AilSystem, M_DEFAULT, AIL_TEXT("M_DEFAULT"), M_DEFAULT, M_NULL);
MappControl(M_DEFAULT, M_ERROR, M_PRINT_ENABLE);
if(!AilDisplay3D)
{
MosPrintf(AIL_TEXT("\n")
AIL_TEXT("The current system does not support the 3D display.\n\n"));
}
return AilDisplay3D;
}
//****************************************************************************
// Auto rotate the 3D object.
//****************************************************************************
void AutoRotate3dDisplay(AIL_ID AilDisplay)
{
M3ddispControl(AilDisplay, M_AUTO_ROTATE, M_ENABLE);
}