8.MIL中相机标定(Calibration)

void CCalibrateDlg::OnReadImage() 
{
	// TODO: Add your control notification handler code here
	if (M_NULL != m_milImage)
	{
		MbufFree(m_milImage);
		m_milImage = M_NULL;
	}

	//选择打开文件
	CFileDialog fileDialog(TRUE);
	fileDialog.m_ofn.lpstrFilter = TEXT("(MIL 格式图像)\0*.mim\0\0");
	fileDialog.m_ofn.lpstrInitialDir = TEXT(".\\Image");
	if (IDOK == fileDialog.DoModal())
	{
		MbufRestore(fileDialog.GetPathName().GetBuffer(MAX_PATH), m_milSystem, &m_milImage);

		//显示
		MdispZoom(m_milDisplay, 0.9, 0.9);
		MdispControl(m_milDisplay,  M_CENTER_DISPLAY, M_ENABLE);
		MdispSelectWindow(m_milDisplay, m_milImage, GetDlgItem(IDP_DISP_IMAGE)->GetSafeHwnd());
	}
}

void CCalibrateDlg::OnCal() 
{
	// TODO: Add your control notification handler code here
	if (M_NULL != m_milCalibration)
	{
		McalFree(m_milCalibration);
		m_milCalibration = M_NULL;
	}

	//分配Cal对象
	McalAlloc(m_milSystem, M_DEFAULT, M_DEFAULT, &m_milCalibration);

	//标定
	UpdateData(TRUE);
	McalGrid(m_milCalibration, m_milImage,
			 0, 0, 0,
			 m_nRowNum, m_nColomnNum,
			 m_dbRowSpace, m_dbColomnSpace,
			 M_DEFAULT, M_DEFAULT);
}

void CCalibrateDlg::OnModify() 
{
	// TODO: Add your control notification handler code here
	//这里可能是MIL 8.0的一个Bug, 对自身Buf操作再写入到自身Buf中, 
	//Display不会自动刷新, 必须先取消显示再显示
	MdispSelectWindow(m_milDisplay, M_NULL, M_NULL);

    McalTransformImage(m_milImage, m_milImage, m_milCalibration,
                      M_BILINEAR|M_OVERSCAN_CLEAR, M_DEFAULT, M_DEFAULT);

    //刷新显示
    MdispSelectWindow(m_milDisplay, m_milImage, GetDlgItem(IDP_DISP_IMAGE)->GetSafeHwnd());
}

void CCalibrateDlg::OnMeasure() 
{
	// TODO: Add your control notification handler code here
	if (M_NULL != m_milMarker1)
	{
		MmeasFree(m_milMarker1);
		m_milMarker1 = M_NULL;
	}
	if (M_NULL != m_milMarker2)
	{
		MmeasFree(m_milMarker2);
		m_milMarker2 = M_NULL;
	}

	//绑定图像和标定对象,这里并没有修正图像,只是将图像和标定对象绑定,
	//测量的实际结果是经由标定对象修正后的实际测量值
	McalAssociate(m_milCalibration, m_milImage, M_DEFAULT);
	
	//分配测量Marker
	MmeasAllocMarker(m_milSystem, M_STRIPE, M_DEFAULT, &m_milMarker1);
	MmeasAllocMarker(m_milSystem, M_STRIPE, M_DEFAULT, &m_milMarker2);
	
	//设置Marker Box
	MmeasSetMarker(m_milMarker1, M_BOX_ORIGIN, MEAS_BOX_POS_X1, MEAS_BOX_POS_Y1);
	MmeasSetMarker(m_milMarker1, M_BOX_SIZE, MEAS_BOX_WIDTH1, MEAS_BOX_HEIGHT1);
	MmeasSetMarker(m_milMarker2, M_BOX_ORIGIN, MEAS_BOX_POS_X2, MEAS_BOX_POS_Y2);
	MmeasSetMarker(m_milMarker2, M_BOX_SIZE, MEAS_BOX_WIDTH2, MEAS_BOX_HEIGHT2);
	
	//设置Stripe方向为水平方向
	MmeasSetMarker(m_milMarker1, M_ORIENTATION, M_HORIZONTAL, M_NULL);
	MmeasSetMarker(m_milMarker2, M_ORIENTATION, M_HORIZONTAL, M_NULL);
	
	//设置Marker 宽度和权重(占有整个宽度的百分比)
	MmeasSetMarker(m_milMarker1, M_WIDTH, WIDTH_APPROXIMATION, M_NULL);
	MmeasSetMarker(m_milMarker2, M_WIDTH, WIDTH_APPROXIMATION, M_NULL);
	MmeasSetMarker(m_milMarker1, M_WEIGHT_FACTOR+M_WIDTH, WIDTH_WEIGHT_FACTOR, M_NULL);
	MmeasSetMarker(m_milMarker2, M_WEIGHT_FACTOR+M_WIDTH, WIDTH_WEIGHT_FACTOR, M_NULL);
	
	//开始测量
	MmeasFindMarker(M_DEFAULT, m_milImage, m_milMarker1, M_WIDTH+M_POSITION);
	MmeasFindMarker(M_DEFAULT, m_milImage, m_milMarker2, M_WIDTH+M_POSITION);
	
	//获得实际单位的测量结果
    double  WorldDistance1,  WorldDistance2;
	MmeasGetResult(m_milMarker1, M_WIDTH, &WorldDistance1, M_NULL);
	MmeasGetResult(m_milMarker2, M_WIDTH, &WorldDistance2, M_NULL);
	
	//获得像素单位的测量结果
	double  PixelDistance1,  PixelDistance2;
	McalControl(m_milCalibration, M_OUTPUT_COORDINATE_SYSTEM, M_PIXEL);
	MmeasGetResult(m_milMarker1, M_WIDTH, &PixelDistance1, M_NULL);
	MmeasGetResult(m_milMarker2, M_WIDTH, &PixelDistance2, M_NULL);
	
	//获得两个Marker位置
	double  PosX1, PosY1, PosX2, PosY2, PosX3, PosY3, PosX4, PosY4;
	MmeasGetResult(m_milMarker1, M_POSITION+M_EDGE_FIRST,  &PosX1, &PosY1);
	MmeasGetResult(m_milMarker1, M_POSITION+M_EDGE_SECOND, &PosX2, &PosY2);
	MmeasGetResult(m_milMarker2, M_POSITION+M_EDGE_FIRST,  &PosX3, &PosY3);
	MmeasGetResult(m_milMarker2, M_POSITION+M_EDGE_SECOND, &PosX4, &PosY4);
	
	//绘制测量结果
	MdispInquire(m_milDisplay, M_OVERLAY_ID, &m_milOverlayImage);
	MdispControl(m_milDisplay, M_OVERLAY_CLEAR, M_DEFAULT);

	MgraColor(M_DEFAULT, M_COLOR_YELLOW);
	MmeasDraw(M_DEFAULT, m_milMarker1, m_milOverlayImage, M_DRAW_WIDTH, M_DEFAULT, M_RESULT);
	MmeasDraw(M_DEFAULT, m_milMarker2, m_milOverlayImage, M_DRAW_WIDTH, M_DEFAULT, M_RESULT);
	
	MgraBackColor(M_DEFAULT, M_COLOR_BLACK);
	MgraText(M_DEFAULT, m_milOverlayImage, (long)(PosX1+0.5-40),
		(long)((PosY1+0.5)+((PosY2 - PosY1)/2.0)), MIL_TEXT(" Distance 1 "));
	MgraText(M_DEFAULT, m_milOverlayImage, (long)(PosX3+0.5-40),
		(long)((PosY3+0.5)+((PosY4 - PosY3)/2.0)), MIL_TEXT(" Distance 2 "));

	//弹出结果显示框
	CString csResult;
	csResult.Format(TEXT("标定的测量结果为Distance1:%8.2lf cm,Distance2:%6.2lf cm\n未标定的测量结果为Distance1:%8.2lf pixels,Distance2:%6.2lf pixels"),
					WorldDistance1, WorldDistance2,
					PixelDistance1, PixelDistance2);
	MessageBox(csResult, TEXT("测量结果"));
}