Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/Vision/MonoImage.cpp b/wpilibc/Athena/src/Vision/MonoImage.cpp
new file mode 100644
index 0000000..90703c0
--- /dev/null
+++ b/wpilibc/Athena/src/Vision/MonoImage.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "Vision/MonoImage.h"
+#include "nivision.h"
+
+using namespace std;
+
+MonoImage::MonoImage() : ImageBase(IMAQ_IMAGE_U8) {}
+
+/**
+ * Look for ellipses in an image.
+ * Given some input parameters, look for any number of ellipses in an image.
+ * @param ellipseDescriptor Ellipse descriptor
+ * @param curveOptions Curve options
+ * @param shapeDetectionOptions Shape detection options
+ * @param roi Region of Interest
+ * @returns a vector of EllipseMatch structures (0 length vector on no match)
+ */
+vector<EllipseMatch> *MonoImage::DetectEllipses(
+ EllipseDescriptor *ellipseDescriptor, CurveOptions *curveOptions,
+ ShapeDetectionOptions *shapeDetectionOptions, ROI *roi) {
+ int numberOfMatches;
+ EllipseMatch *e =
+ imaqDetectEllipses(m_imaqImage, ellipseDescriptor, curveOptions,
+ shapeDetectionOptions, roi, &numberOfMatches);
+ auto ellipses = new vector<EllipseMatch>;
+ if (e == nullptr) {
+ return ellipses;
+ }
+ for (int i = 0; i < numberOfMatches; i++) {
+ ellipses->push_back(e[i]);
+ }
+ imaqDispose(e);
+ return ellipses;
+}
+
+vector<EllipseMatch> *MonoImage::DetectEllipses(
+ EllipseDescriptor *ellipseDescriptor) {
+ vector<EllipseMatch> *ellipses =
+ DetectEllipses(ellipseDescriptor, nullptr, nullptr, nullptr);
+ return ellipses;
+}