| /******************************************************************************** | |
| * Project : FIRST Motor Controller | |
| * File Name : VisionAPI.h | |
| * Contributors : ELF, JDG, ARK, EMF | |
| * Creation Date : June 22, 2008 | |
| * Revision History : Source code & revision history maintained at sourceforge.WPI.edu | |
| * File Description : Globally defined values for the FIRST Vision API | |
| * | |
| * API: Because nivision.h uses C++ style comments, any file including this | |
| * must be a .cpp (not .c). | |
| */ | |
| /*----------------------------------------------------------------------------*/ | |
| /* Copyright (c) FIRST 2008. 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. */ | |
| /*----------------------------------------------------------------------------*/ | |
| #ifndef __VISIONAPI_H__ | |
| #define __VISIONAPI_H__ | |
| #include "nivision.h" | |
| /* Constants */ | |
| #define DEFAULT_BORDER_SIZE 3 //VisionAPI.frcCreateImage | |
| #define DEFAULT_SATURATION_THRESHOLD 40 //TrackAPI.FindColor | |
| /* Forward Declare Data Structures */ | |
| typedef struct FindEdgeOptions_struct FindEdgeOptions; | |
| typedef struct CircularEdgeReport_struct CircularEdgeReport; | |
| /* Data Structures */ | |
| /** frcParticleAnalysis returns this structure */ | |
| typedef struct ParticleAnalysisReport_struct { | |
| int imageHeight; | |
| int imageWidth; | |
| double imageTimestamp; | |
| int particleIndex; // the particle index analyzed | |
| /* X-coordinate of the point representing the average position of the | |
| * total particle mass, assuming every point in the particle has a constant density */ | |
| int center_mass_x; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_X | |
| /* Y-coordinate of the point representing the average position of the | |
| * total particle mass, assuming every point in the particle has a constant density */ | |
| int center_mass_y; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_Y | |
| double center_mass_x_normalized; //Center of mass x value normalized to -1.0 to +1.0 range | |
| double center_mass_y_normalized; //Center of mass y value normalized to -1.0 to +1.0 range | |
| /* Area of the particle */ | |
| double particleArea; // MeasurementType: IMAQ_MT_AREA | |
| /* Bounding Rectangle */ | |
| Rect boundingRect; // left/top/width/height | |
| /* Percentage of the particle Area covering the Image Area. */ | |
| double particleToImagePercent; // MeasurementType: IMAQ_MT_AREA_BY_IMAGE_AREA | |
| /* Percentage of the particle Area in relation to its Particle and Holes Area */ | |
| double particleQuality; // MeasurementType: IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA | |
| } ParticleAnalysisReport; | |
| /** Tracking functions return this structure */ | |
| typedef struct ColorReport_struct { | |
| int numberParticlesFound; // Number of particles found for this color | |
| int largestParticleNumber; // The particle index of the largest particle | |
| /* Color information */ | |
| float particleHueMax; // HistogramReport: hue max | |
| float particleHueMin; // HistogramReport: hue max | |
| float particleHueMean; // HistogramReport: hue mean | |
| float particleSatMax; // HistogramReport: saturation max | |
| float particleSatMin; // HistogramReport: saturation max | |
| float particleSatMean; // HistogramReport: saturation mean | |
| float particleLumMax; // HistogramReport: luminance max | |
| float particleLumMin; // HistogramReport: luminance max | |
| float particleLumMean; // HistogramReport: luminance mean | |
| } ColorReport; | |
| /* Image Management functions */ | |
| /* Create: calls imaqCreateImage. Border size is set to some default value */ | |
| Image* frcCreateImage( ImageType type ); | |
| /* Dispose: calls imaqDispose */ | |
| int frcDispose( void* object ); | |
| int frcDispose( const char* filename, ... ) ; | |
| /* Copy: calls imaqDuplicateImage */ | |
| int frcCopyImage( Image* dest, const Image* source ); | |
| /* Image Extraction: Crop: calls imaqScale */ | |
| int frcCrop( Image* dest, const Image* source, Rect rect ); | |
| /* Image Extraction: Scale: calls imaqScale. Scales entire image */ | |
| int frcScale(Image* dest, const Image* source, int xScale, int yScale, ScalingMode scaleMode ); | |
| /* Read Image : calls imaqReadFile */ | |
| int frcReadImage( Image* image, const char* fileName ); | |
| /* Write Image : calls imaqWriteFile */ | |
| int frcWriteImage( const Image* image, const char* fileName); | |
| /* Measure Intensity functions */ | |
| /* Histogram: calls imaqHistogram */ | |
| HistogramReport* frcHistogram( const Image* image, int numClasses, float min, float max, Rect rect ); | |
| /* Color Histogram: calls imaqColorHistogram2 */ | |
| ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses, ColorMode mode, Image* mask); | |
| /* Get Pixel Value: calls imaqGetPixel */ | |
| int frcGetPixelValue( const Image* image, Point pixel, PixelValue* value ); | |
| /* Particle Analysis functions */ | |
| /* Particle Filter: calls imaqParticleFilter3 */ | |
| int frcParticleFilter(Image* dest, Image* source, const ParticleFilterCriteria2* criteria, | |
| int criteriaCount, const ParticleFilterOptions* options, Rect rect, int* numParticles); | |
| int frcParticleFilter(Image* dest, Image* source, const ParticleFilterCriteria2* criteria, | |
| int criteriaCount, const ParticleFilterOptions* options, int* numParticles); | |
| /* Morphology: calls imaqMorphology */ | |
| int frcMorphology(Image* dest, Image* source, MorphologyMethod method); | |
| int frcMorphology(Image* dest, Image* source, MorphologyMethod method, const StructuringElement* structuringElement); | |
| /* Reject Border: calls imaqRejectBorder */ | |
| int frcRejectBorder(Image* dest, Image* source); | |
| int frcRejectBorder(Image* dest, Image* source, int connectivity8); | |
| /* Count Particles: calls imaqCountParticles */ | |
| int frcCountParticles(Image* image, int* numParticles); | |
| /* Particle Analysis Report: calls imaqMeasureParticle */ | |
| int frcParticleAnalysis(Image* image, int particleNumber, ParticleAnalysisReport* par); | |
| /* Image Enhancement functions */ | |
| /* Equalize: calls imaqEqualize */ | |
| int frcEqualize(Image* dest, const Image* source, float min, float max); | |
| int frcEqualize(Image* dest, const Image* source, float min, float max, const Image* mask); | |
| /* Color Equalize: calls imaqColorEqualize */ | |
| int frcColorEqualize(Image* dest, const Image* source); | |
| int frcColorEqualize(Image* dest, const Image* source, int colorEqualization); | |
| /* Image Thresholding & Conversion functions */ | |
| /* Smart Threshold: calls imaqLocalThreshold */ | |
| int frcSmartThreshold(Image* dest, const Image* source, unsigned int windowWidth, unsigned int windowHeight, | |
| LocalThresholdMethod method, double deviationWeight, ObjectType type); | |
| int frcSmartThreshold(Image* dest, const Image* source, unsigned int windowWidth, unsigned int windowHeight, | |
| LocalThresholdMethod method, double deviationWeight, ObjectType type, float replaceValue); | |
| /* Simple Threshold: calls imaqThreshold */ | |
| int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin, float rangeMax, float newValue); | |
| int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin, float rangeMax); | |
| /* Color/Hue Threshold: calls imaqColorThreshold */ | |
| int frcColorThreshold(Image* dest, const Image* source, ColorMode mode, | |
| const Range* plane1Range, const Range* plane2Range, const Range* plane3Range); | |
| int frcColorThreshold(Image* dest, const Image* source, int replaceValue, ColorMode mode, | |
| const Range* plane1Range, const Range* plane2Range, const Range* plane3Range); | |
| int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange); | |
| int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange, int minSaturation); | |
| /* Extract ColorHue Plane: calls imaqExtractColorPlanes */ | |
| int frcExtractColorPlanes(const Image* image, ColorMode mode, Image* plane1, Image* plane2, Image* plane3); | |
| int frcExtractHuePlane(const Image* image, Image* huePlane); | |
| int frcExtractHuePlane(const Image* image, Image* huePlane, int minSaturation); | |
| #endif | |