A skeletal machine vision program.
Tap the left and right arrow keys to step through the test images.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4115 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/971CV/.classpath b/971CV/.classpath
new file mode 100644
index 0000000..01eafa6
--- /dev/null
+++ b/971CV/.classpath
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+ <classpathentry kind="src" path="src"/>
+ <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+ <classpathentry kind="lib" path="C:/WindRiver/WPILib/desktop-lib/networktables-desktop.jar" sourcepath="C:/WindRiver/WPILib/desktop-lib/networktables-desktop.src.zip">
+ <attributes>
+ <attribute name="javadoc_location" value="jar:file:/C:/WindRiver/WPILib/desktop-lib/networktables-desktop.javadoc.zip!/"/>
+ </attributes>
+ </classpathentry>
+ <classpathentry kind="lib" path="C:/Program Files/SmartDashboard/SmartDashboard.jar" sourcepath="C:/sourcecontrolled/FIRSTforge/SmartDashboard/trunk/smartdashboard/src"/>
+ <classpathentry kind="lib" path="C:/Program Files/SmartDashboard/extensions/WPICameraExtension.jar" sourcepath="C:/sourcecontrolled/FIRSTforge/SmartDashboard/trunk/extensions"/>
+ <classpathentry kind="lib" path="C:/Program Files/SmartDashboard/extensions/lib/javacpp.jar"/>
+ <classpathentry kind="lib" path="C:/Program Files/SmartDashboard/extensions/lib/javacv.jar">
+ <attributes>
+ <attribute name="org.eclipse.jdt.launching.CLASSPATH_ATTR_LIBRARY_PATH_ENTRY" value="C:/Program Files/WPIJavaCV/OpenCV_2.2.0/bin"/>
+ </attributes>
+ </classpathentry>
+ <classpathentry kind="lib" path="C:/Program Files/SmartDashboard/extensions/lib/javacv-windows-x86.jar">
+ <attributes>
+ <attribute name="org.eclipse.jdt.launching.CLASSPATH_ATTR_LIBRARY_PATH_ENTRY" value="C:/Program Files/WPIJavaCV/JavaCV_2.2.0/javacv-bin"/>
+ </attributes>
+ </classpathentry>
+ <classpathentry kind="lib" path="C:/Program Files/SmartDashboard/extensions/lib/WPIJavaCV.jar"/>
+ <classpathentry kind="output" path="bin"/>
+</classpath>
diff --git a/971CV/.project b/971CV/.project
new file mode 100644
index 0000000..2c09e79
--- /dev/null
+++ b/971CV/.project
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>971CV</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.jdt.core.javabuilder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.jdt.core.javanature</nature>
+ </natures>
+</projectDescription>
diff --git a/971CV/2012-test-images/image-01.jpg b/971CV/2012-test-images/image-01.jpg
new file mode 100644
index 0000000..3816924
--- /dev/null
+++ b/971CV/2012-test-images/image-01.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-02.jpg b/971CV/2012-test-images/image-02.jpg
new file mode 100644
index 0000000..818ebf1
--- /dev/null
+++ b/971CV/2012-test-images/image-02.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-03.jpg b/971CV/2012-test-images/image-03.jpg
new file mode 100644
index 0000000..382212a
--- /dev/null
+++ b/971CV/2012-test-images/image-03.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-04.jpg b/971CV/2012-test-images/image-04.jpg
new file mode 100644
index 0000000..408fb7a
--- /dev/null
+++ b/971CV/2012-test-images/image-04.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-05.jpg b/971CV/2012-test-images/image-05.jpg
new file mode 100644
index 0000000..ab21d5e
--- /dev/null
+++ b/971CV/2012-test-images/image-05.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-06.jpg b/971CV/2012-test-images/image-06.jpg
new file mode 100644
index 0000000..9e963da
--- /dev/null
+++ b/971CV/2012-test-images/image-06.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-07.jpg b/971CV/2012-test-images/image-07.jpg
new file mode 100644
index 0000000..e00b774
--- /dev/null
+++ b/971CV/2012-test-images/image-07.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-08.jpg b/971CV/2012-test-images/image-08.jpg
new file mode 100644
index 0000000..147498f
--- /dev/null
+++ b/971CV/2012-test-images/image-08.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-09.jpg b/971CV/2012-test-images/image-09.jpg
new file mode 100644
index 0000000..ad8dcbd
--- /dev/null
+++ b/971CV/2012-test-images/image-09.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-10.jpg b/971CV/2012-test-images/image-10.jpg
new file mode 100644
index 0000000..34465bf
--- /dev/null
+++ b/971CV/2012-test-images/image-10.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-11.jpg b/971CV/2012-test-images/image-11.jpg
new file mode 100644
index 0000000..03522e7
--- /dev/null
+++ b/971CV/2012-test-images/image-11.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-12.jpg b/971CV/2012-test-images/image-12.jpg
new file mode 100644
index 0000000..b0317f2
--- /dev/null
+++ b/971CV/2012-test-images/image-12.jpg
Binary files differ
diff --git a/971CV/2012-test-images/image-13.jpg b/971CV/2012-test-images/image-13.jpg
new file mode 100644
index 0000000..c329779
--- /dev/null
+++ b/971CV/2012-test-images/image-13.jpg
Binary files differ
diff --git a/971CV/2013-test-images/45in_DoubleGreen.jpg b/971CV/2013-test-images/45in_DoubleGreen.jpg
new file mode 100644
index 0000000..84aacdf
--- /dev/null
+++ b/971CV/2013-test-images/45in_DoubleGreen.jpg
Binary files differ
diff --git a/971CV/2013-test-images/57inLargeTarget_DoubleGreenBK.jpg b/971CV/2013-test-images/57inLargeTarget_DoubleGreenBK.jpg
new file mode 100644
index 0000000..63448a7
--- /dev/null
+++ b/971CV/2013-test-images/57inLargeTarget_DoubleGreenBK.jpg
Binary files differ
diff --git a/971CV/2013-test-images/FullField_DoubleGreenBK3.jpg b/971CV/2013-test-images/FullField_DoubleGreenBK3.jpg
new file mode 100644
index 0000000..d9fd691
--- /dev/null
+++ b/971CV/2013-test-images/FullField_DoubleGreenBK3.jpg
Binary files differ
diff --git a/971CV/2013-test-images/FullField_SmallGreen.jpg b/971CV/2013-test-images/FullField_SmallGreen.jpg
new file mode 100644
index 0000000..a77646e
--- /dev/null
+++ b/971CV/2013-test-images/FullField_SmallGreen.jpg
Binary files differ
diff --git a/971CV/2013-test-images/HybridLine_DoubleGreenBK2.jpg b/971CV/2013-test-images/HybridLine_DoubleGreenBK2.jpg
new file mode 100644
index 0000000..a444bb8
--- /dev/null
+++ b/971CV/2013-test-images/HybridLine_DoubleGreenBK2.jpg
Binary files differ
diff --git a/971CV/2013-test-images/HybridLine_DoubleGreenBK3.jpg b/971CV/2013-test-images/HybridLine_DoubleGreenBK3.jpg
new file mode 100644
index 0000000..8961b13
--- /dev/null
+++ b/971CV/2013-test-images/HybridLine_DoubleGreenBK3.jpg
Binary files differ
diff --git a/971CV/2013-test-images/HybridLine_DoubleGreenBK4.jpg b/971CV/2013-test-images/HybridLine_DoubleGreenBK4.jpg
new file mode 100644
index 0000000..356e44a
--- /dev/null
+++ b/971CV/2013-test-images/HybridLine_DoubleGreenBK4.jpg
Binary files differ
diff --git a/971CV/2013-test-images/HybridLine_SmallGreen2.jpg b/971CV/2013-test-images/HybridLine_SmallGreen2.jpg
new file mode 100644
index 0000000..08ccd6c
--- /dev/null
+++ b/971CV/2013-test-images/HybridLine_SmallGreen2.jpg
Binary files differ
diff --git a/971CV/2013-test-images/HybridLine_SmallGreen3.jpg b/971CV/2013-test-images/HybridLine_SmallGreen3.jpg
new file mode 100644
index 0000000..e85630c
--- /dev/null
+++ b/971CV/2013-test-images/HybridLine_SmallGreen3.jpg
Binary files differ
diff --git a/971CV/2013-test-images/HybridLine_SmallGreen4.jpg b/971CV/2013-test-images/HybridLine_SmallGreen4.jpg
new file mode 100644
index 0000000..9274028
--- /dev/null
+++ b/971CV/2013-test-images/HybridLine_SmallGreen4.jpg
Binary files differ
diff --git a/971CV/2013-test-images/Midfield_DoubleGreenBK2.jpg b/971CV/2013-test-images/Midfield_DoubleGreenBK2.jpg
new file mode 100644
index 0000000..1703d2e
--- /dev/null
+++ b/971CV/2013-test-images/Midfield_DoubleGreenBK2.jpg
Binary files differ
diff --git a/971CV/2013-test-images/Midfield_SmallGreen2.jpg b/971CV/2013-test-images/Midfield_SmallGreen2.jpg
new file mode 100644
index 0000000..49b69a0
--- /dev/null
+++ b/971CV/2013-test-images/Midfield_SmallGreen2.jpg
Binary files differ
diff --git a/971CV/2013-test-images/Midfield_SmallGreen3.jpg b/971CV/2013-test-images/Midfield_SmallGreen3.jpg
new file mode 100644
index 0000000..c79dcf4
--- /dev/null
+++ b/971CV/2013-test-images/Midfield_SmallGreen3.jpg
Binary files differ
diff --git a/971CV/2013-test-images/Midfield_SmallGreen4.jpg b/971CV/2013-test-images/Midfield_SmallGreen4.jpg
new file mode 100644
index 0000000..7beb4f7
--- /dev/null
+++ b/971CV/2013-test-images/Midfield_SmallGreen4.jpg
Binary files differ
diff --git a/971CV/2013-test-images/OppLine_DoubleGreenBK2.jpg b/971CV/2013-test-images/OppLine_DoubleGreenBK2.jpg
new file mode 100644
index 0000000..627c184
--- /dev/null
+++ b/971CV/2013-test-images/OppLine_DoubleGreenBK2.jpg
Binary files differ
diff --git a/971CV/2013-test-images/OppLine_SmallGreen2.jpg b/971CV/2013-test-images/OppLine_SmallGreen2.jpg
new file mode 100644
index 0000000..749c29d
--- /dev/null
+++ b/971CV/2013-test-images/OppLine_SmallGreen2.jpg
Binary files differ
diff --git a/971CV/2013-test-images/PyramidRight_DoubleGreenBK2.jpg b/971CV/2013-test-images/PyramidRight_DoubleGreenBK2.jpg
new file mode 100644
index 0000000..853ed99
--- /dev/null
+++ b/971CV/2013-test-images/PyramidRight_DoubleGreenBK2.jpg
Binary files differ
diff --git a/971CV/2013-test-images/PyramidRight_SmallGreen2.jpg b/971CV/2013-test-images/PyramidRight_SmallGreen2.jpg
new file mode 100644
index 0000000..c1b1b6a
--- /dev/null
+++ b/971CV/2013-test-images/PyramidRight_SmallGreen2.jpg
Binary files differ
diff --git a/971CV/src/org/frc971/VisionTuner.java b/971CV/src/org/frc971/VisionTuner.java
new file mode 100644
index 0000000..7ecd98a
--- /dev/null
+++ b/971CV/src/org/frc971/VisionTuner.java
@@ -0,0 +1,120 @@
+package org.frc971;
+
+import java.awt.event.KeyEvent;
+import java.io.File;
+import java.io.IOException;
+
+import javax.imageio.ImageIO;
+import javax.swing.WindowConstants;
+
+import com.googlecode.javacv.CanvasFrame;
+
+import edu.wpi.first.wpijavacv.WPIColorImage;
+
+/* REQUIRED JAVA LIBRARIES:
+ * Program Files/SmartDashboard/
+ * extensions/lib/javacpp.jar
+ * extensions/lib/javacv-YOUR_OS.jar
+ * extensions/lib/javacv.jar
+ * extensions/lib/WPIJavaCV.jar
+ * SmartDashboard.jar -- maybe in the future
+ * extensions/WPICameraExtension.jar -- maybe in the future
+ *
+ * REQUIRED NATIVE CODE LIBRARIES:
+ * Program Files/WPIJavaCV/
+ * JavaCV_2.2.0/javacv-bin/javacv-YOUR_OS.jar
+ * OpenCV_2.2.0/bin/*
+ */
+/**
+ * FRC 2013 vision-target recognizer tuner app.
+ *
+ * @author jerry
+ */
+public class VisionTuner {
+ private String[] testImageFilenames;
+ private WPIColorImage[] testImages;
+ private final CanvasFrame cameraFrame = new CanvasFrame("Camera");
+ private int currentIndex = 0;
+
+ public VisionTuner(String[] imageFilenames) {
+ cameraFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
+ cameraFrame.setFocusable(true);
+ cameraFrame.requestFocus();
+
+ loadTestImages(imageFilenames);
+ }
+
+
+ /**
+ * Loads the named test image files.
+ * Sets testImageFilenames and testImages.
+ */
+ private void loadTestImages(String[] imageFilenames) {
+ testImageFilenames = imageFilenames;
+ testImages = new WPIColorImage[testImageFilenames.length];
+
+ for (int i = 0; i < testImageFilenames.length; i++) {
+ String imageFilename = testImageFilenames[i];
+
+ System.out.println("Loading image file: " + imageFilename);
+ WPIColorImage rawImage = null;
+ try {
+ rawImage = new WPIColorImage(ImageIO.read(new File(imageFilename)));
+ } catch (IOException e) {
+ System.err.println("Couldn't load image file: " + imageFilename + ": " + e.getMessage());
+ System.exit(1);
+ return;
+ }
+ testImages[i] = rawImage;
+ }
+ }
+
+ private void processCurrentImage() {
+ WPIColorImage rawImage = testImages[currentIndex];
+ cameraFrame.showImage(rawImage.getBufferedImage());
+ cameraFrame.setTitle(testImageFilenames[currentIndex]);
+ }
+
+ private void previousImage() {
+ if (currentIndex > 0) {
+ --currentIndex;
+ }
+ processCurrentImage();
+ }
+
+ private void nextImage() {
+ if (currentIndex + 1 < testImages.length) {
+ ++currentIndex;
+ }
+ processCurrentImage();
+ }
+
+ private void processEvents() {
+ KeyEvent e = cameraFrame.waitKey();
+
+ switch (e.getKeyCode()) {
+ case KeyEvent.VK_LEFT:
+ previousImage();
+ break;
+ case KeyEvent.VK_RIGHT:
+ nextImage();
+ break;
+ }
+ }
+
+ public static void main(final String[] args) {
+ if (args.length == 0) {
+ System.err.println("Usage: " + VisionTuner.class.getName()
+ + " test image filenames...");
+ System.exit(1);
+ }
+
+ VisionTuner tuner = new VisionTuner(args);
+ tuner.processCurrentImage();
+
+ for (;;) {
+ tuner.processEvents();
+ }
+ }
+
+}
