This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Vision/BinaryImage.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Vision/BinaryImage.cpp
new file mode 100644
index 0000000..83d37c6
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Vision/BinaryImage.cpp
@@ -0,0 +1,222 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "BinaryImage.h"
+#include "WPIErrors.h"
+
+/** Private NI function needed to write to the VxWorks target */
+IMAQ_FUNC int Priv_SetWriteFileAllowed(UINT32 enable);
+
+BinaryImage::BinaryImage() : MonoImage()
+{
+}
+
+BinaryImage::~BinaryImage()
+{
+}
+
+/**
+ * Get then number of particles for the image.
+ * @returns the number of particles found for the image.
+ */
+int BinaryImage::GetNumberParticles()
+{
+ int numParticles = 0;
+ int success = imaqCountParticles(m_imaqImage, 1, &numParticles);
+ wpi_setImaqErrorWithContext(success, "Error counting particles");
+ return numParticles;
+}
+
+/**
+ * Get a single particle analysis report.
+ * Get one (of possibly many) particle analysis reports for an image.
+ * @param particleNumber Which particle analysis report to return.
+ * @returns the selected particle analysis report
+ */
+ParticleAnalysisReport BinaryImage::GetParticleAnalysisReport(int particleNumber)
+{
+ ParticleAnalysisReport par;
+ GetParticleAnalysisReport(particleNumber, &par);
+ return par;
+}
+
+/**
+ * Get a single particle analysis report.
+ * Get one (of possibly many) particle analysis reports for an image.
+ * This version could be more efficient when copying many reports.
+ * @param particleNumber Which particle analysis report to return.
+ * @param par the selected particle analysis report
+ */
+void BinaryImage::GetParticleAnalysisReport(int particleNumber, ParticleAnalysisReport *par)
+{
+ int success;
+ int numParticles = 0;
+
+ success = imaqGetImageSize(m_imaqImage, &par->imageWidth, &par->imageHeight);
+ wpi_setImaqErrorWithContext(success, "Error getting image size");
+ if (StatusIsFatal())
+ return;
+
+ success = imaqCountParticles(m_imaqImage, 1, &numParticles);
+ wpi_setImaqErrorWithContext(success, "Error counting particles");
+ if (StatusIsFatal())
+ return;
+
+ if (particleNumber >= numParticles)
+ {
+ wpi_setWPIErrorWithContext(ParameterOutOfRange, "particleNumber");
+ return;
+ }
+
+ par->particleIndex = particleNumber;
+ // Don't bother measuring the rest of the particle if one fails
+ bool good = ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_X, &par->center_mass_x);
+ good = good && ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_Y, &par->center_mass_y);
+ good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA, &par->particleArea);
+ good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_TOP, &par->boundingRect.top);
+ good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_LEFT, &par->boundingRect.left);
+ good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_HEIGHT, &par->boundingRect.height);
+ good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_WIDTH, &par->boundingRect.width);
+ good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_IMAGE_AREA, &par->particleToImagePercent);
+ good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA, &par->particleQuality);
+
+ if (good)
+ {
+ /* normalized position (-1 to 1) */
+ par->center_mass_x_normalized = NormalizeFromRange(par->center_mass_x, par->imageWidth);
+ par->center_mass_y_normalized = NormalizeFromRange(par->center_mass_y, par->imageHeight);
+ }
+}
+
+
+/**
+ * Get an ordered vector of particles for the image.
+ * Create a vector of particle analysis reports sorted by size for an image.
+ * The vector contains the actual report structures.
+ * @returns a pointer to the vector of particle analysis reports. The caller must delete the
+ * vector when finished using it.
+ */
+vector<ParticleAnalysisReport>* BinaryImage::GetOrderedParticleAnalysisReports()
+{
+ vector<ParticleAnalysisReport>* particles = new vector<ParticleAnalysisReport>;
+ int particleCount = GetNumberParticles();
+ for(int particleIndex = 0; particleIndex < particleCount; particleIndex++)
+ {
+ particles->push_back(GetParticleAnalysisReport(particleIndex));
+ }
+ // TODO: This is pretty inefficient since each compare in the sort copies
+ // both reports being compared... do it manually instead... while we're
+ // at it, we should provide a version that allows a preallocated buffer of
+ // ParticleAnalysisReport structures
+ sort(particles->begin(), particles->end(), CompareParticleSizes);
+ return particles;
+}
+
+/**
+ * Write a binary image to flash.
+ * Writes the binary image to flash on the cRIO for later inspection.
+ * @param fileName the name of the image file written to the flash.
+ */
+void BinaryImage::Write(const char *fileName)
+{
+ RGBValue colorTable[256];
+ Priv_SetWriteFileAllowed(1);
+ memset(colorTable, 0, sizeof(colorTable));
+ colorTable[0].R = 0;
+ colorTable[1].R = 255;
+ colorTable[0].G = colorTable[1].G = 0;
+ colorTable[0].B = colorTable[1].B = 0;
+ colorTable[0].alpha = colorTable[1].alpha = 0;
+ imaqWriteFile(m_imaqImage, fileName, colorTable);
+}
+
+/**
+ * Measure a single parameter for an image.
+ * Get the measurement for a single parameter about an image by calling the imaqMeasureParticle
+ * function for the selected parameter.
+ * @param particleNumber which particle in the set of particles
+ * @param whatToMeasure the imaq MeasurementType (what to measure)
+ * @param result the value of the measurement
+ * @returns false on failure, true on success
+ */
+bool BinaryImage::ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, int *result)
+{
+ double resultDouble;
+ bool success = ParticleMeasurement(particleNumber, whatToMeasure, &resultDouble);
+ *result = (int)resultDouble;
+ return success;
+}
+
+/**
+ * Measure a single parameter for an image.
+ * Get the measurement for a single parameter about an image by calling the imaqMeasureParticle
+ * function for the selected parameter.
+ * @param particleNumber which particle in the set of particles
+ * @param whatToMeasure the imaq MeasurementType (what to measure)
+ * @param result the value of the measurement
+ * @returns true on failure, false on success
+ */
+bool BinaryImage::ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, double *result)
+{
+ int success;
+ success = imaqMeasureParticle(m_imaqImage, particleNumber, 0, whatToMeasure, result);
+ wpi_setImaqErrorWithContext(success, "Error measuring particle");
+ return !StatusIsFatal();
+}
+
+//Normalizes to [-1,1]
+double BinaryImage::NormalizeFromRange(double position, int range)
+{
+ return (position * 2.0 / (double)range) - 1.0;
+}
+
+/**
+ * The compare helper function for sort.
+ * This function compares two particle analysis reports as a helper for the sort function.
+ * @param particle1 The first particle to compare
+ * @param particle2 the second particle to compare
+ * @returns true if particle1 is greater than particle2
+ */
+bool BinaryImage::CompareParticleSizes(ParticleAnalysisReport particle1, ParticleAnalysisReport particle2)
+{
+ //we want descending sort order
+ return particle1.particleToImagePercent > particle2.particleToImagePercent;
+}
+
+BinaryImage *BinaryImage::RemoveSmallObjects(bool connectivity8, int erosions)
+{
+ BinaryImage *result = new BinaryImage();
+ int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage, connectivity8, erosions, IMAQ_KEEP_LARGE, NULL);
+ wpi_setImaqErrorWithContext(success, "Error in RemoveSmallObjects");
+ return result;
+}
+
+BinaryImage *BinaryImage::RemoveLargeObjects(bool connectivity8, int erosions)
+{
+ BinaryImage *result = new BinaryImage();
+ int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage, connectivity8, erosions, IMAQ_KEEP_SMALL, NULL);
+ wpi_setImaqErrorWithContext(success, "Error in RemoveLargeObjects");
+ return result;
+}
+
+BinaryImage *BinaryImage::ConvexHull(bool connectivity8)
+{
+ BinaryImage *result = new BinaryImage();
+ int success = imaqConvexHull(result->GetImaqImage(), m_imaqImage, connectivity8);
+ wpi_setImaqErrorWithContext(success, "Error in convex hull operation");
+ return result;
+}
+
+BinaryImage *BinaryImage::ParticleFilter(ParticleFilterCriteria2 *criteria, int criteriaCount)
+{
+ BinaryImage *result = new BinaryImage();
+ int numParticles;
+ ParticleFilterOptions2 filterOptions = {0, 0, 0, 1};
+ int success = imaqParticleFilter4(result->GetImaqImage(), m_imaqImage, criteria, criteriaCount, &filterOptions, NULL, &numParticles);
+ wpi_setImaqErrorWithContext(success, "Error in particle filter operation");
+ return result;
+}
+