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/Vision2009/TrackAPI.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Vision2009/TrackAPI.h
new file mode 100644
index 0000000..6431217
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Vision2009/TrackAPI.h
@@ -0,0 +1,74 @@
+/********************************************************************************
+* Project : FIRST Motor Controller
+* File Name : TrackAPI.h
+* Contributors : ELF
+* Creation Date : August 12, 2008
+* Revision History : Source code & revision history maintained at sourceforge.WPI.edu
+* File Description : Globally defined values for the FIRST Vision API
+*/
+/*----------------------------------------------------------------------------*/
+/* 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 __TRACKAPI_H__
+#define __TRACKAPI_H__
+
+#include "VisionAPI.h"
+#include "BaeUtilities.h"
+
+/* Constants */
+/** image quality requirement: particle must be this % of pixels
+ * For instance, a 320x240 image has 76800 pixels. With this
+ * tolerance at .01, the image must be 768 pixels.
+ * Use a percentage instead of a fixed # of pixels so different
+ * image sizes will work the same way */
+#define PARTICLE_TO_IMAGE_PERCENT 0.01
+
+/* Structures */
+typedef struct TrackingThreshold_struct {
+ char name[64];
+ Range hue;
+ Range saturation;
+ Range luminance;
+} TrackingThreshold;
+
+/* Enumerated Types */
+
+/** Predefined hues */
+typedef enum FrcHue_enum {
+ // Basic colors
+ RED, GREEN, BLUE, YELLOW, ORANGE, PURPLE, WHITE, PINK
+}FrcHue;
+
+/** Predefined saturation / luminance settings */
+typedef enum FrcLight_enum {
+ PASSIVE_LIGHT, BRIGHT_LIGHT, ACTIVE_LIGHT, WHITE_LIGHT, FLUORESCENT
+}FrcLight;
+
+/* color tracking support functions */
+TrackingThreshold GetTrackingData(FrcHue hue, FrcLight light);
+
+void PrintReport(ParticleAnalysisReport* myReport);
+void PrintReport(ColorReport* myReport);
+void PrintReport(TrackingThreshold* myReport);
+
+/* Tracking functions */
+
+/* find a color in current camera image */
+bool InArea(Image* binaryImage, int particleIndex, Rect rect);
+int GetLargestParticle(Image* binaryImage, int* particleNum);
+int GetLargestParticle(Image* binaryImage, int* particleNum, Rect rect);
+int FindColor(FrcHue color, ParticleAnalysisReport* trackReport);
+int FindColor(const Range* hueRange, ParticleAnalysisReport *trackReport);
+int FindColor(const Range* hueRange, int minSaturation, ParticleAnalysisReport *trackReport);
+int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range,
+ const Range* plane3Range, ParticleAnalysisReport *trackReport);
+int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range,
+ const Range* plane3Range, ParticleAnalysisReport *trackReport, ColorReport *colorReport);
+int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range,
+ const Range* plane3Range, ParticleAnalysisReport *trackReport,
+ ColorReport *colorReport, Rect rect);
+#endif
+