azaleasource/WPILibCProgramming/trunk/WPILib/Vision/BinaryImage.h

/*----------------------------------------------------------------------------*/
/* 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 __BINARY_IMAGE_H__
#define __BINARY_IMAGE_H__

#include "MonoImage.h"
/**
 * Included for ParticleAnalysisReport definition
 * TODO: Eliminate this dependency! 
 */
#include "Vision2009/VisionAPI.h"

#include <vector>
#include <algorithm>
using namespace std;

class BinaryImage : public MonoImage
{
public:
	BinaryImage();
	virtual ~BinaryImage();
	int GetNumberParticles();
	ParticleAnalysisReport GetParticleAnalysisReport(int particleNumber);
	void GetParticleAnalysisReport(int particleNumber, ParticleAnalysisReport *par);
	vector<ParticleAnalysisReport>* GetOrderedParticleAnalysisReports();
	BinaryImage *RemoveSmallObjects(bool connectivity8, int erosions);
	BinaryImage *RemoveLargeObjects(bool connectivity8, int erosions);
	BinaryImage *ConvexHull(bool connectivity8);
	BinaryImage *ParticleFilter(ParticleFilterCriteria2 *criteria, int criteriaCount);
	virtual void Write(const char *fileName);
private:
	bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, int *result);
	bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, double *result);
	static double NormalizeFromRange(double position, int range);
	static bool CompareParticleSizes(ParticleAnalysisReport particle1, ParticleAnalysisReport particle2);
};

#endif