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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 26e4e5289bfe3b1691be9c14bedfb70bdcd6dc56 / . / wpilibc / Athena / include / Vision / VisionAPI.h
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Brian Silverman26e4e522015-12-17 01:56:40 -0500[diff] [blame^]1/*----------------------------------------------------------------------------*/
2/* Copyright (c) FIRST 2014. All Rights Reserved. */
3/* Open Source Software - may be modified and shared by FRC teams. The code */
4/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
5/*----------------------------------------------------------------------------*/
6
7#pragma once
8
9#include "nivision.h"
10
11/* Constants */
12
13#define DEFAULT_BORDER_SIZE 3 // VisionAPI.frcCreateImage
14#define DEFAULT_SATURATION_THRESHOLD 40 // TrackAPI.FindColor
15
16/* Forward Declare Data Structures */
17typedef struct FindEdgeOptions_struct FindEdgeOptions;
18typedef struct CircularEdgeReport_struct CircularEdgeReport;
19
20/* Data Structures */
21
22/** frcParticleAnalysis returns this structure */
23typedef struct ParticleAnalysisReport_struct {
24 int imageHeight;
25 int imageWidth;
26 double imageTimestamp;
27 int particleIndex; // the particle index analyzed
28 /* X-coordinate of the point representing the average position of the
29 * total particle mass, assuming every point in the particle has a constant
30 * density */
31 int center_mass_x; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_X
32 /* Y-coordinate of the point representing the average position of the
33 * total particle mass, assuming every point in the particle has a constant
34 * density */
35 int center_mass_y; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_Y
36 double center_mass_x_normalized; // Center of mass x value normalized to -1.0
37 // to +1.0 range
38 double center_mass_y_normalized; // Center of mass y value normalized to -1.0
39 // to +1.0 range
40 /* Area of the particle */
41 double particleArea; // MeasurementType: IMAQ_MT_AREA
42 /* Bounding Rectangle */
43 Rect boundingRect; // left/top/width/height
44 /* Percentage of the particle Area covering the Image Area. */
45 double particleToImagePercent; // MeasurementType: IMAQ_MT_AREA_BY_IMAGE_AREA
46 /* Percentage of the particle Area in relation to its Particle and Holes Area
47 */
48 double particleQuality; // MeasurementType:
49 // IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA
50} ParticleAnalysisReport;
51
52/** Tracking functions return this structure */
53typedef struct ColorReport_struct {
54 int numberParticlesFound; // Number of particles found for this color
55 int largestParticleNumber; // The particle index of the largest particle
56 /* Color information */
57 float particleHueMax; // HistogramReport: hue max
58 float particleHueMin; // HistogramReport: hue max
59 float particleHueMean; // HistogramReport: hue mean
60 float particleSatMax; // HistogramReport: saturation max
61 float particleSatMin; // HistogramReport: saturation max
62 float particleSatMean; // HistogramReport: saturation mean
63 float particleLumMax; // HistogramReport: luminance max
64 float particleLumMin; // HistogramReport: luminance max
65 float particleLumMean; // HistogramReport: luminance mean
66} ColorReport;
67
68/* Image Management functions */
69
70/* Create: calls imaqCreateImage. Border size is set to some default value */
71Image* frcCreateImage(ImageType type);
72
73/* Dispose: calls imaqDispose */
74int frcDispose(void* object);
75int frcDispose(const char* filename, ...);
76
77/* Copy: calls imaqDuplicateImage */
78int frcCopyImage(Image* dest, const Image* source);
79
80/* Image Extraction: Crop: calls imaqScale */
81int frcCrop(Image* dest, const Image* source, Rect rect);
82
83/* Image Extraction: Scale: calls imaqScale. Scales entire image */
84int frcScale(Image* dest, const Image* source, int xScale, int yScale,
85 ScalingMode scaleMode);
86
87/* Read Image : calls imaqReadFile */
88int frcReadImage(Image* image, const char* fileName);
89/* Write Image : calls imaqWriteFile */
90int frcWriteImage(const Image* image, const char* fileName);
91
92/* Measure Intensity functions */
93
94/* Histogram: calls imaqHistogram */
95HistogramReport* frcHistogram(const Image* image, int numClasses, float min,
96 float max, Rect rect);
97/* Color Histogram: calls imaqColorHistogram2 */
98ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses,
99 ColorMode mode, Image* mask);
100
101/* Get Pixel Value: calls imaqGetPixel */
102int frcGetPixelValue(const Image* image, Point pixel, PixelValue* value);
103
104/* Particle Analysis functions */
105
106/* Particle Filter: calls imaqParticleFilter3 */
107int frcParticleFilter(Image* dest, Image* source,
108 const ParticleFilterCriteria2* criteria,
109 int criteriaCount, const ParticleFilterOptions* options,
110 Rect rect, int* numParticles);
111int frcParticleFilter(Image* dest, Image* source,
112 const ParticleFilterCriteria2* criteria,
113 int criteriaCount, const ParticleFilterOptions* options,
114 int* numParticles);
115/* Morphology: calls imaqMorphology */
116int frcMorphology(Image* dest, Image* source, MorphologyMethod method);
117int frcMorphology(Image* dest, Image* source, MorphologyMethod method,
118 const StructuringElement* structuringElement);
119/* Reject Border: calls imaqRejectBorder */
120int frcRejectBorder(Image* dest, Image* source);
121int frcRejectBorder(Image* dest, Image* source, int connectivity8);
122/* Count Particles: calls imaqCountParticles */
123int frcCountParticles(Image* image, int* numParticles);
124/* Particle Analysis Report: calls imaqMeasureParticle */
125int frcParticleAnalysis(Image* image, int particleNumber,
126 ParticleAnalysisReport* par);
127
128/* Image Enhancement functions */
129
130/* Equalize: calls imaqEqualize */
131int frcEqualize(Image* dest, const Image* source, float min, float max);
132int frcEqualize(Image* dest, const Image* source, float min, float max,
133 const Image* mask);
134
135/* Color Equalize: calls imaqColorEqualize */
136int frcColorEqualize(Image* dest, const Image* source);
137int frcColorEqualize(Image* dest, const Image* source, int colorEqualization);
138
139/* Image Thresholding & Conversion functions */
140
141/* Smart Threshold: calls imaqLocalThreshold */
142int frcSmartThreshold(Image* dest, const Image* source,
143 unsigned int windowWidth, unsigned int windowHeight,
144 LocalThresholdMethod method, double deviationWeight,
145 ObjectType type);
146int frcSmartThreshold(Image* dest, const Image* source,
147 unsigned int windowWidth, unsigned int windowHeight,
148 LocalThresholdMethod method, double deviationWeight,
149 ObjectType type, float replaceValue);
150
151/* Simple Threshold: calls imaqThreshold */
152int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin,
153 float rangeMax, float newValue);
154int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin,
155 float rangeMax);
156
157/* Color/Hue Threshold: calls imaqColorThreshold */
158int frcColorThreshold(Image* dest, const Image* source, ColorMode mode,
159 const Range* plane1Range, const Range* plane2Range,
160 const Range* plane3Range);
161int frcColorThreshold(Image* dest, const Image* source, int replaceValue,
162 ColorMode mode, const Range* plane1Range,
163 const Range* plane2Range, const Range* plane3Range);
164int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange);
165int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange,
166 int minSaturation);
167
168/* Extract ColorHue Plane: calls imaqExtractColorPlanes */
169int frcExtractColorPlanes(const Image* image, ColorMode mode, Image* plane1,
170 Image* plane2, Image* plane3);
171int frcExtractHuePlane(const Image* image, Image* huePlane);
172int frcExtractHuePlane(const Image* image, Image* huePlane, int minSaturation);