| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /********************************************************************************
|
| 2 | * Project : FIRST Motor Controller
|
| 3 | * File Name : VisionAPI.h
|
| 4 | * Contributors : ELF, JDG, ARK, EMF
|
| 5 | * Creation Date : June 22, 2008
|
| 6 | * Revision History : Source code & revision history maintained at sourceforge.WPI.edu
|
| 7 | * File Description : Globally defined values for the FIRST Vision API
|
| 8 | *
|
| 9 | * API: Because nivision.h uses C++ style comments, any file including this
|
| 10 | * must be a .cpp (not .c).
|
| 11 | */
|
| 12 | /*----------------------------------------------------------------------------*/
|
| 13 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
|
| 14 | /* Open Source Software - may be modified and shared by FRC teams. The code */
|
| 15 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
| 16 | /*----------------------------------------------------------------------------*/
|
| 17 |
|
| 18 | #ifndef __VISIONAPI_H__
|
| 19 | #define __VISIONAPI_H__
|
| 20 |
|
| 21 | #include "nivision.h"
|
| 22 |
|
| 23 | /* Constants */
|
| 24 |
|
| 25 | #define DEFAULT_BORDER_SIZE 3 //VisionAPI.frcCreateImage
|
| 26 | #define DEFAULT_SATURATION_THRESHOLD 40 //TrackAPI.FindColor
|
| 27 |
|
| 28 | /* Forward Declare Data Structures */
|
| 29 | typedef struct FindEdgeOptions_struct FindEdgeOptions;
|
| 30 | typedef struct CircularEdgeReport_struct CircularEdgeReport;
|
| 31 |
|
| 32 | /* Data Structures */
|
| 33 |
|
| 34 | /** frcParticleAnalysis returns this structure */
|
| 35 | typedef struct ParticleAnalysisReport_struct {
|
| 36 | int imageHeight;
|
| 37 | int imageWidth;
|
| 38 | double imageTimestamp;
|
| 39 | int particleIndex; // the particle index analyzed
|
| 40 | /* X-coordinate of the point representing the average position of the
|
| 41 | * total particle mass, assuming every point in the particle has a constant density */
|
| 42 | int center_mass_x; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_X
|
| 43 | /* Y-coordinate of the point representing the average position of the
|
| 44 | * total particle mass, assuming every point in the particle has a constant density */
|
| 45 | int center_mass_y; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_Y
|
| 46 | double center_mass_x_normalized; //Center of mass x value normalized to -1.0 to +1.0 range
|
| 47 | double center_mass_y_normalized; //Center of mass y value normalized to -1.0 to +1.0 range
|
| 48 | /* Area of the particle */
|
| 49 | double particleArea; // MeasurementType: IMAQ_MT_AREA
|
| 50 | /* Bounding Rectangle */
|
| 51 | Rect boundingRect; // left/top/width/height
|
| 52 | /* Percentage of the particle Area covering the Image Area. */
|
| 53 | double particleToImagePercent; // MeasurementType: IMAQ_MT_AREA_BY_IMAGE_AREA
|
| 54 | /* Percentage of the particle Area in relation to its Particle and Holes Area */
|
| 55 | double particleQuality; // MeasurementType: IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA
|
| 56 | } ParticleAnalysisReport;
|
| 57 |
|
| 58 | /** Tracking functions return this structure */
|
| 59 | typedef struct ColorReport_struct {
|
| 60 | int numberParticlesFound; // Number of particles found for this color
|
| 61 | int largestParticleNumber; // The particle index of the largest particle
|
| 62 | /* Color information */
|
| 63 | float particleHueMax; // HistogramReport: hue max
|
| 64 | float particleHueMin; // HistogramReport: hue max
|
| 65 | float particleHueMean; // HistogramReport: hue mean
|
| 66 | float particleSatMax; // HistogramReport: saturation max
|
| 67 | float particleSatMin; // HistogramReport: saturation max
|
| 68 | float particleSatMean; // HistogramReport: saturation mean
|
| 69 | float particleLumMax; // HistogramReport: luminance max
|
| 70 | float particleLumMin; // HistogramReport: luminance max
|
| 71 | float particleLumMean; // HistogramReport: luminance mean
|
| 72 | } ColorReport;
|
| 73 |
|
| 74 |
|
| 75 | /* Image Management functions */
|
| 76 |
|
| 77 | /* Create: calls imaqCreateImage. Border size is set to some default value */
|
| 78 | Image* frcCreateImage( ImageType type );
|
| 79 |
|
| 80 | /* Dispose: calls imaqDispose */
|
| 81 | int frcDispose( void* object );
|
| 82 | int frcDispose( const char* filename, ... ) ;
|
| 83 |
|
| 84 | /* Copy: calls imaqDuplicateImage */
|
| 85 | int frcCopyImage( Image* dest, const Image* source );
|
| 86 |
|
| 87 | /* Image Extraction: Crop: calls imaqScale */
|
| 88 | int frcCrop( Image* dest, const Image* source, Rect rect );
|
| 89 |
|
| 90 | /* Image Extraction: Scale: calls imaqScale. Scales entire image */
|
| 91 | int frcScale(Image* dest, const Image* source, int xScale, int yScale, ScalingMode scaleMode );
|
| 92 |
|
| 93 | /* Read Image : calls imaqReadFile */
|
| 94 | int frcReadImage( Image* image, const char* fileName );
|
| 95 | /* Write Image : calls imaqWriteFile */
|
| 96 | int frcWriteImage( const Image* image, const char* fileName);
|
| 97 |
|
| 98 | /* Measure Intensity functions */
|
| 99 |
|
| 100 | /* Histogram: calls imaqHistogram */
|
| 101 | HistogramReport* frcHistogram( const Image* image, int numClasses, float min, float max, Rect rect );
|
| 102 | /* Color Histogram: calls imaqColorHistogram2 */
|
| 103 | ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses, ColorMode mode, Image* mask);
|
| 104 |
|
| 105 | /* Get Pixel Value: calls imaqGetPixel */
|
| 106 | int frcGetPixelValue( const Image* image, Point pixel, PixelValue* value );
|
| 107 |
|
| 108 | /* Particle Analysis functions */
|
| 109 |
|
| 110 | /* Particle Filter: calls imaqParticleFilter3 */
|
| 111 | int frcParticleFilter(Image* dest, Image* source, const ParticleFilterCriteria2* criteria,
|
| 112 | int criteriaCount, const ParticleFilterOptions* options, Rect rect, int* numParticles);
|
| 113 | int frcParticleFilter(Image* dest, Image* source, const ParticleFilterCriteria2* criteria,
|
| 114 | int criteriaCount, const ParticleFilterOptions* options, int* numParticles);
|
| 115 | /* Morphology: calls imaqMorphology */
|
| 116 | int frcMorphology(Image* dest, Image* source, MorphologyMethod method);
|
| 117 | int frcMorphology(Image* dest, Image* source, MorphologyMethod method, const StructuringElement* structuringElement);
|
| 118 | /* Reject Border: calls imaqRejectBorder */
|
| 119 | int frcRejectBorder(Image* dest, Image* source);
|
| 120 | int frcRejectBorder(Image* dest, Image* source, int connectivity8);
|
| 121 | /* Count Particles: calls imaqCountParticles */
|
| 122 | int frcCountParticles(Image* image, int* numParticles);
|
| 123 | /* Particle Analysis Report: calls imaqMeasureParticle */
|
| 124 | int frcParticleAnalysis(Image* image, int particleNumber, ParticleAnalysisReport* par);
|
| 125 |
|
| 126 | /* Image Enhancement functions */
|
| 127 |
|
| 128 | /* Equalize: calls imaqEqualize */
|
| 129 | int frcEqualize(Image* dest, const Image* source, float min, float max);
|
| 130 | int frcEqualize(Image* dest, const Image* source, float min, float max, const Image* mask);
|
| 131 |
|
| 132 | /* Color Equalize: calls imaqColorEqualize */
|
| 133 | int frcColorEqualize(Image* dest, const Image* source);
|
| 134 | int frcColorEqualize(Image* dest, const Image* source, int colorEqualization);
|
| 135 |
|
| 136 | /* Image Thresholding & Conversion functions */
|
| 137 |
|
| 138 | /* Smart Threshold: calls imaqLocalThreshold */
|
| 139 | int frcSmartThreshold(Image* dest, const Image* source, unsigned int windowWidth, unsigned int windowHeight,
|
| 140 | LocalThresholdMethod method, double deviationWeight, ObjectType type);
|
| 141 | int frcSmartThreshold(Image* dest, const Image* source, unsigned int windowWidth, unsigned int windowHeight,
|
| 142 | LocalThresholdMethod method, double deviationWeight, ObjectType type, float replaceValue);
|
| 143 |
|
| 144 | /* Simple Threshold: calls imaqThreshold */
|
| 145 | int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin, float rangeMax, float newValue);
|
| 146 | int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin, float rangeMax);
|
| 147 |
|
| 148 | /* Color/Hue Threshold: calls imaqColorThreshold */
|
| 149 | int frcColorThreshold(Image* dest, const Image* source, ColorMode mode,
|
| 150 | const Range* plane1Range, const Range* plane2Range, const Range* plane3Range);
|
| 151 | int frcColorThreshold(Image* dest, const Image* source, int replaceValue, ColorMode mode,
|
| 152 | const Range* plane1Range, const Range* plane2Range, const Range* plane3Range);
|
| 153 | int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange);
|
| 154 | int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange, int minSaturation);
|
| 155 |
|
| 156 | /* Extract ColorHue Plane: calls imaqExtractColorPlanes */
|
| 157 | int frcExtractColorPlanes(const Image* image, ColorMode mode, Image* plane1, Image* plane2, Image* plane3);
|
| 158 | int frcExtractHuePlane(const Image* image, Image* huePlane);
|
| 159 | int frcExtractHuePlane(const Image* image, Image* huePlane, int minSaturation);
|
| 160 |
|
| 161 | #endif
|
| 162 |
|
| 163 |
|