| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /********************************************************************************
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| 2 | * Project : FIRST Motor Controller
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| 3 | * File Name : TrackAPI.h
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| 4 | * Contributors : ELF
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| 5 | * Creation Date : August 12, 2008
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| 6 | * Revision History : Source code & revision history maintained at sourceforge.WPI.edu
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| 7 | * File Description : Globally defined values for the FIRST Vision API
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| 8 | */
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| 9 | /*----------------------------------------------------------------------------*/
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| 10 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 11 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 12 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 13 | /*----------------------------------------------------------------------------*/
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| 14 |
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| 15 | #ifndef __TRACKAPI_H__
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| 16 | #define __TRACKAPI_H__
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| 17 |
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| 18 | #include "VisionAPI.h"
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| 19 | #include "BaeUtilities.h"
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| 20 |
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| 21 | /* Constants */
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| 22 | /** image quality requirement: particle must be this % of pixels
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| 23 | * For instance, a 320x240 image has 76800 pixels. With this
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| 24 | * tolerance at .01, the image must be 768 pixels.
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| 25 | * Use a percentage instead of a fixed # of pixels so different
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| 26 | * image sizes will work the same way */
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| 27 | #define PARTICLE_TO_IMAGE_PERCENT 0.01
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| 28 |
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| 29 | /* Structures */
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| 30 | typedef struct TrackingThreshold_struct {
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| 31 | char name[64];
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| 32 | Range hue;
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| 33 | Range saturation;
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| 34 | Range luminance;
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| 35 | } TrackingThreshold;
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| 36 |
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| 37 | /* Enumerated Types */
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| 38 |
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| 39 | /** Predefined hues */
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| 40 | typedef enum FrcHue_enum {
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| 41 | // Basic colors
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| 42 | RED, GREEN, BLUE, YELLOW, ORANGE, PURPLE, WHITE, PINK
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| 43 | }FrcHue;
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| 44 |
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| 45 | /** Predefined saturation / luminance settings */
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| 46 | typedef enum FrcLight_enum {
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| 47 | PASSIVE_LIGHT, BRIGHT_LIGHT, ACTIVE_LIGHT, WHITE_LIGHT, FLUORESCENT
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| 48 | }FrcLight;
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| 49 |
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| 50 | /* color tracking support functions */
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| 51 | TrackingThreshold GetTrackingData(FrcHue hue, FrcLight light);
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| 52 |
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| 53 | void PrintReport(ParticleAnalysisReport* myReport);
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| 54 | void PrintReport(ColorReport* myReport);
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| 55 | void PrintReport(TrackingThreshold* myReport);
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| 56 |
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| 57 | /* Tracking functions */
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| 58 |
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| 59 | /* find a color in current camera image */
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| 60 | bool InArea(Image* binaryImage, int particleIndex, Rect rect);
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| 61 | int GetLargestParticle(Image* binaryImage, int* particleNum);
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| 62 | int GetLargestParticle(Image* binaryImage, int* particleNum, Rect rect);
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| 63 | int FindColor(FrcHue color, ParticleAnalysisReport* trackReport);
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| 64 | int FindColor(const Range* hueRange, ParticleAnalysisReport *trackReport);
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| 65 | int FindColor(const Range* hueRange, int minSaturation, ParticleAnalysisReport *trackReport);
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| 66 | int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range,
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| 67 | const Range* plane3Range, ParticleAnalysisReport *trackReport);
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| 68 | int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range,
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| 69 | const Range* plane3Range, ParticleAnalysisReport *trackReport, ColorReport *colorReport);
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| 70 | int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range,
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| 71 | const Range* plane3Range, ParticleAnalysisReport *trackReport,
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| 72 | ColorReport *colorReport, Rect rect);
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| 73 | #endif
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| 74 |
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