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