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WPILib 2012
WPILibRoboticsLibraryforFRC
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Vision2009/VisionAPI.h
00001 /******************************************************************************** 00002 * Project : FIRST Motor Controller 00003 * File Name : VisionAPI.h 00004 * Contributors : ELF, JDG, ARK, EMF 00005 * Creation Date : June 22, 2008 00006 * Revision History : Source code & revision history maintained at sourceforge.WPI.edu 00007 * File Description : Globally defined values for the FIRST Vision API 00008 * 00009 * API: Because nivision.h uses C++ style comments, any file including this 00010 * must be a .cpp (not .c). 00011 */ 00012 /*----------------------------------------------------------------------------*/ 00013 /* Copyright (c) FIRST 2008. All Rights Reserved. */ 00014 /* Open Source Software - may be modified and shared by FRC teams. The code */ 00015 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ 00016 /*----------------------------------------------------------------------------*/ 00017 00018 #ifndef __VISIONAPI_H__ 00019 #define __VISIONAPI_H__ 00020 00021 #include "nivision.h" 00022 00023 /* Constants */ 00024 00025 #define DEFAULT_BORDER_SIZE 3 //VisionAPI.frcCreateImage 00026 #define DEFAULT_SATURATION_THRESHOLD 40 //TrackAPI.FindColor 00027 00028 /* Forward Declare Data Structures */ 00029 typedef struct FindEdgeOptions_struct FindEdgeOptions; 00030 typedef struct CircularEdgeReport_struct CircularEdgeReport; 00031 00032 /* Data Structures */ 00033 00035 typedef struct ParticleAnalysisReport_struct { 00036 int imageHeight; 00037 int imageWidth; 00038 double imageTimestamp; 00039 int particleIndex; // the particle index analyzed 00040 /* X-coordinate of the point representing the average position of the 00041 * total particle mass, assuming every point in the particle has a constant density */ 00042 int center_mass_x; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_X 00043 /* Y-coordinate of the point representing the average position of the 00044 * total particle mass, assuming every point in the particle has a constant density */ 00045 int center_mass_y; // MeasurementType: IMAQ_MT_CENTER_OF_MASS_Y 00046 double center_mass_x_normalized; //Center of mass x value normalized to -1.0 to +1.0 range 00047 double center_mass_y_normalized; //Center of mass y value normalized to -1.0 to +1.0 range 00048 /* Area of the particle */ 00049 double particleArea; // MeasurementType: IMAQ_MT_AREA 00050 /* Bounding Rectangle */ 00051 Rect boundingRect; // left/top/width/height 00052 /* Percentage of the particle Area covering the Image Area. */ 00053 double particleToImagePercent; // MeasurementType: IMAQ_MT_AREA_BY_IMAGE_AREA 00054 /* Percentage of the particle Area in relation to its Particle and Holes Area */ 00055 double particleQuality; // MeasurementType: IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA 00056 } ParticleAnalysisReport; 00057 00059 typedef struct ColorReport_struct { 00060 int numberParticlesFound; // Number of particles found for this color 00061 int largestParticleNumber; // The particle index of the largest particle 00062 /* Color information */ 00063 float particleHueMax; // HistogramReport: hue max 00064 float particleHueMin; // HistogramReport: hue max 00065 float particleHueMean; // HistogramReport: hue mean 00066 float particleSatMax; // HistogramReport: saturation max 00067 float particleSatMin; // HistogramReport: saturation max 00068 float particleSatMean; // HistogramReport: saturation mean 00069 float particleLumMax; // HistogramReport: luminance max 00070 float particleLumMin; // HistogramReport: luminance max 00071 float particleLumMean; // HistogramReport: luminance mean 00072 } ColorReport; 00073 00074 00075 /* Image Management functions */ 00076 00077 /* Create: calls imaqCreateImage. Border size is set to some default value */ 00078 Image* frcCreateImage( ImageType type ); 00079 00080 /* Dispose: calls imaqDispose */ 00081 int frcDispose( void* object ); 00082 int frcDispose( const char* filename, ... ) ; 00083 00084 /* Copy: calls imaqDuplicateImage */ 00085 int frcCopyImage( Image* dest, const Image* source ); 00086 00087 /* Image Extraction: Crop: calls imaqScale */ 00088 int frcCrop( Image* dest, const Image* source, Rect rect ); 00089 00090 /* Image Extraction: Scale: calls imaqScale. Scales entire image */ 00091 int frcScale(Image* dest, const Image* source, int xScale, int yScale, ScalingMode scaleMode ); 00092 00093 /* Read Image : calls imaqReadFile */ 00094 int frcReadImage( Image* image, const char* fileName ); 00095 /* Write Image : calls imaqWriteFile */ 00096 int frcWriteImage( const Image* image, const char* fileName); 00097 00098 /* Measure Intensity functions */ 00099 00100 /* Histogram: calls imaqHistogram */ 00101 HistogramReport* frcHistogram( const Image* image, int numClasses, float min, float max, Rect rect ); 00102 /* Color Histogram: calls imaqColorHistogram2 */ 00103 ColorHistogramReport* frcColorHistogram(const Image* image, int numClasses, ColorMode mode, Image* mask); 00104 00105 /* Get Pixel Value: calls imaqGetPixel */ 00106 int frcGetPixelValue( const Image* image, Point pixel, PixelValue* value ); 00107 00108 /* Particle Analysis functions */ 00109 00110 /* Particle Filter: calls imaqParticleFilter3 */ 00111 int frcParticleFilter(Image* dest, Image* source, const ParticleFilterCriteria2* criteria, 00112 int criteriaCount, const ParticleFilterOptions* options, Rect rect, int* numParticles); 00113 int frcParticleFilter(Image* dest, Image* source, const ParticleFilterCriteria2* criteria, 00114 int criteriaCount, const ParticleFilterOptions* options, int* numParticles); 00115 /* Morphology: calls imaqMorphology */ 00116 int frcMorphology(Image* dest, Image* source, MorphologyMethod method); 00117 int frcMorphology(Image* dest, Image* source, MorphologyMethod method, const StructuringElement* structuringElement); 00118 /* Reject Border: calls imaqRejectBorder */ 00119 int frcRejectBorder(Image* dest, Image* source); 00120 int frcRejectBorder(Image* dest, Image* source, int connectivity8); 00121 /* Count Particles: calls imaqCountParticles */ 00122 int frcCountParticles(Image* image, int* numParticles); 00123 /* Particle Analysis Report: calls imaqMeasureParticle */ 00124 int frcParticleAnalysis(Image* image, int particleNumber, ParticleAnalysisReport* par); 00125 00126 /* Image Enhancement functions */ 00127 00128 /* Equalize: calls imaqEqualize */ 00129 int frcEqualize(Image* dest, const Image* source, float min, float max); 00130 int frcEqualize(Image* dest, const Image* source, float min, float max, const Image* mask); 00131 00132 /* Color Equalize: calls imaqColorEqualize */ 00133 int frcColorEqualize(Image* dest, const Image* source); 00134 int frcColorEqualize(Image* dest, const Image* source, int colorEqualization); 00135 00136 /* Image Thresholding & Conversion functions */ 00137 00138 /* Smart Threshold: calls imaqLocalThreshold */ 00139 int frcSmartThreshold(Image* dest, const Image* source, unsigned int windowWidth, unsigned int windowHeight, 00140 LocalThresholdMethod method, double deviationWeight, ObjectType type); 00141 int frcSmartThreshold(Image* dest, const Image* source, unsigned int windowWidth, unsigned int windowHeight, 00142 LocalThresholdMethod method, double deviationWeight, ObjectType type, float replaceValue); 00143 00144 /* Simple Threshold: calls imaqThreshold */ 00145 int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin, float rangeMax, float newValue); 00146 int frcSimpleThreshold(Image* dest, const Image* source, float rangeMin, float rangeMax); 00147 00148 /* Color/Hue Threshold: calls imaqColorThreshold */ 00149 int frcColorThreshold(Image* dest, const Image* source, ColorMode mode, 00150 const Range* plane1Range, const Range* plane2Range, const Range* plane3Range); 00151 int frcColorThreshold(Image* dest, const Image* source, int replaceValue, ColorMode mode, 00152 const Range* plane1Range, const Range* plane2Range, const Range* plane3Range); 00153 int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange); 00154 int frcHueThreshold(Image* dest, const Image* source, const Range* hueRange, int minSaturation); 00155 00156 /* Extract ColorHue Plane: calls imaqExtractColorPlanes */ 00157 int frcExtractColorPlanes(const Image* image, ColorMode mode, Image* plane1, Image* plane2, Image* plane3); 00158 int frcExtractHuePlane(const Image* image, Image* huePlane); 00159 int frcExtractHuePlane(const Image* image, Image* huePlane, int minSaturation); 00160 00161 #endif 00162 00163
