/**
* Write a binary image to flash.
* Writes the binary image to flash on the cRIO for later inspection.
* @param fileName the name of the image file written to the flash.
*/
void BinaryImage::Write(const char *fileName)
{
RGBValue colorTable[256];
Priv_SetWriteFileAllowed(1);
memset(colorTable, 0, sizeof(colorTable));
colorTable[0].R = 0;
colorTable[1].R = 255;
colorTable[0].G = colorTable[1].G = 0;
colorTable[0].B = colorTable[1].B = 0;
colorTable[0].alpha = colorTable[1].alpha = 0;
imaqWriteFile(m_imaqImage, fileName, colorTable);
}
void Target::SaveImages()
{
printf("Target::SaveImages\n");
long then = (long) GetFPGATime();
if (!imaqWriteFile(m_cameraImage.GetImaqImage(), "/tmp/0000-camera.bmp", NULL)) {
printf("%s: imaqWriteFile(\"/tmp/0000-camera.bmp\") FAILED\n", __FUNCTION__);
// ignore the error
}
if (!imaqWriteFile(m_monoImage.GetImaqImage(), "/tmp/0001-monoImage.bmp", NULL)) {
printf("%s: imaqWriteFile(\"/tmp/0001-monoImage.bmp\") FAILED\n", __FUNCTION__);
// ignore the error
}
if (!imaqWriteFile(m_threshold.GetImaqImage(), "/tmp/0002-threshold.bmp", m_falseColor)) {
printf("%s: imaqWriteFile(\"/tmp/0002-threshold.bmp\") FAILED\n", __FUNCTION__);
// ignore the error
}
if (!imaqWriteFile(m_convexHull.GetImaqImage(), "/tmp/0003-convexHull.bmp", m_falseColor)) {
printf("%s: imaqWriteFile(\"/tmp/0003-convexHull.bmp\") FAILED\n", __FUNCTION__);
// ignore the error
}
if (!imaqWriteFile(m_filtered.GetImaqImage(), "/tmp/0004-filtered.bmp", m_falseColor)) {
printf("%s: imaqWriteFile(\"/tmp/0004-filtered.bmp\") FAILED\n", __FUNCTION__);
// ignore the error
}
imaqMergeOverlay(m_overlay.GetImaqImage(), m_filtered.GetImaqImage(), m_falseColor, 256, NULL);
OverlayParticle(&m_overlay, m_pTop);
OverlayParticle(&m_overlay, m_pBottom);
OverlayParticle(&m_overlay, m_pLeft);
OverlayParticle(&m_overlay, m_pRight);
OverlayCenter(&m_overlay, m_centerX, m_centerY);
OverlayLimits(&m_overlay, m_leftX, m_centerX, m_rightX);
imaqMergeOverlay(m_overlay.GetImaqImage(), m_overlay.GetImaqImage(), NULL, 0, NULL);
if (!imaqWriteFile(m_overlay.GetImaqImage(), "/tmp/0005-overlay.bmp", FALSE)) {
printf("%s: imaqWriteFile(\"/tmp/0005-overlay.bmp\") FAILED\n", __FUNCTION__);
// ignore the error
}
long now = (long) GetFPGATime();
printf("%s: image save took %ld microseconds\n", __FUNCTION__, (now - then));
}
/**
* @brief Write image to a file.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_COMPLEX, IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64.
*
* The file type is determined by the extension, as follows:
*
* Extension File Type
* aipd or .apd AIPD
* .bmp BMP
* .jpg or .jpeg JPEG
* .jp2 JPEG2000
* .png PNG
* .tif or .tiff TIFF
*
*
*The following are the supported image types for each file type:
*
* File Types Image Types
* AIPD all image types
* BMP, JPEG 8-bit, RGB
* PNG, TIFF, JPEG2000 8-bit, 16-bit, RGB, RGBU64
*
* @param image Image to write
* @param fileName File to read. Cannot be NULL. The extension determines the file format that is written.
*
* @return On success: 1. On failure: 0. To get extended error information, call GetLastError().
*/
int frcWriteImage(const Image* image, const char* fileName)
{
RGBValue* colorTable = NULL;
return imaqWriteFile(image, fileName, colorTable);
}
/**
* Writes an image to a file with the given filename.
* Write the image to a file in the flash on the cRIO.
* @param fileName The name of the file to write
*/
void ImageBase::Write(const char *fileName)
{
int success = imaqWriteFile(m_imaqImage, fileName, NULL);
wpi_setImaqErrorWithContext(success, "Imaq Image writeFile error");
}
void OperatorControl(void)
{
myRobot.SetSafetyEnabled(false);
AxisCamera &camera = AxisCamera::GetInstance("10.28.53.11");
camera.WriteResolution(AxisCamera::kResolution_320x240);
camera.WriteRotation(AxisCamera::kRotation_180);//Flip image upside-down.
camera.WriteCompression(80);//Compresses the image(?)
camera.WriteBrightness(50);//Sets the brightness to 80 on a scale from 0-100
DriverStationLCD *screen = DriverStationLCD::GetInstance();
int count = 0;
while(IsOperatorControl())
{
screen->UpdateLCD();
count++;
HSLImage* imgpointer; //declares a new hue saturation lum image
imgpointer = camera.GetImage(); //grabs an image to initialize that image
//imaqCreateImage(IMAQ_IMAGE_U8,)
//imaqCast(NULL, imgpointer, IMAQ_IMAGE_U8, NULL, -1);
BinaryImage* binImg = NULL; //declares a new binary image
//ThresholdHSL changes our regular image into a binary image.
/*hueLow Low value for hue
hueHigh High value for hue
saturationLow Low value for saturation
saturationHigh High value for saturation
luminenceLow Low value for luminence
luminenceHigh High value for luminence
*/
binImg = imgpointer->ThresholdHSL(1, 255, 1, 255, 230, 255);
//Saves the image to a temp directory
binImg->Write("/tmp/thresh.jpg");
//Writes the binary image to disk
imaqWriteFile(binImg->GetImaqImage(), "/tmp/thresh2.jpg", NULL);
delete imgpointer;
Image* Convex = imaqCreateImage(IMAQ_IMAGE_U8, 0);
int returnvalue;
returnvalue = imaqConvexHull(Convex, binImg->GetImaqImage(), TRUE);
// imaqWriteFile(Convex, "/tmp/convex.jpg", NULL);
delete binImg;
// screen->PrintfLine(DriverStationLCD::kUser_Line4,"convex is %d",returnvalue);
screen->UpdateLCD();
float lookuptable[256];
lookuptable[0] = 0;
lookuptable[1] = 65535;
//Converts image to 16 bit, then back to 8 bit.
Image* cast = imaqCreateImage(IMAQ_IMAGE_U16, 0);
imaqCast(cast, Convex, IMAQ_IMAGE_U16, lookuptable, 0);
imaqDispose(Convex);
Image* bitcast = imaqCreateImage(IMAQ_IMAGE_U8, 0);
imaqCast(bitcast, cast, IMAQ_IMAGE_U8, NULL, 0);
imaqDispose(cast);
// screen->PrintfLine(DriverStationLCD::kUser_Line3,"det %d", imaqGetLastError());//Notifies the user
imaqWriteFile(bitcast, "/tmp/bitcast.jpg", NULL);
//Image* SuperSize = im
//imaqCreateImage(IMAQ_IMAGE_U8, 2240);
//int returnvalue2;
//returnvalue2 = imaqSizeFilter(SuperSize, Convex, TRUE, 1, IMAQ_KEEP_LARGE, NULL);
//screen->UpdateLCD();
//imaqDispose (Convex);
// ROI *roi;
// Rect rectangle;
// rectangle.top = 0;
// rectangle.left = 0;
// rectangle.width = 320;
// rectangle.height = 120;
// imaqAddRectContour(roi,rectangle);
static RectangleDescriptor rectangleDescriptor =
{
30, // minWidth (All values are estimated)
200, // maxWidth
20, // minHeight
200 // maxHeight
};
static CurveOptions curveOptions = //extraction mode specifies what the VI identifies curves in the image. curve options are all the
{
IMAQ_NORMAL_IMAGE, // extractionMode
75, // threshold
IMAQ_NORMAL, // filterSize
25, // minLength
15, // rowStepSize
15, // columnStepSize
10, // maxEndPointGap
FALSE, // onlyClosed
FALSE // subpixelAccuracy
};
static ShapeDetectionOptions shapeOptions =
{
IMAQ_GEOMETRIC_MATCH_ROTATION_INVARIANT, // mode
NULL, // angle ranges
0, // num angle ranges
{75, 125}, // scale range
300 // minMatchScore
};
int matches = 0;
//double highscore = 0;
//int highestindex = -1;
float difference = 0;
float time = 0;
float average = 0;
double y = 0;
//The big important line of code that does important stuff
RectangleMatch* recmatch = imaqDetectRectangles(bitcast, &rectangleDescriptor, &curveOptions, &shapeOptions, NULL, &matches);
// DashboardDataSender *dds;
// dds = new DashboardDataSender;
//screen->PrintfLine(DriverStationLCD::kUser_Line3,"det %d", imaqGetLastError());
//screen->PrintfLine(DriverStationLCD::kUser_Line4,"Matches: %d",matches);//Notifies the user
screen->PrintfLine(DriverStationLCD::kUser_Line1,"Matches: %i",matches);//Notifies the user
screen->UpdateLCD();
/*for(int i = 0; i < matches; i++)
{
//screen->PrintfLine((DriverStationLCD::Line)(i+1),"%i,%i,%i",recmatch[i].height,recmatch[i].width,recmatch[i].score);
if(recmatch[i].score > highscore)
{
highscore = recmatch[i].score;
highestindex = i;
}
screen->PrintfLine(DriverStationLCD::kUser_Line1,"score %i, i %i", recmatch[i].score, i);
screen->UpdateLCD();
}*/
average = (recmatch->corner[1].x + recmatch->corner[3].x)/2;
y = (472/(recmatch->height-4));
screen->PrintfLine(DriverStationLCD::kUser_Line5,"%f",average);
screen->PrintfLine(DriverStationLCD::kUser_Line3," %f",distance(recmatch->height));
//screen->PrintfLine(DriverStationLCD::kUser_Line5,"%f,%f",recmatch->height, y);
screen->PrintfLine(DriverStationLCD::kUser_Line6,"%f,%f",ceil(recmatch->corner[1].x),ceil(recmatch->corner[3].x));
screen->UpdateLCD();
//screen->PrintfLine(DriverStationLCD::kUser_Line6,"%d, %d, %d, %d",recmatch->corner[1].x,recmatch->corner[2].x,recmatch->corner[3].x,recmatch->corner[4].x);
//screen->PrintfLine(DriverStationLCD::kUser_Line5,"%d, %d",recmatch->height,recmatch->width);
if(average == 0)
{
screen->PrintfLine(DriverStationLCD::kUser_Line1,"Image Not Found");
}
else if(average < 145)
{
difference = (160 - average);
time = difference*0.0062;
vic.Set(0.1);
Wait(time);
vic.Set(0.0);
screen->PrintfLine(DriverStationLCD::kUser_Line1,"Less!");
screen->UpdateLCD();
}
else if (average > 175)
{
difference = (average - 160);
time = difference*0.0062;
vic.Set(-0.1);
Wait(time);
vic.Set(0.0);
screen->PrintfLine(DriverStationLCD::kUser_Line1,"More!");
screen->UpdateLCD();
}
else
{
vic.Set(0);
screen->PrintfLine(DriverStationLCD::kUser_Line1,"Perfection!");
screen->UpdateLCD();
}
screen->PrintfLine(DriverStationLCD::kUser_Line2,"Time: %f",time);
screen->PrintfLine(DriverStationLCD::kUser_Line4,"difference %f",difference);
// screen->PrintfLine(DriverStationLCD::kUser_Line2,"Score %i, Index %i", highscore, highestindex);
/* if(matches > 0)
{
int counter = 0;
while (counter < 20)
{
average = (recmatch[highestindex].corner[1].x + recmatch[highestindex].corner[2].x + recmatch[highestindex].corner[3].x +recmatch[highestindex].corner[4].x)/4;
average2 = (recmatch[highestindex].corner[1].y + recmatch[highestindex].corner[2].y + recmatch[highestindex].corner[3].y +recmatch[highestindex].corner[4].y)/4;
// screen->PrintfLine(DriverStationLCD::kUser_Line5,"Center = %f, %f",average, average2);
screen->UpdateLCD();
if (average > 170)
{
vic.Set(-0.1);
//screen->PrintfLine(DriverStationLCD::kUser_Line1,"Left %f",vic.Get());
//screen->UpdateLCD();
}
else if (average < 150)
{
vic.Set(0.1);
//screen->PrintfLine(DriverStationLCD::kUser_Line1,"Right %f",vic.Get());
//screen->UpdateLCD();
}
else
{
counter = 20;
vic.Set(0);
// screen->PrintfLine(DriverStationLCD::kUser_Line6,"Not Mallory! %f",vic.Get());
screen->UpdateLCD();
}
counter++a;
}
*/
// imaqWriteFile(cast, "/tmp/linedetect.jpg", NULL);
// }
/* else
{
vic.Set(0);
// screen->PrintfLine(DriverStationLCD::kUser_Line6,"Not Mallory! %f",vic.Get());
screen->UpdateLCD();
}*/
imaqDispose(bitcast);
imaqDispose(recmatch);
//imaqDispose(roi);
vic.Set(0);
}
}
