void RobotDemo::camera_test()
{
#if CAMERA
image = camera->GetImage();
cout << image << endl;
delete image;
#endif
}
bool tracking (bool use_alternate_score) //camera tracking function
{
//takes one camera frame and turns towards tallest target
//returns true if target is within deadzone, returns false otherwise
Threshold tapeThreshold(0, 255, 0, 90, 220, 255); //red hsl as of 20110303, this is the hue, saturation and luminosicity ranges that we want
BinaryImage *tapePixels;//
Image *convexHull;
BinaryImage *convexHullBinaryImage;
ParticleAnalysisReport par;//analyzed blob (pre convex hull)
ParticleAnalysisReport convexpar;// ONE filled-in blob
vector<ParticleAnalysisReport>* pars;//where many analyzed blob goes (pre)
vector<ParticleAnalysisReport>* convexpars; //where MANY filled-in blobs go
bool foundAnything = false;
double best_score = 120;
double best_speed;
double particle_score;
ImageType t;
int bs;
img = cam->GetImage();
printf("cam->GetImage() returned frame %d x %d\n",img->GetWidth(),img->GetHeight());
tapePixels = img->ThresholdHSL(tapeThreshold);
imaqGetBorderSize(tapePixels->GetImaqImage(),&bs);
imaqGetImageType(tapePixels->GetImaqImage(),&t);
convexHull = imaqCreateImage(t,bs);
convexHullBinaryImage = new BinaryImageWrapper(convexHull);
convexHullBinaryImage->GetOrderedParticleAnalysisReports();
//tapePixels = img->ThresholdHSL(int 0,int 50,int -100,int -50,int luminenceLow,int luminanceHigh);
pars = tapePixels->GetOrderedParticleAnalysisReports();
imaqConvexHull(convexHull,tapePixels->GetImaqImage(),true);
convexHullBinaryImage = new BinaryImageWrapper(convexHull);
convexpars = convexHullBinaryImage->GetOrderedParticleAnalysisReports();
//imaqGetParticleInfo()
//convexpars = convexHull->GetOrderedParticleAnalysisReports();
for (int i=0;i < convexHullBinaryImage->GetNumberParticles();i++)
{
//par = (*pars)[0];
//convexpar = (*convexpars)[i];
convexpar = convexHullBinaryImage->GetParticleAnalysisReport(i);
par = tapePixels->GetParticleAnalysisReport(i);
if((convexpar.boundingRect.width < 10) || (convexpar.boundingRect.height < 7))
{
continue;
}
// printf("%d par:%f convex:%f particle area\n",i,par.particleArea,convexpar.particleArea);
if ((par.particleArea/convexpar.particleArea > 0.4))
{
printf("%d skip max fillness ratio\n",i);
continue;
}
if ((par.particleArea/convexpar.particleArea < 0.10))
{
printf("%d skip min fillness ratio\n",i);
continue;
}
if((double)(convexpar.boundingRect.width)/(double)(convexpar.boundingRect.height)>1.8)
{
printf("%d skip max aspect ratio\n",i);
continue;
}
if((double)(convexpar.boundingRect.width)/(double)(convexpar.boundingRect.height)<.8)
{
printf("%d skip min aspect ratio\n",i);
continue;
}
//printf("%f center of mass x\n",par.center_mass_x_normalized);
//printf("%f center of mass y\n",par.center_mass_y_normalized);
distanceInInches = (18.0*179.3)/(convexpar.boundingRect.height);
double pwidth = convexpar.boundingRect.width;
double mwidth = ((double)convexpar.boundingRect.left+(double)convexpar.boundingRect.width*0.5);
double angle = ((180.0/3.14159)*acos (pwidth * distanceInInches/179.3/24.0) );
if(angle != angle) angle = 0.0; // if angle is NaN, set to zero
printf("%f distance in inches\n",distanceInInches);
//printf("%f angle\n",(180.0/3.14159)*acos (pwidth * distanceInInches/415.0/24.0) );
printf("%d BBctrX:%f CMX:%f\n", i, (double)convexpar.boundingRect.left + (double)convexpar.boundingRect.width*0.5, (double)par.center_mass_x);
//printf("%f angle2\n",(((pwidth * distanceInInches)/415.0)/24.0));
//printf("%f center of mass x\n",par.center_mass_x_normalized);
printf("%d %f %f center of mass x\n",i,convexpar.center_mass_x_normalized,par.center_mass_x_normalized);
printf("%d %f %f center of mass y\n",i,convexpar.center_mass_y_normalized,par.center_mass_y_normalized);
printf("%d %f %f rectangle score\n",i,(convexpar.particleArea)/((convexpar.boundingRect.width)*(convexpar.boundingRect.height))*(100),(par.particleArea)/((par.boundingRect.width)*(par.boundingRect.height))*(100));
printf("%d %f fillness ratio\n",i,par.particleArea/convexpar.particleArea);
printf("%d %d %d width and height\n",i,(convexpar.boundingRect.width),(convexpar.boundingRect.height));
printf("%d %f aspect ratio\n",i,((convexpar.boundingRect.width)/(double)(convexpar.boundingRect.height)));
if ((double)(par.center_mass_x)>mwidth)
{
angle=angle*(-1.0);
}
printf("%f true angle\n",angle);
//Wait(1.0);
double aiming_target_offset = 0.0;
//aiming_target_offset = pwidth * angle * (-0.5 / 45.0); numbers are iffy -> NaN
double speed = trackingFeedbackFunction(mwidth + aiming_target_offset - 80.0);
printf("%f aiming_target_offset due to %f degree angle\n", aiming_target_offset, angle);
printf("%f x offset \n",mwidth + aiming_target_offset - 80.0);
printf("%f speed \n", speed);
foundAnything = true;
if (use_alternate_score == false){
particle_score = convexpar.center_mass_y;
}
else{
particle_score = 2.0*fabs((double)convexpar.center_mass_y - 60.0) + fabs((double)convexpar.center_mass_x - 80.0);
}
// keep track of the *lowest* score
if (best_score > particle_score)
{
best_score = particle_score;
best_speed = speed;
}
}
if(foundAnything == false) {
myRobot->TankDrive(0.0, 0.0);
}
else
{
myRobot->TankDrive(-best_speed,best_speed);
}
delete img;
delete tapePixels;
delete pars;
delete convexHullBinaryImage;
delete convexpars;
//imaqDispose(convexHull);
if (foundAnything && best_speed == 0.0){
return true;
}
else
{
return false;
}
}
Vision_Out Run(Vision_In in)
{
Vision_Out out;
//read file in from disk. For this example to run you need to copy image.jpg from the SampleImages folder to the
//directory shown below using FTP or SFTP: http://wpilib.screenstepslive.com/s/4485/m/24166/l/282299-roborio-ftp
//imaqError = imaqReadFile(frame, "//home//lvuser//SampleImages//image.jpg", NULL, NULL);
imaqError = camera->GetImage(frame);
//Update threshold values from SmartDashboard. For performance reasons it is recommended to remove this after calibration is finished.
/*
RING_HUE_RANGE.minValue = SmartDashboard::GetNumber("Tote hue min", RING_HUE_RANGE.minValue);
RING_HUE_RANGE.maxValue = SmartDashboard::GetNumber("Tote hue max", RING_HUE_RANGE.maxValue);
RING_SAT_RANGE.minValue = SmartDashboard::GetNumber("Tote sat min", RING_SAT_RANGE.minValue);
RING_SAT_RANGE.maxValue = SmartDashboard::GetNumber("Tote sat max", RING_SAT_RANGE.maxValue);
RING_VAL_RANGE.minValue = SmartDashboard::GetNumber("Tote val min", RING_VAL_RANGE.minValue);
RING_VAL_RANGE.maxValue = SmartDashboard::GetNumber("Tote val max", RING_VAL_RANGE.maxValue);
*/
if(in.shouldProcess)
{
//Threshold the image looking for ring light color
imaqError = imaqColorThreshold(binaryFrame, frame, 255, IMAQ_HSV, &RING_HUE_RANGE, &RING_SAT_RANGE, &RING_VAL_RANGE);
//Send particle count to dashboard
int numParticles = 0;
imaqError = imaqCountParticles(binaryFrame, 1, &numParticles);
SmartDashboard::PutNumber("Masked particles", numParticles);
//Send masked image to dashboard to assist in tweaking mask.
SendToDashboard(binaryFrame, imaqError);
//filter out small particles
float areaMin = SmartDashboard::GetNumber("Area min %", AREA_MINIMUM);
criteria[0] = {IMAQ_MT_AREA_BY_IMAGE_AREA, areaMin, 100, false, false};
imaqError = imaqParticleFilter4(binaryFrame, binaryFrame, criteria, 1, &filterOptions, NULL, NULL);
//Send particle count after filtering to dashboard
imaqError = imaqCountParticles(binaryFrame, 1, &numParticles);
SmartDashboard::PutNumber("Filtered particles", numParticles);
if(numParticles > 0)
{
//Measure particles and sort by particle size
std::vector<ParticleReport> particles;
for(int particleIndex = 0; particleIndex < numParticles; particleIndex++)
{
ParticleReport par;
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_AREA_BY_IMAGE_AREA, &(par.PercentAreaToImageArea));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_AREA, &(par.Area));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_TOP, &(par.BoundingRectTop));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_LEFT, &(par.BoundingRectLeft));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_BOTTOM, &(par.BoundingRectBottom));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_RIGHT, &(par.BoundingRectRight));
particles.push_back(par);
}
sort(particles.begin(), particles.end(), CompareParticleSizes);
//This example only scores the largest particle. Extending to score all particles and choosing the desired one is left as an exercise
//for the reader. Note that this scores and reports information about a single particle (single L shaped target). To get accurate information
//about the location of the tote (not just the distance) you will need to correlate two adjacent targets in order to find the true center of the tote.
scores.Aspect = AspectScore(particles.at(0));
SmartDashboard::PutNumber("Aspect", scores.Aspect);
scores.Area = AreaScore(particles.at(0));
SmartDashboard::PutNumber("Area", scores.Area);
bool isTarget = scores.Area > SCORE_MIN && scores.Aspect > SCORE_MIN;
//Send distance and tote status to dashboard. The bounding rect, particularly the horizontal center (left - right) may be useful for rotating/driving towards a tote
SmartDashboard::PutBoolean("IsTarget", isTarget);
double distance = computeDistance(binaryFrame, particles.at(0));
SmartDashboard::PutNumber("Distance", computeDistance(binaryFrame, particles.at(0)));
out.returnDistanceToTote = distance;
out.returnIsTote = true;
return out;
}
else
{
out.returnIsTote = false;
SmartDashboard::PutBoolean("IsTarget", false);
}
}
return out;
}
