HistogramReport* frcHistogram(const Image* image, int numClasses, float min, float max, Rect rect)
{
int success;
int fillValue = 1;
/* create the region of interest */
ROI* pRoi = imaqCreateROI();
success = imaqAddRectContour(pRoi, rect);
if ( !success ) { GetLastVisionError(); return NULL; }
/* make a mask from the ROI */
Image* pMask = frcCreateImage(IMAQ_IMAGE_U8);
success = imaqROIToMask(pMask, pRoi, fillValue, NULL, NULL);
if ( !success ) {
GetLastVisionError();
frcDispose(__FUNCTION__, pRoi, NULL);
return NULL;
}
/* get a histogram report */
HistogramReport* pHr = NULL;
pHr = imaqHistogram(image, numClasses, min, max, pMask);
/* clean up */
frcDispose(__FUNCTION__, pRoi, pMask, NULL);
return pHr;
}
/**
* Get an image from camera and store it on the cRIO
* @param imageName stored on home directory of cRIO ( "/" )
**/
void TakeSnapshot(char* imageName)
{
/* allow writing to vxWorks target */
//Priv_SetWriteFileAllowed(1);
DPRINTF(LOG_DEBUG, "taking a SNAPSHOT ");
Image* cameraImage = frcCreateImage(IMAQ_IMAGE_HSL);
if (!cameraImage) {
DPRINTF (LOG_INFO,"frcCreateImage failed - errorcode %i",GetLastVisionError());
}
if ( !camera166->GetImage(cameraImage) ) {
DPRINTF (LOG_INFO,"\nImage Acquisition from camera failed %i", GetLastVisionError());
} else {
DPRINTF (LOG_DEBUG, "calling frcWriteImage for %s", imageName);
if (!frcWriteImage(cameraImage, imageName) ) {
int errCode = GetLastVisionError();
DPRINTF (LOG_INFO,"frcWriteImage failed - errorcode %i", errCode);
char *errString = GetVisionErrorText(errCode);
DPRINTF (LOG_INFO,"errString= %s", errString);
} else {
DPRINTF (LOG_INFO,"\n>>>>> Saved image to %s", imageName);
// always dispose of image objects when done
frcDispose(cameraImage);
}
}
}
// task constructor
CameraServo::CameraServo(void): cameraX(CAMERA_PORT_X), cameraY(CAMERA_PORT_Y), camera(AxisCamera::GetInstance()),
destimage(frcCreateImage(IMAQ_IMAGE_U8)),
srcimage(frcCreateImage(IMAQ_IMAGE_RGB))
{
Start((char *)"166CameraServos", CAMERA_SERVO_CYCLE_TIME);
Hue_Range.minValue = 110;
Hue_Range.maxValue = 130;
Sat_Range.minValue = 25;
Sat_Range.maxValue = 220;
Lum_Range.minValue = 15;
Lum_Range.maxValue = 130;
camera.WriteResolution(AxisCamera::kResolution_320x240);
camera.WriteCompression(20);
camera.WriteBrightness(0);
return;
};
void Michael1::Autonomous(void)
{
GetWatchdog().SetEnabled(false);
while(IsAutonomous()){
img = frcCreateImage(IMAQ_IMAGE_HSL);
GetImage(img, NULL);
bool pin[5];
pin[0] = pin[1] = pin[2] = pin[3] = pin[4] = false;
int camZone = checkzone(1); // 1 is red, 2 is green
if (camZone > -1){
pin[camZone] = true;
}
printf("camzone = %d", camZone);
ds->SetDigitalOut(1, pin[0]);
ds->SetDigitalOut(2, pin[1]);
ds->SetDigitalOut(3, pin[2]);
ds->SetDigitalOut(4, pin[3]);
ds->SetDigitalOut(5, pin[4]);
frcDispose(img);
Wait(0.1);
}
printf("end auton");
}
/**
* @brief Search for a color. Supports IMAQ_IMAGE_HSL and IMAQ_IMAGE_RGB.
* @param mode Color mode, either IMAQ_HSL or IMAQ_RGB
* @param plane1Range The range for the first plane (hue or red)
* @param plane2Range The range for the second plane (saturation or green)
* @param plane3Range The range for the third plane (luminance or blue)
* @param trackReport Values for tracking: center of particle, particle size, etc
* @param colorReport Color charactaristics of the particle
* @param rect Rectangle to confine search to
* @return 0 = error
*/
int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range,
const Range* plane3Range, ParticleAnalysisReport *trackReport,
ColorReport *colorReport, Rect rect)
{
int errorCode = 0;
int success = 0;
/* create an image object */
Image* cameraImage = frcCreateImage(IMAQ_IMAGE_HSL);
if (!cameraImage) { return success; }
/* get image from camera - if the camera has not finished initializing,
* this will fail
*/
double imageTime;
success = GetImage(cameraImage, &imageTime);
if (!success){
DPRINTF(LOG_INFO, "No camera Image available Error = %i %s",
errorCode, GetVisionErrorText(errorCode));
frcDispose(cameraImage);
imaqSetError(errorCode, __FUNCTION__); //reset error code for the caller
return success;
}
/* save a copy of the image to another image for color thresholding later */
Image* histImage = frcCreateImage(IMAQ_IMAGE_HSL);
if (!histImage) { frcDispose(cameraImage); return success; }
success = frcCopyImage(histImage,cameraImage);
if ( !success ) {
errorCode = GetLastVisionError();
frcDispose(__FUNCTION__,cameraImage,histImage,NULL);
return success;
}
/* Color threshold the image */
success = frcColorThreshold(cameraImage, cameraImage, mode, plane1Range, plane2Range, plane3Range);
if ( !success ) {
errorCode = GetLastVisionError();
DPRINTF (LOG_DEBUG, "Error = %i %s ", errorCode, GetVisionErrorText(errorCode));
frcDispose(__FUNCTION__,cameraImage,histImage,NULL);
return success;
}
int largestParticleIndex = 0;
success = GetLargestParticle(cameraImage, &largestParticleIndex, rect );
if ( !success ) {
errorCode = GetLastVisionError();
DPRINTF (LOG_DEBUG, "Error after GetLargestParticle = %i %s ", errorCode, GetVisionErrorText(errorCode));
frcDispose(__FUNCTION__,cameraImage,histImage,NULL);
imaqSetError(ERR_COLOR_NOT_FOUND, __FUNCTION__);
return success;
}
DPRINTF(LOG_INFO, "largestParticleIndex = %i\n", largestParticleIndex);
/* Particles were found */
/*
* Fill in report information for largest particle found
*/
success = frcParticleAnalysis(cameraImage, largestParticleIndex, trackReport);
trackReport->imageTimestamp = imageTime;
/* clean up */
if (!success) {frcDispose(__FUNCTION__,cameraImage,histImage,NULL); return success;}
/* particle color statistics */
/* only if a color report requested */
if (colorReport != NULL)
{
/* first filter out the other particles */
ParticleFilterCriteria2 criteria;
ParticleFilterOptions* options = NULL;
Rect rect;
int numParticles;
success = frcParticleFilter(cameraImage, cameraImage, &criteria, 1, options,
rect, &numParticles);
if ( !success ) {
DPRINTF(LOG_INFO, "frcParticleFilter errorCode %i", GetLastVisionError());
}
/* histogram the original image using the thresholded image as a mask */
int numClasses = 10; //how many classes?
ColorHistogramReport* chrep = imaqColorHistogram2(histImage, numClasses, IMAQ_HSL,
NULL, cameraImage);
if (chrep == NULL) {
DPRINTF(LOG_INFO, "NULL Color Histogram");
errorCode = GetLastVisionError();
} else {
colorReport->particleHueMax = chrep->plane1.max;
colorReport->particleHueMin = chrep->plane1.min;
colorReport->particleHueMean = chrep->plane1.mean;
colorReport->particleSatMax = chrep->plane2.max;
colorReport->particleSatMin = chrep->plane2.min;
colorReport->particleSatMean = chrep->plane2.mean;
colorReport->particleLumMax = chrep->plane3.max;
colorReport->particleLumMin = chrep->plane3.min;
colorReport->particleLumMean = chrep->plane3.mean;
colorReport->numberParticlesFound = numParticles;
frcDispose(chrep);
}
}
/* clean up */
frcDispose(__FUNCTION__,cameraImage,histImage,NULL);
return success;
}
/**
* @brief Search for color particles. Supports IMAQ_IMAGE_HSL and IMAQ_IMAGE_RGB.
* @param mode Color mode, either IMAQ_HSL or IMAQ_RGB
* @param plane1Range The range for the first plane (hue or red)
* @param plane2Range The range for the second plane (saturation or green)
* @param plane3Range The range for the third plane (luminance or blue)
* @param hitReport Contains array of numberHits largest targets
* @param rect Rectangle to confine search to
* @param numberHitsRequested maximum number to return
* @return 0 = error
*/
int FindColorHits(ColorMode mode, const Range* plane1Range, const Range* plane2Range,
const Range* plane3Range, ImageHits* hitReport, Rect rect,
int numberHitsRequested)
{
char funcName[]="FindColorHits";
int errorCode = 0;
int success = 0;
/* fixed limit to number of hits processed
* larger # takes more processing time but can eliminate failure due to
* interference for instance, a red or green area in the stands or
* closer targets of the wrong alliance
*/
if (numberHitsRequested > FRC_MAX_HITS) numberHitsRequested = FRC_MAX_HITS;
/* create an image object */
Image* cameraImage = frcCreateImage(IMAQ_IMAGE_HSL);
if (!cameraImage) { return success; }
/* get image from camera - if the camera has not finished initializing,
* this will fail */
success = GetImage(cameraImage,NULL);
if (!success){
DPRINTF(LOG_INFO, "No camera Image available Error = %i %s",
errorCode, GetVisionErrorText(errorCode));
frcDispose(cameraImage);
imaqSetError(errorCode, funcName); //reset error code for the caller
return success;
}
/* Color threshold the image */
success = frcColorThreshold(cameraImage, cameraImage, mode, plane1Range, plane2Range, plane3Range);
if ( !success ) {
errorCode = GetLastVisionError();
DPRINTF (LOG_DEBUG, "Error = %i %s ", errorCode, GetVisionErrorText(errorCode));
frcDispose(funcName,cameraImage,NULL);
return success;
}
/* get largest particles that meet criteria */
/* GetLargestParticles fills out only the indices in the hitReport */
success = GetLargestParticles(cameraImage, hitReport, rect, numberHitsRequested);
if ( !success ) {
errorCode = GetLastVisionError();
DPRINTF (LOG_DEBUG, "Error after GetLargestParticles=%i %s ", errorCode, GetVisionErrorText(errorCode));
frcDispose(funcName,cameraImage,NULL);
imaqSetError(ERR_COLOR_NOT_FOUND, funcName);
return success;
}
if (hitReport->numberOfHits==0) {
imaqSetError(ERR_COLOR_NOT_FOUND, funcName);
frcDispose(funcName,cameraImage,NULL);
return 0;
}
//DPRINTF(LOG_INFO, "number hits found = %i\n", hitReport->numberOfHits);
/* Particles were found --
* Fill in report information for the largest particles
*/
double imageTime = GetTime();
for (int i=0; i<hitReport->numberOfHits; ++i) {
hitReport->pars[i].imageTimestamp = imageTime;
success = frcParticleAnalysis(cameraImage, hitReport->indices[i], &hitReport->pars[i]);
}
/* clean up */
frcDispose(funcName,cameraImage,NULL);
return success;
}
