/**
* Read the accumulated value.
*
* Read the value that has been accumulating.
* The accumulator is attached after the oversample and average engine.
*
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t AnalogInput::GetAccumulatorValue() const {
if (StatusIsFatal()) return 0;
int32_t status = 0;
int64_t value = getAccumulatorValue(m_port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value + m_accumulatorOffset;
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAccumulatorValue
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)J
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorValue
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jlong returnValue = getAccumulatorValue(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "AccumulatorValue = " << returnValue;
return returnValue;
}
void THIS::getImage( puma2::ColorImageRGB8& target )
{
/*
large bins: x and y-position
small bins: y -> orientation, x -> scale
pixel grey value: number of entries in bin depending on maximum value
*/
float norm = 255.0 / getMaxAccumulatorValue();
int w = (m_ScaleBins+1)*m_XLocationBins;
int h = (m_OrientationBins+1)*m_YLocationBins;
target.resize( w, h );
for ( int y=0; y<h; y++ )
{
for ( int x=0; x<w; x++ )
{
int scaleIndex = x % (m_ScaleBins+1);
int orientationIndex = y % (m_OrientationBins+1);
if ( ( scaleIndex >= m_ScaleBins ) || ( orientationIndex >= m_OrientationBins ) )
{
target[y][x][0] = 0;
target[y][x][1] = 0;
target[y][x][2] = 255;
continue;
}
int xIndex = x / (m_ScaleBins+1);
int yIndex = y / (m_OrientationBins+1);
unsigned int histValue;
getAccumulatorValue(scaleIndex, orientationIndex, xIndex, yIndex, histValue);
if ( histValue == 0 )
{
target[y][x][0] = 0;
target[y][x][1] = 0;
target[y][x][2] = 0;
}
else
{
target[y][x][0] = histValue * norm;
target[y][x][1] = histValue * norm;
target[y][x][2] = histValue * norm;
}
}
}
}
void THIS::getImage( cv::Mat& target )
{
/*
large bins: x and y-position
small bins: y -> orientation, x -> scale
pixel grey value: number of entries in bin depending on maximum value
*/
float norm = 255.0 / getMaxAccumulatorValue();
int w = (m_ScaleBins+1)*m_XLocationBins;
int h = (m_OrientationBins+1)*m_YLocationBins;
target.create( h, w, CV_8UC3 );
for ( int y=0; y<h; y++ )
{
for ( int x=0; x<w; x++ )
{
int scaleIndex = x % (m_ScaleBins+1);
int orientationIndex = y % (m_OrientationBins+1);
if ( ( scaleIndex >= m_ScaleBins ) || ( orientationIndex >= m_OrientationBins ) )
{
target.at<cv::Vec3b>(y,x) = cv::Vec3b(0,0,255);
continue;
}
int xIndex = x / (m_ScaleBins+1);
int yIndex = y / (m_OrientationBins+1);
unsigned int histValue;
getAccumulatorValue(scaleIndex, orientationIndex, xIndex, yIndex, histValue);
if ( histValue == 0 )
{
target.at<cv::Vec3b>(y,x) = cv::Vec3b(0,0,0);
}
else
{
target.at<cv::Vec3b>(y,x) = cv::Vec3b(histValue * norm,histValue * norm,histValue * norm);
}
}
}
}
