TargetReport::Scores * TargetReport::GenerateScores() {
delete[] scores;
scores = new Scores[reports->size()];
for (unsigned int i = 0; i < reports->size(); ++i) {
ParticleAnalysisReport * report = &(reports->at(i));
scores[i].rectangularity = scoreRectangularity(report);
scores[i].aspectRatioOuter = scoreAspectRatio(filteredImage, report, true);
scores[i].aspectRatioInner = scoreAspectRatio(filteredImage, report, false);
scores[i].xEdge = scoreXEdge(thresholdImage, report);
scores[i].yEdge = scoreYEdge(thresholdImage, report);
}
return scores;
}
void VisionSubsystem::ProcessImage() {
printf("Vision: Starting Vision Subsystem\n");
///////////////
// Seting Up //
///////////////
targetVisable[TOP_TARGET] = false;
targetVisable[MIDDLE_TARGET] = false;
targetVisable[BOTTOM_TARGET] = false;
targetDistances[TOP_TARGET] = 0.0;
targetDistances[MIDDLE_TARGET] = 0.0;
targetDistances[BOTTOM_TARGET] = 0.0;
targetPositionX[TOP_TARGET] = 0.0;
targetPositionY[TOP_TARGET] = 0.0;
targetPositionX[MIDDLE_TARGET] = 0.0;
targetPositionY[MIDDLE_TARGET] = 0.0;
targetPositionX[BOTTOM_TARGET] = 0.0;
targetPositionY[BOTTOM_TARGET] = 0.0;
/*
* This creates a object with the needed values for the processing
* the image later on, for a certain color.
*/
printf("Vision: Setting the clor threshold values\n");
Threshold threshold(THRESHOLD_HUE_MIN,
THRESHOLD_HUE_MAX,
THRESHOLD_SATURATION_MIN,
THRESHOLD_SATURATION_MAX,
THRESHOLD_VALUE_MIN,
THRESHOLD_VALUE_MAX);
ParticleFilterCriteria2 criteria[] = {
{IMAQ_MT_AREA, AREA_MINIMUM, 65535, false, false}
};
/*
* This is the function that sets up the axis camera to get images.
* To use the camera on the second port on the cRIO, uncommet the second line below
* with "192.168.0.90" in it.
*/
printf("Vision: Setting camera IP to 10.30.81.12/n");
AxisCamera &camera = AxisCamera::GetInstance("10.30.81.12");
//AxisCamera &camera = AxisCamera::GetInstance("192.168.0.90"); //
// This creates a Color image, then on the second line it fills it with the image from the camera.
printf("Vision: Creating ColorImage object image\n");
ColorImage *image;
printf("Vision: Getting the Image from the camera \n");
image = camera.GetImage();
//////////////////////////////
// Image processing section //
//////////////////////////////
//Process the image with the threshold values
printf("Vision: Filtering the image with threshold values into object thresholdImage\n");
BinaryImage *thesholdImage = image->ThresholdHSV(threshold);
//This will fill shape that is complete and fill in the inside of siad shape.
printf("Vision: Filling in the convex shapes into the object of convexHullImage\n");
BinaryImage *convexHullImage = thesholdImage->ConvexHull(false);
//This will get rid of random particles in the image that are notconcentrated enougth.
printf("Vision: Filtering image for the unwanted random particles");
BinaryImage *filteredImage = convexHullImage->ParticleFilter(criteria, 1);
//This creates a report that will be used later to idenify targets
printf("Vision: Creating the report of the filtered Image\n");
vector<ParticleAnalysisReport> *reports = filteredImage->GetOrderedParticleAnalysisReports();
//This creates a data stucture that is used to score objects.
scores = new Scores[reports->size()];
for (unsigned i = 0; i < reports->size(); i++) {
ParticleAnalysisReport *report = &(reports->at(i));
scores[i].rectangularity = scoreRectangularity(report);
scores[i].aspectRatioOuter = scoreAspectRatio(filteredImage, report, true);
scores[i].aspectRatioInner = scoreAspectRatio(filteredImage, report, false);
scores[i].xEdge = scoreXEdge(thesholdImage, report);
scores[i].yEdge = scoreYEdge(thesholdImage, report);
if(scoreCompare(scores[i], false)) {
printf("Vision: particle: %d is High Goal centerX %f centerY: %f \n", i , report->center_mass_x_normalized, report->center_mass_y_normalized);
printf("Vision: Distance: %f \n", computeDistance(thesholdImage, report, false));
targetPositionX[TOP_TARGET] = report->center_mass_x;
targetPositionY[TOP_TARGET] = report->center_mass_y;
targetDistances[TOP_TARGET] = computeDistance(thesholdImage, report, false);
targetVisable[TOP_TARGET] = true;
targetPositionX[TOP_TARGET] = targetPosition(TOP_TARGET, true);
targetPositionY[TOP_TARGET] = targetPosition(TOP_TARGET, false);
} else if (scoreCompare(scores[i], true)){
printf("Vision: particle: %d is Middle Goal centerX %f centerY: %f \n", i , report->center_mass_x_normalized, report->center_mass_y_normalized);
printf("Vision: Distance: %f \n", computeDistance(thesholdImage, report, true));
targetPositionX[MIDDLE_TARGET] = report->center_mass_x;
targetPositionY[MIDDLE_TARGET] = report->center_mass_y;
targetDistances[MIDDLE_TARGET] = computeDistance(thesholdImage, report, true);
targetVisable[MIDDLE_TARGET] = true;
targetPositionX[MIDDLE_TARGET] = targetPosition(MIDDLE_TARGET, true);
targetPositionY[MIDDLE_TARGET] = targetPosition(MIDDLE_TARGET, false);
} else {
printf("Vision: particle %d is not a goal centerX: %f centery: %f \n" , i, report->center_mass_x_normalized, report->center_mass_y_normalized);
}
printf("Vision: rect: %f ARinner: %f \n", scores[i].rectangularity, scores[i].aspectRatioInner);
printf("Vision: ARouter: %f xEdge: %f yEdge: %f \n", scores[i].aspectRatioOuter, scores[i].xEdge, scores[i].yEdge);
}
//printf("\n");
printf("Vision: Deleting the object filtered image\n");
delete filteredImage;
printf("Vision: Deleting the objectconvexHullImage\n");
delete convexHullImage;
printf("Vision: Deleting the object thresholdimage\n");
delete thesholdImage;
printf("Vision: Deleting the object image");
delete image;
delete scores;
delete reports;
printf("Vision: Done\n");
}
void mtdCameraCode(void)
{
Threshold threshold(0, 255, 0, 255, 221, 255);
ParticleFilterCriteria2 criteria[] = {{IMAQ_MT_AREA, AREA_MINIMUM, 65535, false, false}};
AxisCamera &camera = AxisCamera::GetInstance("10.26.3.11");
camera.WriteResolution(AxisCamera::kResolution_320x240);
camera.WriteCompression(20);
camera.WriteBrightness(50);
//SmartDashboard::PutNumber("Test", 3);
if(timerCamera.Get() > 0.1)
{
ColorImage *image;
//image = new RGBImage("/HybridLine_DoubleGreenBK3.jpg"); // get the sample image from the cRIO flash
image = camera.GetImage();
//camera.GetImage(image); //To get the images from the camera comment the line above and uncomment this one
//Wait(.1);
//SmartDashboard::PutNumber("Test", 4);
BinaryImage *thresholdImage = image->ThresholdHSV(threshold); // get just the green target pixels
// thresholdImage->Write("/threshold.bmp");
//SmartDashboard::PutNumber("Test", 5);
BinaryImage *convexHullImage = thresholdImage->ConvexHull(false); // fill in partial and full rectangles
// convexHullImage->Write("ConvexHull.bmp");
//SmartDashboard::PutNumber("Test", 6);
BinaryImage *filteredImage = convexHullImage->ParticleFilter(criteria, 1); //Remove small particles
// filteredImage->Write("/Filtered.bmp");
//SmartDashboard::PutNumber("Test", 7);
vector<ParticleAnalysisReport> *reports = filteredImage->GetOrderedParticleAnalysisReports(); //get a particle analysis report for each particle
//SmartDashboard::PutNumber("Test", 8);
int size = reports->size();
scores = new Scores[size];
//SmartDashboard::PutNumber("Test", 9);
//Iterate through each particle, scoring it and determining whether it is a target or not
for (unsigned i = 0; i < reports->size(); i++)
{
//SmartDashboard::PutNumber("Test", 10);
ParticleAnalysisReport *report = &(reports->at(i));
scores[i].rectangularity = scoreRectangularity(report);
scores[i].aspectRatioOuter = scoreAspectRatio(filteredImage, report, true);
scores[i].aspectRatioInner = scoreAspectRatio(filteredImage, report, false);
scores[i].xEdge = scoreXEdge(thresholdImage, report);
scores[i].yEdge = scoreYEdge(thresholdImage, report);
if(scoreCompare(scores[i], false))
{
//We hit this!! Note to self: changethe below printf statement
//To use SmartDashboard::PutString so wecan seevalues.
//printf("particle: %d is a High Goal centerX: %f centerY: %f \n", i, report->center_mass_x_normalized, report->center_mass_y_normalized);
//string particle = ("particle: %d is a High Goal centerX: %f centerY: %f \n", i, report->center_mass_x_normalized, report->center_mass_y_normalized);
SmartDashboard::PutNumber("CenterX", report->center_mass_x);
SmartDashboard::PutNumber("CenterY", report->center_mass_y);
SmartDashboard::PutNumber("Area", report->particleArea);
SmartDashboard::PutNumber("Distance",computeDistance(thresholdImage,report, false));
SmartDashboard::PutNumber("size", reports->size());
SmartDashboard::PutNumber("height", report->boundingRect.height);
SmartDashboard::PutNumber("Quality", report->particleQuality);
//SmartDashboard::PutNumber("Test",computeDistance(thresholdImage, report, false));
//SmartDashboard::PutNumber("Distance",computeDistance(thresholdImage,report, false));
SmartDashboard::PutString("high goal detected", "asdf");
}
else if (scoreCompare(scores[i], true))
{
printf("particle: %d is a Middle Goal centerX: %f centerY: %f \n", i, report->center_mass_x_normalized, report->center_mass_y_normalized);
SmartDashboard::PutNumber("Test", computeDistance(thresholdImage, report, true));
SmartDashboard::PutNumber("CenterX", report->center_mass_x);
SmartDashboard::PutNumber("CenterY", report->center_mass_y);
SmartDashboard::PutNumber("height", report->boundingRect.height);
SmartDashboard::PutNumber("Distance",computeDistance(thresholdImage,report, false));
SmartDashboard::PutString("middle goal detected", "adsf");
}
else
{
printf("particle: %d is not a goal centerX: %f centerY: %f \n", i, report->center_mass_x_normalized, report->center_mass_y_normalized);
SmartDashboard::PutNumber("CenterX", report->center_mass_x);
SmartDashboard::PutNumber("CenterY", report->center_mass_y);
SmartDashboard::PutNumber("height", report->boundingRect.height);
SmartDashboard::PutNumber("Distance",computeDistance(thresholdImage,report, false));
SmartDashboard::PutString("we areinelse", "else");
}
if(report->center_mass_x < 85.00)
{
SmartDashboard::PutString("Pausing", "paused");
//image->Write("C:\\testimg.bmp");
//Wait(10);
}
printf("rect: %f ARinner: %f \n", scores[i].rectangularity, scores[i].aspectRatioInner);
printf("ARouter: %f xEdge: %f yEdge: %f \n", scores[i].aspectRatioOuter, scores[i].xEdge, scores[i].yEdge);
}
printf("\n");
// be sure to delete images after using them
delete filteredImage;
delete convexHullImage;
delete thresholdImage;
delete image;
//delete allocated reports and Scores objects also
delete scores;
delete reports;
}
timerCamera.Reset();
}
