////////////////////////////////////////////////////////////////////////////////
//
// Function Name: IVA_CLRThreshold
//
// Description : Thresholds a color image.
//
// Parameters : image - Input image
// min1 - Minimum range for the first plane
// max1 - Maximum range for the first plane
// min2 - Minimum range for the second plane
// max2 - Maximum range for the second plane
// min3 - Minimum range for the third plane
// max3 - Maximum range for the third plane
// colorMode - Color space in which to perform the threshold
//
// Return Value : success
//
////////////////////////////////////////////////////////////////////////////////
static int IVA_CLRThreshold(Image* image, int min1, int max1, int min2, int max2, int min3, int max3, int colorMode)
{
int success = 1;
Image* thresholdImage;
Range plane1Range;
Range plane2Range;
Range plane3Range;
//-------------------------------------------------------------------//
// Color Threshold //
//-------------------------------------------------------------------//
// Creates an 8 bit image for the thresholded image.
VisionErrChk(thresholdImage = imaqCreateImage(IMAQ_IMAGE_U8, 7));
// Set the threshold range for the 3 planes.
plane1Range.minValue = min1;
plane1Range.maxValue = max1;
plane2Range.minValue = min2;
plane2Range.maxValue = max2;
plane3Range.minValue = min3;
plane3Range.maxValue = max3;
// Thresholds the color image.
VisionErrChk(imaqColorThreshold(thresholdImage, image, 1, colorMode, &plane1Range, &plane2Range, &plane3Range));
// Copies the threshold image in the souce image.
VisionErrChk(imaqDuplicate(image, thresholdImage));
Error:
imaqDispose(thresholdImage);
return success;
}
/**
* @brief Copy an image object.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL.
*
* @param dest Copy of image. On failure, dest is NULL. Must have already been created using frcCreateImage().
* When you are finished with the created image, dispose of it by calling frcDispose().
* @param source Image to copy
*
* @return On success: 1. On failure: 0. To get extended error information, call GetLastError().
*/
int frcCopyImage(Image* dest, const Image* source) { return imaqDuplicate(dest, source); }
void Autonomous()
{
DriverStationLCD *screen = DriverStationLCD::GetInstance();
while ((IsAutonomous()))
{
HSLImage* imgpointer; // declares an image container as an HSL (hue-saturation-luminence) image
imgpointer = camera.GetImage(); //tells camera to capture image
backpack.Set(Relay::kForward); //turns ringlight on
BinaryImage* binIMG = NULL; // declares a container to hold a binary image
binIMG = imgpointer -> ThresholdHSL(0, 255, 0, 255, 235, 255); // thresholds HSL image and places in the binary image container
delete imgpointer; // deletes the HSL image to free up memory on the cRIO
Image* Kirby = imaqCreateImage(IMAQ_IMAGE_U8, 0); //create 8 bit image
Image* KirbyTwo = imaqCreateImage(IMAQ_IMAGE_U8, 0); // creates the second 8-bit image that we can use separately for counting particles.
// (The first image gets eaten by the measureparticle function)
float pLower = 175; // min height of rectangle for comparison
float pUpper = 500; // max height of rectangle for comparison
int criteriaCount = 1; // number of elements to include/exclude at a time
int rejectMatches = 1; // when set to true, particles that do not meet the criteria are discarded
int connectivity = 1; // declares connectivity value as 1; so corners are not ignored
int Polturgust3000; // removes small blobs
int borderSetting; // variable to store border settings, limit for rectangle
int cloningDevice; // we create another image because the ParticleMeasuring steals the image from particlecounter
int borderSize = 1; // border for the camera frame (if you don't put this, DriverStation gets mad at you)
ParticleFilterCriteria2 particleCriteria;
ParticleFilterOptions2 particleFilterOptions;
int numParticles;
particleCriteria.parameter = IMAQ_MT_AREA; //The Morphological measurement we use
particleCriteria.lower = pLower; // The lower bound of the criteria range
particleCriteria.upper = pUpper; // The upper bound of the criteria range
particleCriteria.calibrated = FALSE; // We aren't calibrating to real world measurements. We don't need this.
particleCriteria.exclude = TRUE; // Remove all particles that aren't in specific pLower and pUpper range
particleFilterOptions.rejectMatches = rejectMatches; // Set to 1 above, so images that do not meet the criteria are discarded
particleFilterOptions.rejectBorder = 0; // Set to 0 over here so border images are not discarded
particleFilterOptions.connectivity8 = connectivity; // Sets the image image to 8 bit
Polturgust3000 = imaqParticleFilter4(Kirby, binIMG -> GetImaqImage(), &particleCriteria, criteriaCount, &particleFilterOptions, NULL, &numParticles); //The Particle Filter Function we use. (The ones before it are outdated)
borderSetting = imaqSetBorderSize(Kirby, borderSize); // Sets a border size
cloningDevice = imaqDuplicate(KirbyTwo, Kirby); //Officially creating a duplicate of the first image to count the number of particles.
delete binIMG; //Deletes the Binary image
int ParticleCounter; // stores number of particles
int* countparticles; // stores the number of particles for the measure particle function
ParticleCounter = imaqCountParticles(Kirby, TRUE, countparticles); // Counts the number of particles to be sent off later to the MeasureParticle function. Then it gets eaten by the measureparticle function
int TinyRuler; // TRULY ARBITRARY name of the first measuring particle function (specifically for particle #1)
int BabyYardstick; // TRULY ARBITRARY Name of the second measuring particle function (specifically for particle #2)
double* unowidth; // TRULY ARBITRARY name of the first particle it find
double* doswidth; // TRULY ARBITRARY name of the second particle it finds
TinyRuler = imaqMeasureParticle(Kirby, 0, FALSE, IMAQ_MT_BOUNDING_RECT_WIDTH, unowidth); // Function of measuring rectangle width is applied to particle 1 (unowidth)
BabyYardstick = imaqMeasureParticle(Kirby, 1, FALSE, IMAQ_MT_BOUNDING_RECT_WIDTH, doswidth); // Function of measuring width is applied to particle 2 (doswidth)
screen->PrintfLine(DriverStationLCD::kUser_Line3,"W1: %f",*unowidth); // Prints the applied information to particle 1. (Rectangle width)
screen->PrintfLine(DriverStationLCD::kUser_Line4,"W2: %f",*doswidth);
imaqDispose(Kirby);
imaqDispose(KirbyTwo);
if (((togglebuttonOne.Get()) == 0) && ((togglebuttonTwo.Get()) == 1))
{
screen -> PrintfLine(DriverStationLCD::kUser_Line1,"Left Position");
if (*unowidth > 20) // The target should be hot. Now it goes to the other goal.
// Even this needs to be tested
{
screen -> PrintfLine(DriverStationLCD::kUser_Line6,"Left Position Hot");
// These DEFINITELY need to be tested. All of them. Forreal.
turnRight();
driveForward();
Wait(3);
stopDriving();
shootCatapult();
}
else // The target isn't hot. So it starts going toward this not hot goal.
{
screen -> PrintfLine(DriverStationLCD::kUser_Line6,"Left Position Not Hot");
// These DEFINITELY need to be tested. All of them. Forreal.
driveForward();
Wait(3);
stopDriving();
shootCatapult();
}
}
//both on
else if (((togglebuttonOne.Get()) == 1) && ((togglebuttonTwo.Get()) == 1))
{
screen -> PrintfLine(DriverStationLCD::kUser_Line1,"Middle Position");
if (*unowidth > 20) // The target should be hot. Now it goes to the other goal.
{
screen -> PrintfLine(DriverStationLCD::kUser_Line6,"Middle Position Hot");
// These DEFINITELY need to be tested. All of them. Forreal.
turnLeftMore();
driveForward();
Wait(3);
stopDriving();
shootCatapult();
}
else if (((togglebuttonOne.Get()) == 0) && ((togglebuttonTwo.Get()) == 0))
{
screen -> PrintfLine(DriverStationLCD::kUser_Line1,"Middle Position");
if (*unowidth > 20) // The target should be hot. Now it goes to the other goal.
{
screen -> PrintfLine(DriverStationLCD::kUser_Line6,"Middle Position Hot");
// These DEFINITELY need to be tested. All of them. Forreal.
turnRightMore();
driveForward();
Wait(3);
stopDriving();
shootCatapult();
}
else // The target isn't hot. So it starts going toward this not hot goal.
{
screen -> PrintfLine(DriverStationLCD::kUser_Line6,"Middle Position Not Hot");
// These DEFINITELY need to be tested. All of them. Forreal.
driveForward();
Wait(3);
stopDriving();
shootCatapult();
driveForward();
Wait(3);
stopDriving();
}
}
//Left button on && right off
else if (((togglebuttonOne.Get()) == 1) && ((togglebuttonTwo.Get()) == 0))
{
screen -> PrintfLine(DriverStationLCD::kUser_Line6,"Right Position");
if (*unowidth > 20) // The target should be hot. Now it goes to the other goal.
{
screen -> PrintfLine(DriverStationLCD::kUser_Line6,"Right Position Hot");
// These DEFINITELY need to be tested. All of them. Forreal.
turnLeft();
driveForward();
Wait(3);
stopDriving();
shootCatapult();
}
else // The target isn't hot. So it starts going toward this not hot goal.
{
screen -> PrintfLine(DriverStationLCD::kUser_Line6,"Right Position Not Hot");
// These DEFINITELY need to be tested. All of them. Forreal.
driveForward();
Wait(3);
stopDriving();
shootCatapult();
}
}
Wait(0.005);
screen -> UpdateLCD();
}
}
}
