/**
* Get then number of particles for the image.
* @returns the number of particles found for the image.
*/
int BinaryImage::GetNumberParticles()
{
int numParticles = 0;
int success = imaqCountParticles(m_imaqImage, 1, &numParticles);
wpi_setImaqErrorWithContext(success, "Error counting particles");
return numParticles;
}
BinaryImage *BinaryImage::ConvexHull(bool connectivity8)
{
BinaryImage *result = new BinaryImage();
int success = imaqConvexHull(result->GetImaqImage(), m_imaqImage, connectivity8);
wpi_setImaqErrorWithContext(success, "Error in convex hull operation");
return result;
}
/**
* Measure a single parameter for an image.
* Get the measurement for a single parameter about an image by calling the imaqMeasureParticle
* function for the selected parameter.
* @param particleNumber which particle in the set of particles
* @param whatToMeasure the imaq MeasurementType (what to measure)
* @param result the value of the measurement
* @returns true on failure, false on success
*/
bool BinaryImage::ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, double *result)
{
int success;
success = imaqMeasureParticle(m_imaqImage, particleNumber, 0, whatToMeasure, result);
wpi_setImaqErrorWithContext(success, "Error measuring particle");
return !StatusIsFatal();
}
BinaryImage *BinaryImage::RemoveLargeObjects(bool connectivity8, int erosions)
{
BinaryImage *result = new BinaryImage();
int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage, connectivity8, erosions, IMAQ_KEEP_SMALL, NULL);
wpi_setImaqErrorWithContext(success, "Error in RemoveLargeObjects");
return result;
}
// TODO: frcColorEqualize(Image* dest, const Image* source, int
// colorEqualization) needs to be modified
// The colorEqualization parameter is discarded and is set to TRUE in the call
// to imaqColorEqualize.
void ColorImage::Equalize(bool allPlanes) {
// Note that this call uses NI-defined TRUE and FALSE
int success = imaqColorEqualize(m_imaqImage,
reinterpret_cast<const Image*>(m_imaqImage),
(allPlanes) ? TRUE : FALSE);
wpi_setImaqErrorWithContext(success, "Imaq ColorEqualize error");
}
BinaryImage *BinaryImage::ParticleFilter(ParticleFilterCriteria2 *criteria, int criteriaCount)
{
BinaryImage *result = new BinaryImage();
int numParticles;
ParticleFilterOptions2 filterOptions = {0, 0, 0, 1};
int success = imaqParticleFilter4(result->GetImaqImage(), m_imaqImage, criteria, criteriaCount, &filterOptions, NULL, &numParticles);
wpi_setImaqErrorWithContext(success, "Error in particle filter operation");
return result;
}
/**
* Replace a plane in the ColorImage with a MonoImage
* Replaces a single plane in the image with a MonoImage
* @param mode The ColorMode in which to operate
* @param plane The pointer to the replacement plane as a MonoImage
* @param planeNumber The plane number (1, 2, 3) to replace
*/
void ColorImage::ReplacePlane(ColorMode mode, MonoImage *plane, int planeNumber) {
int success = imaqReplaceColorPlanes(m_imaqImage,
(const Image*) m_imaqImage,
mode,
(planeNumber == 1) ? plane->GetImaqImage() : NULL,
(planeNumber == 2) ? plane->GetImaqImage() : NULL,
(planeNumber == 3) ? plane->GetImaqImage() : NULL);
wpi_setImaqErrorWithContext(success, "Imaq ReplaceColorPlanes failed");
}
/**
* Replace a plane in the ColorImage with a MonoImage.
*
* Replaces a single plane in the image with a MonoImage.
*
* @param mode The ColorMode in which to operate
* @param plane The pointer to the replacement plane as a MonoImage
* @param planeNumber The plane number (1, 2, 3) to replace
*/
void ColorImage::ReplacePlane(ColorMode mode, MonoImage* plane,
int planeNumber) {
int success = imaqReplaceColorPlanes(
m_imaqImage, reinterpret_cast<const Image*>(m_imaqImage), mode,
(planeNumber == 1) ? plane->GetImaqImage() : nullptr,
(planeNumber == 2) ? plane->GetImaqImage() : nullptr,
(planeNumber == 3) ? plane->GetImaqImage() : nullptr);
wpi_setImaqErrorWithContext(success, "Imaq ReplaceColorPlanes failed");
}
/**
* Extract a color plane from the image.
*
* @param mode The ColorMode to use for the plane extraction
* @param planeNumber Which plane is to be extracted
* @return A pointer to a MonoImage that represents the extracted plane.
*/
MonoImage* ColorImage::ExtractColorPlane(ColorMode mode, int planeNumber) {
auto result = new MonoImage();
if (m_imaqImage == nullptr) wpi_setWPIError(NullParameter);
int success = imaqExtractColorPlanes(
m_imaqImage, mode, (planeNumber == 1) ? result->GetImaqImage() : nullptr,
(planeNumber == 2) ? result->GetImaqImage() : nullptr,
(planeNumber == 3) ? result->GetImaqImage() : nullptr);
wpi_setImaqErrorWithContext(success, "Imaq ExtractColorPlanes failed");
return result;
}
/**
* Perform a threshold operation on a ColorImage.
*
* Perform a threshold operation on a ColorImage using the ColorMode supplied
* as a parameter.
*
* @param colorMode The type of colorspace this operation should be performed in
* @return a pointer to a binary image
*/
BinaryImage* ColorImage::ComputeThreshold(ColorMode colorMode, int low1,
int high1, int low2, int high2,
int low3, int high3) {
auto result = new BinaryImage();
Range range1 = {low1, high1}, range2 = {low2, high2}, range3 = {low3, high3};
int success = imaqColorThreshold(result->GetImaqImage(), m_imaqImage, 1,
colorMode, &range1, &range2, &range3);
wpi_setImaqErrorWithContext(success, "ImaqThreshold error");
return result;
}
/**
* Get a single particle analysis report.
* Get one (of possibly many) particle analysis reports for an image.
* This version could be more efficient when copying many reports.
* @param particleNumber Which particle analysis report to return.
* @param par the selected particle analysis report
*/
void BinaryImage::GetParticleAnalysisReport(int particleNumber, ParticleAnalysisReport *par)
{
int success;
int numParticles = 0;
success = imaqGetImageSize(m_imaqImage, &par->imageWidth, &par->imageHeight);
wpi_setImaqErrorWithContext(success, "Error getting image size");
if (StatusIsFatal())
return;
success = imaqCountParticles(m_imaqImage, 1, &numParticles);
wpi_setImaqErrorWithContext(success, "Error counting particles");
if (StatusIsFatal())
return;
if (particleNumber >= numParticles)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "particleNumber");
return;
}
par->particleIndex = particleNumber;
// Don't bother measuring the rest of the particle if one fails
bool good = ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_X, &par->center_mass_x);
good = good && ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_Y, &par->center_mass_y);
good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA, &par->particleArea);
good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_TOP, &par->boundingRect.top);
good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_LEFT, &par->boundingRect.left);
good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_HEIGHT, &par->boundingRect.height);
good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_WIDTH, &par->boundingRect.width);
good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_IMAGE_AREA, &par->particleToImagePercent);
good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA, &par->particleQuality);
if (good)
{
/* normalized position (-1 to 1) */
par->center_mass_x_normalized = NormalizeFromRange(par->center_mass_x, par->imageWidth);
par->center_mass_y_normalized = NormalizeFromRange(par->center_mass_y, par->imageHeight);
}
}
void USBCamera::OpenCamera() {
std::lock_guard<priority_recursive_mutex> lock(m_mutex);
for (unsigned int i = 0; i < 3; i++) {
uInt32 id = 0;
// Can't use SAFE_IMAQ_CALL here because we only error on the third time
IMAQdxError error = IMAQdxOpenCamera(
m_name.c_str(), IMAQdxCameraControlModeController, &id);
if (error != IMAQdxErrorSuccess) {
// Only error on the 3rd try
if (i >= 2) wpi_setImaqErrorWithContext(error, "IMAQdxOpenCamera");
// Sleep for a few seconds to ensure the error has been dealt with
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
} else {
m_id = id;
m_open = true;
return;
}
}
}
/**
* Create a new image by loading a file.
*
* @param fileName The path of the file to load.
*/
RGBImage::RGBImage(const char* fileName) : ColorImage(IMAQ_IMAGE_RGB) {
int success = imaqReadFile(m_imaqImage, fileName, nullptr, nullptr);
wpi_setImaqErrorWithContext(success, "Imaq ReadFile error");
}
/**
* Writes an image to a file with the given filename.
* Write the image to a file in the flash on the cRIO.
* @param fileName The name of the file to write
*/
void ImageBase::Write(const char *fileName)
{
int success = imaqWriteFile(m_imaqImage, fileName, NULL);
wpi_setImaqErrorWithContext(success, "Imaq Image writeFile error");
}
/**
* Create a new image by loading a file.
* @param fileName The path of the file to load.
*/
HSLImage::HSLImage(const char *fileName) : ColorImage(IMAQ_IMAGE_HSL)
{
int success = imaqReadFile(m_imaqImage, fileName, NULL, NULL);
wpi_setImaqErrorWithContext(success, "Imaq ReadFile error");
}