int GetLargestParticle(Image* binaryImage, int* largestParticleIndex, Rect rect)
{
*largestParticleIndex = 0; // points to caller-provided variable
/* determine number of particles in thresholded image */
int numParticles;
int success = frcCountParticles(binaryImage, &numParticles);
if ( !success ) { return success; }
/* if no particles found we can quit here */
if (numParticles == 0) { return 0; } // unsuccessful if zero particles found
// find the largest particle
double largestParticleArea = 0;
double particleArea;
for (int i = 0; i < numParticles; ++i) {
success = imaqMeasureParticle(binaryImage, i, 0, IMAQ_MT_AREA, &particleArea);
if ( !success ) { return success; }
if (particleArea > largestParticleArea) {
// see if is in the right area
if ( InArea(binaryImage, i, rect) ) {
largestParticleArea = particleArea;
*largestParticleIndex = i; // return index to caller
}
}
}
return success;
}
/**
* @brief Find the largest particles that meet a criteria
* @param binaryImage Image to inspect
* @param hitReport structure containing arry of hits - first hit is largest
* @param rect area to search
* @param numParticles Number of particles in array
* @return 0 = error
*/
int GetLargestParticles(Image* binaryImage, ImageHits *hitReport, Rect rect,
int numberHitsRequested)
{
//char funcName[]="GetLargestParticles";
HitList *hitsInArea = new HitList(); // list to contain all particles within area sorted by size
int i;
/* determine number of particles in thresholded image */
int numParticles = -1;
int success = frcCountParticles(binaryImage, &numParticles);
if ( !success ) { return success; }
//DPRINTF(LOG_DEBUG, "particles requested = %i ; particles found in image = %i", numberHitsRequested, numParticles);
/* if no particles found we can quit here */
if (numParticles <= 0) { return 1; } // successful, but zero particles found
/* get areas of each particle and insert into list */
double particleArea;
int count = 0;
for (i = 0; i < numParticles; ++i) {
success = imaqMeasureParticle(binaryImage, i, 0, IMAQ_MT_AREA, &particleArea);
if ( !success ) { return success; }
//DPRINTF (LOG_INFO, "size of particle %i = %g", i, particleArea);
// see if is in the right area and large enough to be considered a possible target
//TODO: Call InArea & delete TempInArea when new WPILib is released
//if (InArea(binaryImage, i, rect)) {
//if ( InArea(binaryImage, i, rect) && (particleArea >= FRC_MINIMUM_PIXELS_FOR_TARGET) ) {
if ( TempInArea(binaryImage, i, rect) && (particleArea >= FRC_MINIMUM_PIXELS_FOR_TARGET) ) {
hitsInArea->AddNode(i,particleArea);
count++;
}
}
// see what's in the list
hitsInArea->debugDump();
// fill in return structure - number of hits
if (numParticles < numberHitsRequested) {
hitReport->numberOfHits = numParticles;
} else {
hitReport->numberOfHits = numberHitsRequested;
}
// fill in return structure - indices & areas of largest hits
HitNode *hitPtr = hitsInArea->head;
for (i = 0; i < hitReport->numberOfHits; ++i) {
if (hitPtr == NULL) {
break;
}
hitReport->indices[i] = hitPtr->nodeIndex;
hitReport->areas[i] = hitPtr->nodeArea;
//DPRINTF (LOG_INFO, "put index %i in hitReport %i", hitPtr->nodeIndex, hitReport->indices[i]);
hitPtr = hitPtr->next;
}
// dispose of HitList
delete hitsInArea;
return 1; // success
}
