int CVICALLBACK Load_Picture (int panel, int control, int event,
void *callbackData, int eventData1, int eventData2)
{
char picname[512] = {'\0'};
int ret = 0;
HistogramReport *report = NULL;
switch (event)
{
case EVENT_COMMIT:
ret = FileSelectPopup ("", "*.*", "", "Load; select an image file",
VAL_LOAD_BUTTON, 0, 0, 1, 0, picname);
if (ret == 1)
{
imaqReadFile (sourimage, picname, NULL, NULL);
imaqMoveWindow (0, imaqMakePoint (50, 260));
imaqDisplayImage (sourimage, 0, TRUE);
report = imaqHistogram (sourimage, 256, 0, 255, IMAQ_IMAGE_U8);
DeleteGraphPlot (mypanel, MYPANEL_MYGRAPH, -1, VAL_IMMEDIATE_DRAW);
PlotY (mypanel, MYPANEL_MYGRAPH, (*report).histogram, 256,
VAL_UNSIGNED_INTEGER, VAL_THIN_LINE, VAL_EMPTY_SQUARE, VAL_SOLID, 1, VAL_RED);
}
break;
}
return 0;
}
/**
* 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);
//printf("HSLImage Success at Reading is %d\n",success);
//wpi_setImaqErrorWithContext(success, "Imaq ReadFile error");
if(success <= 0) {
printf("!!!Error!!! | %s | %s\n",imaqGetErrorText(imaqGetLastError()), imaqGetLastErrorFunc());
}
}
/**
* 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");
}
/**
* @brief Creates image object from the information in a file. The file can be in one of the following formats:
* PNG, JPEG, JPEG2000, TIFF, AIPD, or BMP.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_COMPLEX, IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64.
*
* @param image Image read in
* @param fileName File to read. Cannot be NULL
*
* @return On success: 1. On failure: 0. To get extended error information, call GetLastError().
*/
int frcReadImage(Image* image, const char* fileName)
{
return imaqReadFile(image, fileName, NULL, NULL);
}
/**
* @brief Creates image object from the information in a file. The file can be
* in one of the following formats:
* PNG, JPEG, JPEG2000, TIFF, AIPD, or BMP.
* Supports IMAQ_IMAGE_U8, IMAQ_IMAGE_I16, IMAQ_IMAGE_SGL, IMAQ_IMAGE_COMPLEX,
* IMAQ_IMAGE_RGB, IMAQ_IMAGE_HSL, IMAQ_IMAGE_RGB_U64.
*
* @param image Image read in
* @param fileName File to read. Cannot be nullptr
*
* @return On success: 1. On failure: 0. To get extended error information, call
* GetLastError().
*/
int frcReadImage(Image* image, const char* fileName) {
return imaqReadFile(image, fileName, nullptr, nullptr);
}
/**
* 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, NULL, NULL);
wpi_imaqAssert(success, "Imaq ReadFile error");
}
void Autonomous() override {
while (IsAutonomous() && IsEnabled())
{
//read file in from disk. For this example to run you need to copy image20.jpg from the SampleImages folder to the
//directory shown below using FTP or SFTP: http://wpilib.screenstepslive.com/s/4485/m/24166/l/282299-roborio-ftp
imaqError = imaqReadFile(frame, "//NewDir//image2.jpg", NULL, NULL);
//Update threshold values from SmartDashboard. For performance reasons it is recommended to remove this after calibration is finished.
TOTE_HUE_RANGE.minValue = SmartDashboard::GetNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
TOTE_HUE_RANGE.maxValue = SmartDashboard::GetNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
TOTE_SAT_RANGE.minValue = SmartDashboard::GetNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
TOTE_SAT_RANGE.maxValue = SmartDashboard::GetNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
TOTE_VAL_RANGE.minValue = SmartDashboard::GetNumber("Tote val min", TOTE_VAL_RANGE.minValue);
TOTE_VAL_RANGE.maxValue = SmartDashboard::GetNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
//Threshold the image looking for yellow (tote color)
imaqError = imaqColorThreshold(binaryFrame, frame, 255, IMAQ_HSV, &TOTE_HUE_RANGE, &TOTE_SAT_RANGE, &TOTE_VAL_RANGE);
//Send particle count to dashboard
int numParticles = 0;
imaqError = imaqCountParticles(binaryFrame, 1, &numParticles);
SmartDashboard::PutNumber("Masked particles", numParticles);
//Send masked image to dashboard to assist in tweaking mask.
SendToDashboard(binaryFrame, imaqError);
//filter out small particles
float areaMin = SmartDashboard::GetNumber("Area min %", AREA_MINIMUM);
criteria[0] = {IMAQ_MT_AREA_BY_IMAGE_AREA, areaMin, 100, false, false};
imaqError = imaqParticleFilter4(binaryFrame, binaryFrame, criteria, 1, &filterOptions, NULL, NULL);
//Send particle count after filtering to dashboard
imaqError = imaqCountParticles(binaryFrame, 1, &numParticles);
SmartDashboard::PutNumber("Filtered particles", numParticles);
if(numParticles > 0)
{
//Measure particles and sort by particle size
std::vector<ParticleReport> particles;
for(int particleIndex = 0; particleIndex < numParticles; particleIndex++)
{
ParticleReport par;
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_AREA_BY_IMAGE_AREA, &(par.PercentAreaToImageArea));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_AREA, &(par.Area));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_CONVEX_HULL_AREA, &(par.ConvexHullArea));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_TOP, &(par.BoundingRectTop));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_LEFT, &(par.BoundingRectLeft));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_BOTTOM, &(par.BoundingRectBottom));
imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_RIGHT, &(par.BoundingRectRight));
particles.push_back(par);
}
sort(particles.begin(), particles.end(), CompareParticleSizes);
//This example only scores the largest particle. Extending to score all particles and choosing the desired one is left as an exercise
//for the reader. Note that the long and short side scores expect a single tote and will not work for a stack of 2 or more totes.
//Modification of the code to accommodate 2 or more stacked totes is left as an exercise for the reader.
scores.Trapezoid = TrapezoidScore(particles.at(0));
SmartDashboard::PutNumber("Trapezoid", scores.Trapezoid);
scores.LongAspect = LongSideScore(particles.at(0));
SmartDashboard::PutNumber("Long Aspect", scores.LongAspect);
scores.ShortAspect = ShortSideScore(particles.at(0));
SmartDashboard::PutNumber("Short Aspect", scores.ShortAspect);
scores.AreaToConvexHullArea = ConvexHullAreaScore(particles.at(0));
SmartDashboard::PutNumber("Convex Hull Area", scores.AreaToConvexHullArea);
bool isTote = scores.Trapezoid > SCORE_MIN && (scores.LongAspect > SCORE_MIN || scores.ShortAspect > SCORE_MIN) && scores.AreaToConvexHullArea > SCORE_MIN;
bool isLong = scores.LongAspect > scores.ShortAspect;
//Send distance and tote status to dashboard. The bounding rect, particularly the horizontal center (left - right) may be useful for rotating/driving towards a tote
SmartDashboard::PutBoolean("IsTote", isTote);
SmartDashboard::PutNumber("Distance", computeDistance(binaryFrame, particles.at(0), isLong));
} else {
SmartDashboard::PutBoolean("IsTote", false);
}
Wait(0.005); // wait for a motor update time
}
}
/**
* 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");
}
