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;
}
bool Target::FindParticles()
{
printf("Target::FindParticles\n");
long then = (long) GetFPGATime();
// extract the blue plane
if (!imaqExtractColorPlanes(m_cameraImage.GetImaqImage(), IMAQ_RGB,
NULL, NULL, m_monoImage.GetImaqImage()))
{
printf("%s: imaqExtractColorPlanes FAILED\n", __FUNCTION__);
return false;
}
// select interesting particles
if (!imaqThreshold(m_threshold.GetImaqImage(), m_monoImage.GetImaqImage(),
/*rangeMin*/ THRESHOLD, /*rangeMax*/ 255, /*useNewValue*/ 1, /*newValue */ 1))
{
printf("%s: imaqThreshold FAILED\n", __FUNCTION__);
return false;
}
if (!imaqConvexHull(m_convexHull.GetImaqImage(), m_threshold.GetImaqImage(),
/*connectivity8*/ 1))
{
printf("%s: imaqConvexHull FAILED\n", __FUNCTION__);
return false;
}
if (!imaqSizeFilter(m_filtered.GetImaqImage(), m_convexHull.GetImaqImage(),
/*connectivity8*/ 1, /*erosions*/ 2, /*keepSize*/ IMAQ_KEEP_LARGE,
/*structuringElement*/ NULL))
{
printf("%s: imaqSizeFilter FAILED\n", __FUNCTION__);
return false;
}
int particleCount = 0;
if (!imaqCountParticles(m_filtered.GetImaqImage(), 1, &particleCount))
{
printf("%s: imaqCountParticles FAILED\n", __FUNCTION__);
return false;
}
// select the four largest particles (insertion sort)
// for now, keep track of only the particle number (index) and size
memset((void *)m_particles, 0, sizeof m_particles);
for (int i = 0; i < particleCount; i++) {
double size;
if (!imaqMeasureParticle(m_filtered.GetImaqImage(), i, FALSE,
IMAQ_MT_PARTICLE_AND_HOLES_AREA, &size))
{
printf("%s: imaqMeasureParticle %d FAILED\n", __FUNCTION__, i);
break;
}
for (int j = 0; j < 4; j++) {
if (size > m_particles[j].size) {
for (int k = 3; k > j; k--) {
m_particles[k].index = m_particles[k-1].index;
m_particles[k].size = m_particles[k-1].size;
}
m_particles[j].index = i;
m_particles[j].size = size;
break;
}
}
}
// fill in the rest of the measured data
for (m_numParticles = 0;
m_numParticles < 4 && m_particles[m_numParticles].size > 0;
m_numParticles++)
{
Particle* p = &m_particles[m_numParticles];
imaqMeasureParticle(m_filtered.GetImaqImage(), p->index, FALSE,
IMAQ_MT_CENTER_OF_MASS_X, &(p->xCenter));
imaqMeasureParticle(m_filtered.GetImaqImage(), p->index, FALSE,
IMAQ_MT_CENTER_OF_MASS_Y, &(p->yCenter));
imaqMeasureParticle(m_filtered.GetImaqImage(), p->index, FALSE,
IMAQ_MT_BOUNDING_RECT_LEFT, &(p->leftBound));
imaqMeasureParticle(m_filtered.GetImaqImage(), p->index, FALSE,
IMAQ_MT_BOUNDING_RECT_RIGHT, &(p->rightBound));
imaqMeasureParticle(m_filtered.GetImaqImage(), p->index, FALSE,
IMAQ_MT_BOUNDING_RECT_TOP, &(p->topBound));
imaqMeasureParticle(m_filtered.GetImaqImage(), p->index, FALSE,
IMAQ_MT_BOUNDING_RECT_BOTTOM, &(p->bottomBound));
// calculate height/width from bounding box
p->height = p->bottomBound - p->topBound;
p->width = p->rightBound - p->leftBound;
}
long now = (long) GetFPGATime();
printf("%s: particle detection took %ld microseconds\n", __FUNCTION__, (now - then));
printf("%s: found %d particles\n", __FUNCTION__, particleCount);
printf("%s: returning %d particles\n", __FUNCTION__, m_numParticles);
for (int i = 0; i < m_numParticles; i++) {
Particle *p = &m_particles[i];
printf(" particle %d index %d top %g bottom %g left %g right %g size %g x %g y %g\n",
i, p->index, p->topBound, p->bottomBound, p->leftBound, p->rightBound,
p->size, p->xCenter, p->yCenter);
}
return true;
}
